version: 66.04
glider: 150
mission: 6
dive: 17
start: 10 8 109 9 46 53
data:
$ID,150
$MISSION,6
$DIVE,17
$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,-15991.38
$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,34
$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
$GPS1,093607,4807.169,-12223.109,32,1.4,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.4
$GPS2,094558,4807.350,-12223.261,10,2.2,29,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.176
$KALMAN_X,828.8,254.1,28.7,-886.6,252.7
$KALMAN_Y,-2494.7,-76.5,-271.1,3206.3,-224.3
$MHEAD_RNG_PITCHd_Wd,300.5,1512,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.99,-145.7,0.0,0.0,0,58,0.00,0.00,-40.92,0.000,2,0.000,0.000,420,2108,3040
$GC,61,-0.99,-145.7,2.0,-3.1,7,110,10.02,0.00,-32.62,0.000,6,0.166,0.000,2279,2108,3952
$GC,179,-0.99,-145.7,9.4,-7.7,27,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2108,3953
$GC,254,-0.99,-145.7,15.3,-8.0,40,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2108,3953
$GC,328,-0.99,-145.7,21.6,-8.4,53,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2108,3953
$GC,402,-0.99,-145.7,27.9,-8.4,66,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2108,3953
$GC,477,-0.99,-145.7,34.2,-8.3,79,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2108,3953
$GC,551,-0.99,-145.7,40.4,-8.2,92,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2108,3952
$GC,695,-0.99,-145.7,52.1,-8.2,117,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2108,3953
$GC,836,-0.99,-145.7,64.3,-8.5,142,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2108,3952
$GC,978,-0.99,-145.7,76.8,-8.5,167,984,0.00,2.30,0.00,0.000,4,0.000,0.048,2279,3495,3953
$GC,1009,-0.99,-145.7,79.7,-9.0,173,1020,0.00,2.25,0.00,0.000,6,0.000,0.030,2279,2091,3952
$GC,1158,-0.99,-145.7,92.4,-8.5,198,1165,0.00,2.30,0.00,0.000,4,0.000,0.051,2279,700,3952
$GC,1194,-0.99,-145.7,95.5,-8.8,205,1200,0.00,2.22,0.00,0.000,6,0.000,0.028,2279,2111,3952
$GC,1336,-0.99,-145.7,107.3,-7.8,230,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2111,3952
$STATE,1353,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1353,begin apogee
$GC,1359,-0.31,0.0,108.9,8.2,233,1466,0.65,0.00,101.85,0.893,6,0.093,0.000,2429,2111,3430
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin climb
$GC,1470,0.99,145.7,111.8,0.0,252,1595,1.23,2.45,117.15,0.865,4,0.061,0.056,2716,704,2833
$GC,1613,0.99,145.7,104.2,7.8,277,1620,0.00,2.25,0.00,0.000,6,0.000,0.030,2716,2098,2830
$GC,1755,0.99,145.7,91.3,9.2,302,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2098,2829
$GC,1898,0.99,145.7,78.9,8.5,327,1904,0.00,2.38,0.00,0.000,4,0.000,0.058,2715,696,2828
$GC,1932,0.99,145.7,75.6,9.4,334,1938,0.00,2.25,0.00,0.000,6,0.000,0.033,2716,2098,2827
$GC,2074,0.99,145.7,63.5,8.4,359,2080,0.00,2.35,0.00,0.000,4,0.000,0.048,2716,3500,2828
$GC,2096,0.99,145.7,61.5,8.6,363,2102,0.00,2.28,0.00,0.000,6,0.000,0.035,2716,2096,2829
$GC,2238,0.99,145.7,50.0,8.2,388,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2096,2829
$GC,2380,0.99,145.7,38.8,8.1,413,2386,0.00,2.38,0.00,0.000,4,0.000,0.061,2716,689,2828
$GC,2411,0.99,145.7,36.5,7.8,419,2417,0.00,2.28,0.00,0.000,6,0.000,0.031,2715,2108,2827
$GC,2486,1.00,152.2,30.7,7.2,432,2498,0.00,0.00,5.70,0.673,6,0.000,0.000,2716,2108,2809
$GC,2567,1.00,152.2,24.7,7.5,446,2574,0.00,2.40,0.00,0.000,4,0.000,0.051,2715,691,2807
$GC,2600,1.00,152.2,22.1,7.8,453,2607,0.00,2.28,0.00,0.000,6,0.000,0.034,2716,2109,2807
$GC,2675,1.02,163.3,16.5,7.1,466,2688,0.00,0.00,11.05,0.798,6,0.000,0.000,2715,2109,2764
$GC,2757,1.02,163.3,10.3,7.7,480,2763,0.00,2.33,0.00,0.000,4,0.000,0.048,2715,3499,2763
$GC,2796,1.05,187.7,7.7,6.6,488,2827,0.00,2.28,21.12,0.822,6,0.000,0.031,2716,2094,2665
$STATE,2870,end climb,SURFACE_DEPTH_REACHED
$STATE,2870,begin surface coast
$FINISH,0.1,1.007849
$STATE,2935,end surface coast,CONTROL_FINISHED_OK
$STATE,2935,begin surface
$SM_CCo,2955,93.60,0.805,0,0,2207,300.00
$SM_GC,1.21,0.00,0.00,93.60,0.000,0.000,0.805,420,2092,2207,-9.57,-0.14,300.00
$IRIDIUM_FIX,4751.72,-12223.57,020199,090908
$TT8_MAMPS,0.027612
$HUMID,1755
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,18.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,90.4,28.1
$24V_AH,23.2,2.098
$10V_AH,10.1,1.339
$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,21.375,36.950,256.875,93.600,0.000,61.680,53.099,255.343,5.750,0.000,0.000,31.591,773.735,944.770,434.506,935.503,565.392,33.325,924.738,0.000,915.851,0.000,11.367,0.000
$DEVICE_MAMPS,165.672,60.593,892.788,805.350,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,346.890,258.140,604.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25422,512
$CAP_FILE_SIZE,58163,0
$CFSIZE,260165632,218042368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,103849,4807.600,-12223.576,10,2.0,27,18.3