version: 66.04
glider: 150
mission: 6
dive: 4
start: 10 7 109 21 1 54
data:
$ID,150
$MISSION,6
$DIVE,4
$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,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,-15686.178
$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,27
$R_STBD_OVSHOOT,36
$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,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,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
$GPS1,205425,4806.952,-12223.303,12,1.5,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.7
$GPS2,210102,4806.930,-12223.310,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.220,0.081
$KALMAN_X,-254.3,-173.9,-161.8,753.7,-67.8
$KALMAN_Y,-171.7,-102.0,-86.3,-50.2,-39.6
$MHEAD_RNG_PITCHd_Wd,51.5,404,-19.8,-10.000
$D_GRID,101
$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,13,begin dive
$GC,15,-1.38,-116.6,0.0,0.0,0,76,0.00,0.00,-57.85,0.000,2,0.000,0.000,419,2111,3177
$GC,79,-1.38,-116.6,2.0,-3.1,10,122,9.35,2.40,-24.83,0.000,4,0.156,0.065,2197,692,3907
$GC,281,-1.38,-116.6,25.2,-12.9,55,288,0.00,2.25,0.00,0.000,6,0.000,0.029,2197,2110,3907
$GC,357,-1.38,-116.6,34.6,-12.4,68,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2110,3907
$GC,431,-1.38,-116.6,43.9,-12.9,81,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2110,3907
$GC,572,-1.38,-116.6,60.1,-11.8,106,579,0.00,2.28,0.00,0.000,4,0.000,0.051,2197,3488,3906
$GC,617,-1.38,-116.6,65.6,-12.2,115,624,0.00,2.25,0.00,0.000,6,0.000,0.035,2197,2084,3907
$GC,760,-1.38,-116.6,82.3,-11.9,140,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2084,3906
$GC,901,-1.38,-116.6,98.7,-12.0,165,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2083,3906
$STATE,922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,922,begin apogee
$GC,929,-0.31,0.0,101.4,11.4,169,1025,1.05,0.00,92.40,0.907,6,0.109,0.000,2426,2082,3430
$STATE,1026,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1029,1.38,116.6,104.9,0.0,186,1131,1.60,2.38,93.15,0.872,4,0.059,0.061,2800,703,2952
$GC,1142,1.38,116.6,97.9,10.1,206,1148,0.00,2.25,0.00,0.000,6,0.000,0.034,2800,2082,2950
$GC,1285,1.38,116.6,80.9,12.0,231,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2082,2949
$GC,1426,1.38,116.6,64.7,11.9,256,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2082,2948
$GC,1568,1.38,116.6,48.9,11.5,281,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2082,2948
$GC,1709,1.38,116.6,32.9,11.3,306,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2082,2948
$GC,1783,1.38,116.6,24.6,11.2,319,1789,0.00,2.33,0.00,0.000,4,0.000,0.053,2800,699,2948
$GC,1801,1.38,116.6,22.8,10.7,322,1808,0.00,2.28,0.00,0.000,6,0.000,0.032,2800,2111,2947
$GC,1876,1.38,116.9,14.8,10.0,335,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2111,2948
$GC,1951,1.39,124.2,7.5,9.6,348,1964,0.00,2.38,7.00,0.735,4,0.000,0.054,2800,703,2921
$STATE,1993,end climb,SURFACE_DEPTH_REACHED
$STATE,1993,begin surface coast
$FINISH,0.4,1.021848
$STATE,2036,end surface coast,CONTROL_FINISHED_OK
$STATE,2036,begin surface
$SM_CCo,2059,141.62,0.824,0,0,2207,300.00
$SM_GC,1.03,0.00,0.00,141.62,0.000,0.000,0.824,419,2107,2207,-9.58,0.31,300.00
$IRIDIUM_FIX,4748.51,-12221.84,010199,212155
$TT8_MAMPS,0.027612
$HUMID,1763
$INTERNAL_PRESSURE,9.26132
$TCM_TEMP,17.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,90.3,29.3
$24V_AH,23.2,0.811
$10V_AH,10.2,0.666
$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,21.825,23.075,192.550,141.625,0.000,0.000,0.000,0.000,4.500,0.000,0.000,13.792,551.345,572.258,405.485,667.127,76.231,32.334,763.957,0.000,665.054,0.000,10.193,0.000
$DEVICE_MAMPS,156.468,65.195,907.361,823.758,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,254.756,171.022,441.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19104,367
$CAP_FILE_SIZE,52068,0
$CFSIZE,260165632,218501120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,213936,4806.992,-12222.982,12,1.3,22,18.3