version: 66.04
glider: 150
mission: 6
dive: 18
start: 10 8 109 10 46 12
data:
$ID,150
$MISSION,6
$DIVE,18
$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,-16025.45
$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,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
$GPS1,103849,4807.600,-12223.576,10,2.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.6
$GPS2,104519,4807.562,-12223.521,14,1.4,31,18.3
$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,1059.9,351.3,-2.3,-1505.7,267.3
$KALMAN_Y,-2858.0,-134.9,-161.5,3913.5,-229.2
$MHEAD_RNG_PITCHd_Wd,300.6,1004,-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,-145.7,0.0,0.0,0,61,0.00,0.00,-41.03,0.000,2,0.000,0.000,420,2092,3051
$GC,64,-0.99,-145.7,2.2,-3.5,7,114,10.10,2.33,-32.58,0.000,4,0.170,0.054,2278,3500,3952
$GC,133,-0.99,-145.7,6.0,-8.4,19,140,0.00,2.25,0.00,0.000,6,0.000,0.030,2278,2091,3952
$GC,209,-0.99,-145.7,12.4,-8.9,32,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2090,3953
$GC,283,-0.99,-145.7,19.0,-8.7,45,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2090,3952
$GC,357,-0.99,-145.7,25.4,-8.4,58,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2090,3952
$GC,431,-0.99,-145.7,32.0,-8.6,71,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2090,3952
$GC,506,-0.99,-145.7,38.8,-9.0,84,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2090,3952
$GC,581,-0.99,-145.7,45.5,-8.9,97,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2090,3952
$GC,721,-0.99,-145.7,57.8,-8.3,122,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2090,3952
$GC,864,-0.99,-145.7,69.7,-8.3,147,870,0.00,2.35,0.00,0.000,4,0.000,0.048,2278,3509,3952
$GC,903,-0.99,-145.7,73.2,-8.9,155,910,0.00,2.25,0.00,0.000,6,0.000,0.029,2278,2102,3952
$GC,1049,-0.99,-145.7,85.8,-8.6,180,1055,0.00,2.33,0.00,0.000,4,0.000,0.048,2278,695,3952
$GC,1085,-0.99,-145.7,88.8,-8.7,187,1091,0.00,2.22,0.00,0.000,6,0.000,0.025,2278,2109,3952
$GC,1227,-0.99,-145.7,100.9,-8.3,212,1233,0.00,2.30,0.00,0.000,4,0.000,0.044,2278,3482,3952
$GC,1254,-0.99,-145.7,103.2,-8.8,217,1260,0.00,2.22,0.00,0.000,6,0.000,0.028,2278,2084,3952
$STATE,1337,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1337,begin apogee
$GC,1344,-0.31,0.0,110.4,8.6,232,1451,0.65,0.00,101.57,0.894,6,0.085,0.000,2428,2085,3430
$STATE,1452,end apogee,CONTROL_FINISHED_OK
$STATE,1452,begin climb
$GC,1455,0.99,145.7,113.9,0.0,251,1580,1.23,2.45,117.07,0.867,4,0.063,0.050,2714,3486,2834
$GC,1601,0.99,145.7,106.7,7.9,277,1607,0.00,2.28,0.00,0.000,6,0.000,0.035,2714,2096,2832
$GC,1742,0.99,145.7,94.3,8.5,302,1749,0.00,2.40,0.00,0.000,4,0.000,0.058,2715,688,2828
$GC,1769,0.99,145.7,91.9,9.1,307,1775,0.00,2.25,0.00,0.000,6,0.000,0.030,2714,2098,2828
$GC,1911,0.99,145.7,79.4,8.5,332,1918,0.00,2.38,0.00,0.000,4,0.000,0.054,2715,693,2828
$GC,1933,0.99,145.7,77.5,8.3,336,1939,0.00,2.25,0.00,0.000,6,0.000,0.029,2715,2098,2827
$GC,2076,0.99,145.7,66.0,8.1,361,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2098,2827
$GC,2217,0.99,145.7,54.7,8.0,386,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2098,2827
$GC,2358,0.99,145.7,43.3,7.9,411,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2098,2827
$GC,2500,0.99,145.7,32.4,7.6,436,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2098,2827
$GC,2574,0.99,145.9,26.8,7.5,449,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2098,2827
$GC,2648,0.99,145.9,21.1,7.7,462,2655,0.00,2.35,0.00,0.000,4,0.000,0.054,2715,695,2826
$GC,2695,0.99,145.9,17.4,8.1,472,2702,0.00,2.28,0.00,0.000,6,0.000,0.030,2715,2098,2826
$GC,2771,1.00,151.3,11.8,7.3,485,2783,0.00,2.38,4.95,0.634,4,0.000,0.051,2715,3493,2814
$GC,2811,1.00,151.3,8.7,7.8,493,2818,0.00,2.28,0.00,0.000,6,0.000,0.032,2715,2084,2813
$GC,2887,1.07,204.9,3.7,5.6,506,2907,0.00,0.00,17.50,0.823,2,0.000,0.000,2714,2084,2732
$STATE,2907,end climb,SURFACE_DEPTH_REACHED
$STATE,2908,begin surface coast
$FINISH,0.5,1.020965
$STATE,2986,end surface coast,CONTROL_FINISHED_OK
$STATE,2986,begin surface
$SM_CCo,3005,106.85,0.811,0,0,2207,300.00
$SM_GC,1.75,0.00,0.00,106.85,0.000,0.000,0.811,425,2081,2207,-9.55,-0.45,300.00
$IRIDIUM_FIX,4748.51,-12226.29,020199,090912
$TT8_MAMPS,0.027612
$HUMID,1760
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,18.50
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,85.1,35.0
$24V_AH,23.2,2.195
$10V_AH,10.1,1.392
$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,21.550,41.525,241.100,106.850,0.000,25.958,28.126,188.353,6.000,0.000,0.000,33.443,793.252,904.448,436.682,953.700,426.124,33.332,930.381,0.000,935.896,0.000,9.207,0.000
$DEVICE_MAMPS,169.507,58.292,893.555,811.486,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,353.006,260.541,611.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28529,523
$CAP_FILE_SIZE,57297,0
$CFSIZE,260165632,218009600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,113916,4807.856,-12223.838,12,99.0,31,18.3