version: 66.04
glider: 150
mission: 6
dive: 3
start: 10 7 109 19 55 37
data:
$ID,150
$MISSION,6
$DIVE,3
$D_SURF,4
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,350
$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,-15643.592
$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,25
$R_STBD_OVSHOOT,33
$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,5
$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,0
$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,4
$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
$GPS1,194752,4807.019,-12223.605,13,3.1,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-60.6
$GPS2,195446,4807.009,-12223.614,9,4.0,28,18.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.233,0.025
$KALMAN_X,-217.2,-140.1,-138.0,284.3,-156.7
$KALMAN_Y,-82.7,-49.9,-49.1,-84.2,-56.6
$MHEAD_RNG_PITCHd_Wd,65.6,760,-19.8,-10.000
$D_GRID,99
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.6,0.0,0.0,0,105,0.00,0.00,-86.70,0.000,2,0.000,0.000,417,2113,3193
$GC,109,-1.38,-116.6,2.2,-4.3,15,152,9.43,2.42,-23.55,0.000,4,0.161,0.064,2197,685,3907
$GC,365,-1.38,-116.6,32.6,-13.7,72,372,0.00,2.25,0.00,0.000,6,0.000,0.035,2197,2105,3906
$GC,441,-1.38,-116.6,41.5,-11.7,85,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2106,3906
$GC,581,-1.38,-116.6,58.0,-11.9,110,588,0.00,2.28,0.00,0.000,4,0.000,0.048,2197,3491,3906
$GC,607,-1.38,-116.6,61.2,-12.9,115,613,0.00,2.25,0.00,0.000,6,0.000,0.032,2196,2084,3905
$GC,749,-1.38,-116.6,78.1,-12.2,140,756,0.00,2.33,0.00,0.000,4,0.000,0.049,2197,3492,3905
$GC,781,-1.38,-116.6,82.1,-12.1,146,787,0.00,2.25,0.00,0.000,6,0.000,0.035,2197,2103,3905
$GC,927,-1.38,-116.6,98.9,-12.1,171,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2102,3906
$STATE,940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,940,begin apogee
$GC,946,-0.31,0.0,100.6,11.8,173,1046,1.02,0.00,92.47,0.901,6,0.105,0.000,2423,2102,3429
$STATE,1047,end apogee,CONTROL_FINISHED_OK
$STATE,1047,begin climb
$GC,1050,1.38,116.6,104.9,0.0,191,1148,1.60,0.00,93.00,0.874,6,0.061,0.000,2798,2102,2953
$GC,1279,1.38,116.6,84.3,12.8,232,1287,0.00,2.42,0.00,0.000,4,0.000,0.061,2798,702,2948
$GC,1334,1.38,116.6,77.2,13.2,243,1340,0.00,2.25,0.00,0.000,6,0.000,0.036,2798,2090,2948
$GC,1476,1.38,116.6,60.4,11.7,268,1483,0.00,2.38,0.00,0.000,4,0.000,0.057,2798,3498,2949
$GC,1494,1.38,116.6,58.3,11.3,271,1500,0.00,2.28,0.00,0.000,6,0.000,0.038,2798,2101,2948
$GC,1636,1.38,116.6,42.1,11.9,296,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2101,2948
$GC,1778,1.38,116.6,25.6,10.8,321,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2101,2947
$GC,1852,1.38,116.6,17.6,10.4,334,1858,0.00,2.38,0.00,0.000,4,0.000,0.057,2798,696,2946
$GC,1869,1.38,116.6,15.7,10.8,337,1876,0.00,2.25,0.00,0.000,6,0.000,0.038,2798,2100,2946
$GC,1945,1.39,129.4,8.5,9.3,350,1964,0.00,2.42,10.88,0.798,4,0.000,0.051,2798,697,2901
$STATE,2001,end climb,SURFACE_DEPTH_REACHED
$STATE,2001,begin surface coast
$FINISH,3.5,1.021876
$STATE,2007,end surface coast,CONTROL_FINISHED_OK
$STATE,2007,begin surface
$SM_CCo,2030,185.57,0.786,6,0,2002,350.04
$SM_GC,1.04,0.00,0.00,185.57,0.000,0.000,0.786,419,2111,2002,-9.58,0.40,350.04
$IRIDIUM_FIX,4748.51,-12224.57,010199,191922
$TT8_MAMPS,0.027612
$HUMID,1741
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,18.60
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,59.6,999.0
$24V_AH,23.2,0.687
$10V_AH,10.2,0.616
$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,22.150,32.475,196.350,185.575,0.000,0.000,0.000,0.000,6.750,0.000,0.000,31.181,544.278,494.858,501.667,715.986,80.563,31.410,870.223,0.000,659.445,0.000,18.832,0.000
$DEVICE_MAMPS,161.070,63.661,901.225,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,249.032,225.819,435.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19073,363
$CAP_FILE_SIZE,53604,0
$CFSIZE,260165632,218525696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,071009,203406,4807.015,-12223.275,23,1.7,23,18.3