version: 66.04
glider: 150
mission: 6
dive: 19
start: 10 8 109 11 46 45
data:
$ID,150
$MISSION,6
$DIVE,19
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,67
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,52219
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,33
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16058.815
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,430
$PITCH_MAX,3717
$C_PITCH,2501
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,257
$ROLL_MAX,3938
$ROLL_DEG,40
$C_ROLL_DIVE,2097
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3951
$C_VBD,3430
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.2719669
$PRESSURE_SLOPE,0.000116226
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,150
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,87
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004369698
$SEABIRD_T_H,0.00063770782
$SEABIRD_T_I,2.6189617e-05
$SEABIRD_T_J,2.9323592e-06
$SEABIRD_C_G,-9.9919777
$SEABIRD_C_H,1.1278584
$SEABIRD_C_I,-0.00075603358
$SEABIRD_C_J,0.00015749504
$GPS1,113916,4807.856,-12223.838,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.8
$GPS2,114552,4807.822,-12223.797,11,99.0,30,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,0.151
$KALMAN_X,1289.0,421.3,-23.8,-2123.5,282.5
$KALMAN_Y,-3181.6,-184.5,-17.4,4622.5,-275.8
$MHEAD_RNG_PITCHd_Wd,300.3,414,-16.2,-7.463
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.14,-102.4,0.0,0.0,0,55,0.00,0.00,-35.55,0.000,2,0.000,0.000,424,2081,2937
$GC,59,-1.19,-145.7,2.0,-3.7,6,114,9.77,2.35,-35.42,0.000,4,0.167,0.065,2234,699,3953
$GC,348,-1.19,-145.7,32.4,-11.7,71,355,0.00,2.22,0.00,0.000,6,0.000,0.029,2234,2103,3953
$GC,423,-1.19,-145.7,41.1,-11.4,84,429,0.00,2.35,0.00,0.000,4,0.000,0.051,2234,690,3953
$GC,444,-1.19,-145.7,43.6,-11.5,88,450,0.00,2.22,0.00,0.000,6,0.000,0.025,2234,2098,3953
$GC,587,-1.19,-145.7,58.7,-10.6,113,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2098,3953
$GC,727,-1.19,-145.7,73.9,-10.5,138,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2098,3953
$GC,874,-1.19,-145.7,89.3,-10.7,163,880,0.00,2.33,0.00,0.000,4,0.000,0.050,2234,698,3953
$GC,904,-1.19,-145.7,92.9,-10.8,169,910,0.00,2.22,0.00,0.000,6,0.000,0.025,2234,2109,3953
$GC,1045,-1.19,-145.7,107.8,-10.3,194,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2109,3953
$STATE,1055,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1055,begin apogee
$GC,1062,-0.31,0.0,109.0,10.4,196,1169,0.88,0.00,102.00,0.894,6,0.087,0.000,2430,2109,3429
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1173,1.19,145.7,112.8,0.0,215,1298,1.42,0.00,116.95,0.868,6,0.055,0.000,2760,2109,2833
$GC,1434,1.19,145.7,90.9,11.3,261,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2109,2829
$GC,1574,1.19,145.7,75.3,10.6,286,1581,0.00,2.40,0.00,0.000,4,0.000,0.060,2761,699,2828
$GC,1632,1.19,145.7,68.9,11.4,298,1639,0.00,2.25,0.00,0.000,6,0.000,0.031,2761,2096,2827
$GC,1775,1.19,145.7,54.0,10.2,323,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2096,2827
$GC,1916,1.19,145.7,40.1,9.9,348,1922,0.00,2.35,0.00,0.000,4,0.000,0.055,2760,702,2827
$GC,1949,1.19,145.7,36.6,10.6,355,1956,0.00,2.25,0.00,0.000,6,0.000,0.030,2761,2104,2826
$GC,2025,1.19,145.7,29.1,10.0,368,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2104,2826
$GC,2099,1.19,145.7,21.8,10.1,381,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2104,2826
$GC,2173,1.19,145.7,15.1,9.0,394,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2104,2826
$GC,2247,1.19,145.7,8.3,9.1,407,2254,0.00,2.35,0.00,0.000,4,0.000,0.052,2761,3506,2827
$GC,2289,1.19,145.7,4.4,9.1,416,2295,0.00,2.28,0.00,0.000,6,0.000,0.030,2760,2097,2827
$STATE,2311,end climb,SURFACE_DEPTH_REACHED
$STATE,2311,begin surface coast
$FINISH,0.4,1.021035
$STATE,2351,end surface coast,CONTROL_FINISHED_OK
$STATE,2352,begin surface
$SM_CCo,2371,126.43,0.818,0,0,2207,300.00
$SM_GC,1.02,0.00,0.00,126.43,0.000,0.000,0.818,420,2095,2207,-9.57,-0.06,300.00
$IRIDIUM_FIX,4751.72,-12221.84,020199,101038
$TT8_MAMPS,0.027612
$HUMID,1738
$INTERNAL_PRESSURE,9.25155
$TCM_TEMP,18.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,85.5,32.9
$24V_AH,23.2,2.293
$10V_AH,10.1,1.436
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.775,27.575,218.950,126.425,0.000,25.345,23.536,198.349,4.500,0.000,0.000,32.735,645.609,655.653,411.323,787.691,404.579,33.320,817.101,0.000,768.177,0.000,7.407,0.000
$DEVICE_MAMPS,167.206,65.195,894.322,818.389,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,289.550,212.533,503.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22240,427
$CAP_FILE_SIZE,45927,0
$CFSIZE,260165632,217985024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,122937,4808.044,-12224.112,34,0.9,34,18.3