version: 66.04
glider: 150
mission: 6
dive: 8
start: 10 8 109 0 4 55
data:
$ID,150
$MISSION,6
$DIVE,8
$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,-15767.592
$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,32
$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,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
$GPS1,235831,4806.494,-12222.457,13,1.9,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.3
$GPS2,000401,4806.472,-12222.443,9,1.5,14,18.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,-0.222
$KALMAN_X,-339.6,-228.7,-46.7,1854.1,52.1
$KALMAN_Y,19.2,-88.0,-34.3,-1159.1,130.0
$MHEAD_RNG_PITCHd_Wd,142.8,1031,-19.8,-10.000
$D_GRID,107
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.6,0.0,0.0,0,64,0.00,0.00,-46.40,0.000,2,0.000,0.000,423,2085,3153
$GC,68,-1.38,-116.6,2.1,-4.4,8,111,9.48,2.38,-25.17,0.000,4,0.163,0.058,2194,3501,3907
$GC,351,-1.38,-116.6,34.6,-11.6,72,357,0.00,2.28,0.00,0.000,6,0.000,0.029,2194,2088,3908
$GC,427,-1.38,-116.6,44.1,-12.4,85,433,0.00,2.35,0.00,0.000,4,0.000,0.046,2194,3506,3907
$GC,502,-1.38,-116.6,53.9,-13.4,101,508,0.00,2.28,0.00,0.000,6,0.000,0.031,2194,2091,3907
$GC,644,-1.38,-116.6,71.5,-11.9,126,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2091,3907
$GC,786,-1.38,-116.6,89.1,-13.1,151,792,0.00,2.33,0.00,0.000,4,0.000,0.054,2194,688,3907
$GC,813,-1.38,-116.6,92.5,-13.2,156,820,0.00,2.25,0.00,0.000,6,0.000,0.031,2194,2112,3907
$STATE,931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,939,-0.31,0.0,107.2,12.1,177,1040,1.08,0.00,92.60,0.899,6,0.103,0.000,2427,2113,3429
$STATE,1041,end apogee,CONTROL_FINISHED_OK
$STATE,1041,begin climb
$GC,1043,1.38,116.6,111.3,0.0,195,1144,1.60,0.00,92.85,0.871,6,0.055,0.000,2801,2113,2953
$GC,1280,1.38,116.6,89.7,11.6,237,1286,0.00,2.42,0.00,0.000,4,0.000,0.058,2801,702,2949
$GC,1311,1.38,116.6,85.8,13.0,243,1317,0.00,2.25,0.00,0.000,6,0.000,0.031,2801,2086,2948
$GC,1453,1.38,116.6,68.9,11.3,268,1459,0.00,2.35,0.00,0.000,4,0.000,0.058,2801,700,2948
$GC,1484,1.38,116.6,65.1,12.1,274,1490,0.00,2.28,0.00,0.000,6,0.000,0.034,2801,2100,2948
$GC,1626,1.38,116.6,48.0,12.3,299,1632,0.00,2.38,0.00,0.000,4,0.000,0.050,2801,692,2948
$GC,1671,1.38,116.6,42.4,12.7,308,1677,0.00,2.30,0.00,0.000,6,0.000,0.037,2801,2100,2948
$GC,1814,1.38,116.6,26.1,11.2,333,1820,0.00,2.38,0.00,0.000,4,0.000,0.054,2801,689,2948
$GC,1841,1.38,116.6,23.0,13.1,338,1847,0.00,2.28,0.00,0.000,6,0.000,0.031,2801,2102,2948
$GC,1916,1.38,116.6,14.9,10.4,351,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2102,2948
$GC,1990,1.38,116.9,7.2,10.0,364,1996,0.00,2.35,0.00,0.000,4,0.000,0.050,2802,697,2947
$GC,2008,1.41,139.0,5.7,8.7,367,2033,0.00,2.25,18.62,0.817,6,0.000,0.035,2801,2102,2863
$STATE,2037,end climb,SURFACE_DEPTH_REACHED
$STATE,2037,begin surface coast
$FINISH,0.1,1.010851
$STATE,2117,end surface coast,CONTROL_FINISHED_OK
$STATE,2119,begin surface
$SM_CCo,2139,131.02,0.809,0,0,2206,300.00
$SM_GC,0.95,0.00,0.00,131.02,0.000,0.000,0.809,419,2105,2206,-9.58,0.23,300.00
$IRIDIUM_FIX,4748.51,-12221.84,010199,232314
$TT8_MAMPS,0.027612
$HUMID,1752
$INTERNAL_PRESSURE,9.26132
$TCM_TEMP,18.70
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,100.5,23.9
$24V_AH,23.2,1.193
$10V_AH,10.1,0.830
$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,21.975,37.075,204.075,131.025,0.000,25.771,26.857,157.999,7.000,0.000,0.000,16.126,587.182,566.577,399.324,708.730,353.333,33.325,772.041,0.000,697.869,0.000,19.276,0.000
$DEVICE_MAMPS,162.604,58.292,898.924,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,260.860,190.460,462.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19063,386
$CAP_FILE_SIZE,43137,0
$CFSIZE,260165632,218406912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,004332,4806.269,-12222.355,8,1.3,8,18.3