version: 66.04
glider: 150
mission: 6
dive: 14
start: 10 8 109 6 43 3
data:
$ID,150
$MISSION,6
$DIVE,14
$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,-15892.63
$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,33
$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,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
$GPS1,063532,4806.695,-12222.639,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.2
$GPS2,064210,4806.650,-12222.624,11,2.7,30,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.198
$KALMAN_X,244.8,-22.3,88.3,702.9,176.5
$KALMAN_Y,-1711.1,52.1,-146.6,871.4,-322.9
$MHEAD_RNG_PITCHd_Wd,309.7,3024,-13.0,-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,-0.99,-145.7,0.0,0.0,0,67,0.00,0.00,-46.97,0.000,2,0.000,0.000,421,2108,3201
$GC,70,-0.99,-145.7,2.1,-3.4,8,114,9.95,2.30,-27.42,0.000,4,0.163,0.058,2277,3499,3951
$GC,121,-0.99,-145.7,4.4,-4.4,16,128,0.00,2.25,0.00,0.000,6,0.000,0.027,2277,2092,3952
$GC,196,-0.99,-145.7,10.7,-8.2,29,202,0.00,2.30,0.00,0.000,4,0.000,0.054,2277,699,3951
$GC,251,-0.99,-145.7,15.5,-9.1,41,257,0.00,2.22,0.00,0.000,6,0.000,0.028,2277,2106,3951
$GC,326,-0.99,-145.7,21.9,-8.7,54,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2106,3951
$GC,400,-0.99,-145.7,28.3,-8.4,67,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2106,3951
$GC,475,-0.99,-145.7,34.7,-8.7,80,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2106,3951
$GC,549,-0.99,-145.7,40.9,-8.5,93,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2106,3951
$GC,689,-0.99,-145.7,53.1,-8.7,118,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2106,3951
$GC,832,-0.99,-145.7,64.9,-8.3,143,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2106,3950
$GC,972,-0.99,-145.7,76.9,-8.4,168,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2106,3951
$GC,1114,-0.99,-145.7,88.7,-8.5,193,1120,0.00,2.35,0.00,0.000,4,0.000,0.053,2277,695,3951
$GC,1162,-0.99,-145.7,92.9,-8.3,203,1168,0.00,2.22,-0.05,0.000,6,0.000,0.031,2277,2102,3960
$GC,1306,-0.99,-145.7,104.7,-8.4,228,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2102,3960
$STATE,1416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1416,begin apogee
$GC,1423,-0.31,0.0,114.1,8.1,248,1531,0.65,0.00,102.65,0.896,6,0.096,0.000,2427,2102,3430
$STATE,1532,end apogee,CONTROL_FINISHED_OK
$STATE,1532,begin climb
$GC,1534,0.99,145.7,117.6,0.0,267,1658,1.25,0.00,116.60,0.867,6,0.064,0.000,2717,2102,2834
$GC,1794,0.99,145.7,100.0,8.8,313,1800,0.00,2.40,0.00,0.000,4,0.000,0.061,2718,700,2829
$GC,1825,0.99,145.7,97.1,9.3,319,1831,0.00,2.25,0.00,0.000,6,0.000,0.033,2718,2096,2829
$GC,1966,0.99,145.7,84.6,8.6,344,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2096,2829
$GC,2108,0.99,145.7,72.3,8.7,369,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2096,2829
$GC,2249,0.99,145.7,60.2,8.1,394,2255,0.00,2.35,0.00,0.000,4,0.000,0.051,2718,706,2828
$GC,2289,0.99,145.7,56.3,9.1,402,2295,0.00,2.25,0.00,0.000,6,0.000,0.033,2717,2108,2827
$GC,2432,0.99,145.7,44.5,8.0,427,2438,0.00,2.35,0.00,0.000,4,0.000,0.054,2717,3507,2828
$GC,2466,0.99,145.7,41.5,8.9,434,2472,0.00,2.28,0.00,0.000,6,0.000,0.035,2717,2101,2829
$GC,2609,0.99,145.7,29.8,8.2,459,2615,0.00,2.38,0.00,0.000,4,0.000,0.060,2717,690,2828
$GC,2651,0.99,145.7,26.1,8.9,468,2658,0.00,2.28,0.00,0.000,6,0.000,0.035,2717,2110,2827
$GC,2727,0.99,145.7,20.1,7.8,481,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2109,2828
$GC,2801,0.99,145.7,14.5,7.5,494,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2110,2828
$GC,2875,0.99,145.7,8.8,7.8,507,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2110,2828
$GC,2950,1.02,163.4,3.6,6.9,520,2963,0.00,0.00,11.75,0.802,2,0.000,0.000,2717,2110,2776
$STATE,2964,end climb,SURFACE_DEPTH_REACHED
$STATE,2964,begin surface coast
$FINISH,0.5,1.021008
$STATE,3014,end surface coast,CONTROL_FINISHED_OK
$STATE,3014,begin surface
$SM_CCo,3034,115.07,0.809,0,0,2207,300.00
$SM_GC,1.07,0.00,0.00,115.07,0.000,0.000,0.809,423,2112,2207,-9.56,0.42,300.00
$IRIDIUM_FIX,4751.72,-12223.57,020199,050501
$TT8_MAMPS,0.027612
$HUMID,1744
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,18.40
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,90.3,33.7
$24V_AH,23.2,1.799
$10V_AH,10.1,1.181
$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,21.350,32.175,231.000,115.075,0.000,30.747,28.385,192.940,5.250,0.000,0.000,32.354,802.397,933.749,429.917,966.601,427.279,33.338,918.893,0.000,945.100,0.000,8.925,0.000
$DEVICE_MAMPS,163.371,60.593,895.856,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,358.808,261.615,613.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28570,531
$CAP_FILE_SIZE,55784,0
$CFSIZE,260165632,218157056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,073643,4806.896,-12222.837,14,1.5,31,18.3