version: 66.03
glider: 149
mission: 2
dive: 9
start: 4 25 108 1 52 14
data:
$ID,149
$MISSION,2
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,140
$D_ABORT,250
$D_NO_BLEED,80
$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,75
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51639
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-2665.2075
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3733
$C_PITCH,3040
$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,282
$ROLL_MAX,3925
$ROLL_DEG,40
$C_ROLL_DIVE,2282
$C_ROLL_CLIMB,2282
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3957
$C_VBD,3485
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-18.749365
$PRESSURE_SLOPE,0.000116112
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043685557
$SEABIRD_T_H,0.00063666771
$SEABIRD_T_I,2.5326763e-05
$SEABIRD_T_J,2.7989174e-06
$SEABIRD_C_G,-9.6974983
$SEABIRD_C_H,1.0780905
$SEABIRD_C_I,-0.00093173212
$SEABIRD_C_J,0.00015556168
$GPS1,014444,4806.577,-12222.425,6,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.1
$GPS2,015123,4806.630,-12222.436,10,2.4,29,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,-0.235
$KALMAN_X,130.1,120.6,-63.0,957.2,-159.5
$KALMAN_Y,102.8,-98.6,98.8,-2040.7,380.5
$MHEAD_RNG_PITCHd_Wd,137.7,1285,-9.8,-6.965
$D_GRID,140
$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,16,begin dive
$GC,17,-0.85,-195.5,0.0,0.0,0,85,0.00,0.00,-65.35,0.000,2,0.000,0.000,430,2284,2615
$GC,87,-0.85,-195.5,3.3,-4.3,12,145,13.20,2.60,-36.85,0.000,4,0.169,0.109,2844,3689,3956
$GC,192,-0.85,-195.5,10.1,-5.7,33,199,0.00,2.42,0.00,0.000,6,0.000,0.069,2844,2279,3957
$GC,263,-0.85,-195.5,13.6,-4.5,49,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2279,3957
$GC,332,-0.85,-195.5,16.7,-4.6,65,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2279,3957
$GC,402,-0.85,-195.5,20.2,-5.1,81,408,0.00,2.42,0.00,0.000,4,0.000,0.070,2843,875,3957
$GC,453,-0.85,-195.5,23.1,-6.1,92,459,0.00,2.42,0.00,0.000,6,0.000,0.064,2844,2285,3957
$GC,523,-0.85,-195.5,27.5,-6.3,108,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2285,3957
$GC,593,-0.85,-195.5,31.6,-5.9,124,599,0.00,2.45,0.00,0.000,4,0.000,0.068,2844,876,3957
$GC,622,-0.85,-195.5,33.4,-6.1,130,628,0.00,2.42,0.00,0.000,6,0.000,0.063,2844,2285,3957
$GC,692,-0.85,-195.5,37.6,-6.0,146,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2285,3957
$GC,763,-0.85,-195.5,42.0,-6.1,162,770,0.00,2.47,0.00,0.000,4,0.000,0.068,2844,869,3957
$GC,816,-0.85,-195.5,45.3,-6.7,173,822,0.00,2.45,0.00,0.000,6,0.000,0.069,2843,2282,3957
$GC,957,-0.85,-195.5,53.5,-5.6,204,964,0.00,2.45,0.00,0.000,4,0.000,0.075,2843,873,3957
$GC,992,-0.85,-195.5,55.6,-5.8,211,998,0.00,2.42,0.00,0.000,6,0.000,0.062,2843,2282,3957
$GC,1134,-0.85,-195.5,63.3,-5.3,242,1140,0.00,2.45,0.00,0.000,4,0.000,0.068,2844,871,3957
$GC,1169,-0.85,-195.5,65.1,-5.5,249,1174,0.00,2.45,0.00,0.000,6,0.000,0.061,2843,2289,3957
$GC,1311,-0.85,-195.5,72.7,-5.3,280,1317,0.00,2.45,0.00,0.000,4,0.000,0.068,2844,874,3957
$GC,1341,-0.85,-195.5,74.5,-5.6,286,1347,0.00,2.42,0.00,0.000,6,0.000,0.062,2844,2290,3957
$GC,1487,-0.85,-195.5,82.6,-5.4,317,1493,0.00,2.47,0.00,0.000,4,0.000,0.074,2844,869,3958
$GC,1529,-0.85,-195.5,85.1,-5.8,326,1536,0.00,2.42,0.00,0.000,6,0.000,0.063,2843,2285,3957
$GC,1673,-0.85,-195.5,93.5,-5.8,357,1679,0.00,2.45,0.00,0.000,4,0.000,0.067,2843,875,3957
$GC,1706,-0.85,-195.5,95.5,-6.1,364,1712,0.00,2.42,0.00,0.000,6,0.000,0.062,2843,2288,3957
$GC,1849,-0.85,-195.5,103.8,-5.7,395,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2288,3957
$GC,1990,-0.85,-195.5,111.7,-5.5,426,1997,0.00,2.45,0.00,0.000,4,0.000,0.068,2844,875,3957
$GC,2043,-0.85,-195.5,114.8,-5.9,437,2049,0.00,2.42,0.00,0.000,6,0.000,0.061,2843,2288,3957
$STATE,2054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2054,begin apogee
$GC,2057,-0.31,0.0,115.5,5.9,439,2158,0.57,0.00,92.57,0.794,6,0.097,0.000,2968,2288,3486
$STATE,2159,end apogee,CONTROL_FINISHED_OK
$STATE,2159,begin climb
$GC,2160,0.85,195.5,118.1,0.0,458,2326,1.15,2.53,154.85,0.759,4,0.076,0.072,3223,877,2688
$GC,2349,0.85,195.5,108.7,7.3,494,2355,0.00,2.47,0.00,0.000,6,0.000,0.064,3223,2287,2688
$GC,2494,0.85,195.5,97.6,7.9,525,2500,0.00,2.50,0.00,0.000,4,0.000,0.071,3223,876,2688
$GC,2514,0.85,195.5,95.9,8.1,529,2520,0.00,2.45,0.00,0.000,6,0.000,0.072,3223,2281,2688
$GC,2654,0.85,195.5,84.8,7.7,560,2661,0.00,2.47,0.00,0.000,4,0.000,0.074,3223,876,2688
$GC,2684,0.85,195.5,82.3,8.1,566,2690,0.00,2.47,0.00,0.000,6,0.000,0.066,3223,2288,2688
$GC,2826,0.85,195.5,71.3,8.0,597,2832,0.00,2.50,0.00,0.000,4,0.000,0.079,3224,874,2687
$GC,2859,0.85,195.5,68.4,8.0,604,2865,0.00,2.45,0.00,0.000,6,0.000,0.065,3223,2281,2688
$GC,3002,0.85,195.5,57.7,7.5,635,3008,0.00,2.50,0.00,0.000,4,0.000,0.074,3223,868,2688
$GC,3031,0.85,195.5,55.3,7.9,641,3037,0.00,2.47,0.00,0.000,6,0.000,0.065,3223,2284,2687
$GC,3172,0.85,195.5,44.6,7.7,672,3179,0.00,2.47,0.00,0.000,4,0.000,0.073,3223,876,2687
$GC,3198,0.85,195.5,42.6,7.6,677,3204,0.00,2.45,0.00,0.000,6,0.000,0.072,3223,2282,2688
$GC,3332,0.85,195.5,32.5,7.6,708,3338,0.00,2.47,0.00,0.000,4,0.000,0.073,3223,874,2687
$GC,3365,0.85,195.5,29.8,7.8,715,3372,0.00,2.45,0.00,0.000,6,0.000,0.066,3223,2288,2687
$GC,3434,0.85,195.5,24.7,7.2,731,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2288,2687
$GC,3503,0.85,197.8,19.9,6.9,747,3510,0.00,0.00,3.65,0.489,6,0.000,0.000,3223,2287,2678
$GC,3574,0.86,202.8,15.1,6.8,763,3586,0.00,2.50,5.60,0.608,4,0.000,0.079,3223,877,2659
$GC,3609,0.86,205.7,12.6,6.9,770,3621,0.00,2.45,4.12,0.519,6,0.000,0.066,3223,2282,2647
$GC,3684,0.90,234.8,7.7,6.3,787,3714,0.00,2.58,24.80,0.719,4,0.000,0.078,3223,874,2527
$STATE,3912,end climb,NO_VERTICAL_VELOCITY
$STATE,3912,begin surface
$SM_CCo,3914,363.42,0.643,19,0,499,732.22
$SM_GC,1.24,12.07,0.00,0.00,0.047,0.000,0.000,429,2287,493,-11.95,0.14,733.94
$IRIDIUM_FIX,4748.51,-12219.12,200797,000039
$TT8_MAMPS,0.029146
$HUMID,1495
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,17.20
$XPDR_PINGS,119
$ALTIM_BOTTOM_PING,80.0,45.4
$24V_AH,23.6,1.502
$10V_AH,10.1,0.699
$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
$DEVICE_SECS,27.000,93.675,285.600,363.425,0.000,25.653,23.366,240.605,30.250,0.000,0.000,31.931,1267.140,827.011,878.339,1518.323,398.191,33.327,1620.241,0.000,1494.931,0.000,5.461
$DEVICE_MAMPS,168.740,108.914,793.845,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,577.326,411.260,993.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44245,840
$CAP_FILE_SIZE,86862,0
$CFSIZE,260165632,258420736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,19,0
$GPS,250408,030805,4806.399,-12222.267,12,4.3,32,18.3