version: 66.04
glider: 150
mission: 6
dive: 13
start: 10 8 109 5 44 0
data:
$ID,150
$MISSION,6
$DIVE,13
$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,-4
$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,-15859.646
$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,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
$GPS1,053616,4806.526,-12222.513,10,2.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.8
$GPS2,054304,4806.480,-12222.489,14,2.4,33,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.206
$KALMAN_X,222.8,-116.6,46.8,1025.7,197.0
$KALMAN_Y,-1675.6,117.6,41.9,268.9,-406.6
$MHEAD_RNG_PITCHd_Wd,313.3,3377,-13.0,-7.463
$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,-0.99,-145.7,0.0,0.0,0,59,0.00,0.00,-40.85,0.000,2,0.000,0.000,422,2113,3051
$GC,62,-0.99,-145.7,2.0,-3.4,7,117,9.95,2.30,-37.80,0.000,4,0.163,0.059,2278,3501,3952
$GC,186,-0.99,-145.7,9.8,-9.1,32,193,0.00,2.25,0.00,0.000,6,0.000,0.027,2278,2084,3953
$GC,262,-0.99,-145.7,16.1,-8.5,45,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2084,3952
$GC,336,-0.99,-145.7,22.5,-8.6,58,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2084,3952
$GC,410,-0.99,-145.7,28.9,-8.5,71,416,0.00,2.30,0.00,0.000,4,0.000,0.048,2278,698,3952
$GC,439,-0.99,-145.7,31.5,-8.8,77,446,0.00,2.22,0.00,0.000,6,0.000,0.026,2277,2104,3952
$GC,515,-0.99,-145.7,37.8,-7.8,90,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2104,3952
$GC,590,-0.99,-145.7,44.1,-8.6,103,596,0.00,2.30,0.00,0.000,4,0.000,0.045,2278,3495,3952
$GC,624,-0.99,-145.7,47.1,-8.3,110,631,0.00,2.25,0.00,0.000,6,0.000,0.035,2277,2098,3952
$GC,767,-0.99,-145.7,59.0,-8.2,135,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3952
$GC,908,-0.99,-145.7,70.8,-8.4,160,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3952
$GC,1051,-0.99,-145.7,82.5,-8.0,185,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2096,3952
$GC,1194,-0.99,-145.7,93.8,-7.9,210,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2096,3952
$GC,1335,-0.99,-145.7,104.8,-8.1,235,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2095,3952
$STATE,1361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1361,begin apogee
$GC,1368,-0.31,0.0,107.1,8.0,240,1475,0.65,0.00,101.32,0.884,6,0.094,0.000,2429,2096,3430
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1479,0.99,145.7,110.5,0.0,259,1603,1.23,0.00,116.45,0.858,6,0.067,0.000,2714,2096,2834
$GC,1739,0.99,145.7,93.8,8.4,305,1745,0.00,2.38,0.00,0.000,4,0.000,0.060,2714,702,2829
$GC,1755,0.99,145.7,92.3,8.5,308,1761,0.00,2.25,0.00,0.000,6,0.000,0.032,2714,2094,2829
$GC,1898,0.99,145.7,80.5,8.1,333,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2094,2829
$GC,2038,0.99,145.7,69.1,8.1,358,2045,0.00,2.38,0.00,0.000,4,0.000,0.058,2714,694,2827
$GC,2065,0.99,145.7,66.8,8.7,363,2071,0.00,2.28,0.00,0.000,6,0.000,0.035,2714,2106,2827
$GC,2207,0.99,145.7,54.7,8.4,388,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2106,2827
$GC,2349,0.99,145.7,42.9,8.2,413,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2106,2828
$GC,2490,0.99,145.7,31.5,8.1,438,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2106,2827
$GC,2564,0.99,145.7,25.5,7.6,451,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2106,2827
$GC,2638,0.99,145.7,19.7,7.7,464,2645,0.00,2.38,0.00,0.000,4,0.000,0.053,2714,702,2827
$GC,2660,0.99,145.7,18.0,7.9,468,2667,0.00,2.25,0.00,0.000,6,0.000,0.033,2714,2106,2827
$GC,2735,0.99,145.7,12.1,7.6,481,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2106,2827
$GC,2811,1.00,151.8,6.6,7.3,494,2824,0.00,2.42,5.22,0.657,4,0.000,0.058,2714,702,2810
$GC,2836,1.03,173.4,4.8,6.7,498,2861,0.00,2.25,19.15,0.814,6,0.000,0.035,2714,2104,2722
$STATE,2865,end climb,SURFACE_DEPTH_REACHED
$STATE,2865,begin surface coast
$FINISH,0.5,1.020693
$STATE,2917,end surface coast,CONTROL_FINISHED_OK
$STATE,2917,begin surface
$SM_CCo,2937,104.03,0.808,0,0,2207,300.00
$SM_GC,1.26,0.00,0.00,104.03,0.000,0.000,0.808,422,2108,2207,-9.57,0.28,300.00
$IRIDIUM_FIX,4751.72,-12221.84,020199,040402
$TT8_MAMPS,0.027612
$HUMID,1775
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,17.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,85.2,36.0
$24V_AH,23.2,1.701
$10V_AH,10.1,1.129
$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,21.350,32.200,242.150,104.025,0.000,25.191,25.138,207.701,5.500,0.000,0.000,36.268,772.958,887.576,432.990,939.818,431.208,33.333,914.984,0.000,912.352,0.000,11.946,0.000
$DEVICE_MAMPS,163.371,59.826,883.584,808.418,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,345.892,254.064,597.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25507,512
$CAP_FILE_SIZE,55029,0
$CFSIZE,260165632,218193920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,063532,4806.695,-12222.639,11,1.7,11,18.3