version: 66.03
glider: 149
mission: 2
dive: 10
start: 4 25 108 3 16 22
data:
$ID,149
$MISSION,2
$DIVE,10
$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,-2702.0994
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,030805,4806.399,-12222.267,12,4.3,32,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.0
$GPS2,031531,4806.441,-12222.259,14,4.9,33,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,-0.240
$KALMAN_X,44.8,83.0,-138.5,1372.8,-126.7
$KALMAN_Y,470.6,-31.7,239.0,-2962.9,342.6
$MHEAD_RNG_PITCHd_Wd,140.7,878,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-195.5,0.0,0.0,0,125,0.00,0.00,-103.95,0.000,2,0.000,0.000,429,2286,2938
$GC,127,-0.85,-195.5,3.3,-2.6,19,174,13.18,2.67,-27.85,0.000,4,0.169,0.112,2844,3691,3958
$GC,234,-0.85,-195.5,9.6,-4.7,41,240,0.00,2.42,0.00,0.000,6,0.000,0.063,2844,2279,3959
$GC,304,-0.85,-195.5,12.7,-4.7,57,311,0.00,2.42,0.00,0.000,4,0.000,0.071,2844,875,3959
$GC,358,-0.85,-195.5,15.5,-5.3,69,364,0.00,2.42,0.00,0.000,6,0.000,0.062,2844,2284,3959
$GC,428,-0.85,-195.5,19.0,-5.1,85,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2284,3959
$GC,497,-0.85,-195.5,23.1,-6.2,101,503,0.00,2.45,0.00,0.000,4,0.000,0.074,2844,875,3959
$GC,530,-0.85,-195.5,25.1,-6.0,108,536,0.00,2.42,0.00,0.000,6,0.000,0.064,2844,2283,3959
$GC,601,-0.85,-195.5,29.2,-5.9,124,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2283,3960
$GC,672,-0.85,-195.5,33.1,-5.6,140,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2283,3960
$GC,743,-0.85,-195.5,37.1,-5.5,156,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2283,3960
$GC,812,-0.85,-195.5,41.1,-5.5,172,819,0.00,2.45,0.00,0.000,4,0.000,0.068,2844,874,3959
$GC,866,-0.85,-195.5,44.3,-6.1,183,872,0.00,2.45,0.00,0.000,6,0.000,0.062,2844,2290,3959
$GC,1007,-0.85,-195.5,52.6,-6.0,214,1014,0.00,2.47,0.00,0.000,4,0.000,0.067,2844,869,3959
$GC,1051,-0.85,-195.5,55.3,-6.4,223,1057,0.00,2.45,0.00,0.000,6,0.000,0.061,2844,2288,3959
$GC,1194,-0.85,-195.5,63.4,-5.6,254,1200,0.00,2.45,0.00,0.000,4,0.000,0.068,2844,874,3960
$GC,1255,-0.85,-195.5,66.9,-5.6,267,1261,0.00,2.42,0.00,0.000,6,0.000,0.062,2844,2282,3960
$GC,1398,-0.85,-195.5,74.9,-5.8,298,1404,0.00,2.45,0.00,0.000,4,0.000,0.067,2844,869,3960
$GC,1433,-0.85,-195.5,76.9,-5.7,305,1439,0.00,2.45,0.00,0.000,6,0.000,0.064,2844,2289,3959
$GC,1577,-0.85,-195.5,84.7,-5.4,336,1583,0.00,2.45,0.00,0.000,4,0.000,0.069,2844,875,3960
$GC,1621,-0.85,-195.5,87.2,-5.7,345,1627,0.00,2.42,0.00,0.000,6,0.000,0.062,2844,2282,3959
$GC,1762,-0.85,-195.5,94.5,-5.0,376,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2282,3959
$GC,1905,-0.85,-195.5,102.1,-5.4,407,1911,0.00,2.45,0.00,0.000,4,0.000,0.068,2844,874,3959
$GC,1962,-0.85,-195.5,105.3,-5.7,419,1968,0.00,2.42,0.00,0.000,6,0.000,0.062,2844,2282,3960
$GC,2105,-0.85,-195.5,112.6,-5.2,450,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2282,3959
$STATE,2192,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2192,begin apogee
$GC,2195,-0.31,0.0,117.2,5.1,469,2296,0.57,0.00,93.20,0.795,6,0.095,0.000,2968,2282,3485
$STATE,2297,end apogee,CONTROL_FINISHED_OK
$STATE,2297,begin climb
$GC,2298,0.85,195.5,119.4,0.0,488,2463,1.15,0.00,154.88,0.759,6,0.076,0.000,3223,2282,2690
$GC,2600,0.85,195.5,101.5,7.4,549,2606,0.00,2.50,0.00,0.000,4,0.000,0.074,3223,876,2689
$GC,2706,0.85,195.5,93.1,7.8,572,2712,0.00,2.45,0.00,0.000,6,0.000,0.066,3223,2284,2689
$GC,2849,0.85,195.5,81.9,7.9,603,2855,0.00,2.50,0.00,0.000,4,0.000,0.073,3223,872,2689
$GC,2878,0.85,195.5,79.6,7.8,609,2884,0.00,2.47,0.00,0.000,6,0.000,0.072,3223,2286,2689
$GC,3021,0.85,195.5,68.6,7.6,640,3027,0.00,2.47,0.00,0.000,4,0.000,0.073,3223,876,2689
$GC,3049,0.85,195.5,66.4,7.4,646,3056,0.00,2.45,0.00,0.000,6,0.000,0.066,3223,2282,2689
$GC,3192,0.85,195.5,55.8,7.5,677,3198,0.00,2.50,0.00,0.000,4,0.000,0.074,3223,870,2689
$GC,3226,0.85,195.5,53.0,8.0,684,3232,0.00,2.45,0.00,0.000,6,0.000,0.065,3223,2283,2689
$GC,3369,0.85,195.5,42.3,7.6,715,3375,0.00,2.47,0.00,0.000,4,0.000,0.073,3223,877,2689
$GC,3403,0.85,195.5,39.8,7.4,722,3409,0.00,2.45,0.00,0.000,6,0.000,0.066,3223,2283,2689
$GC,3473,0.86,198.6,34.8,6.9,738,3479,0.00,0.00,4.65,0.568,6,0.000,0.000,3223,2283,2675
$GC,3544,0.86,200.4,29.8,6.9,754,3550,0.00,2.47,0.00,0.000,4,0.000,0.073,3223,876,2675
$GC,3564,0.86,200.4,28.3,7.1,758,3570,0.00,2.45,0.00,0.000,6,0.000,0.066,3223,2285,2675
$GC,3636,0.86,202.6,23.3,6.9,774,3643,0.00,0.00,4.80,0.574,6,0.000,0.000,3223,2285,2659
$GC,3705,0.86,202.6,18.0,7.6,790,3712,0.00,2.47,0.00,0.000,4,0.000,0.074,3223,876,2659
$GC,3733,0.86,202.6,16.0,7.3,796,3740,0.00,2.45,0.00,0.000,6,0.000,0.066,3224,2289,2660
$GC,3803,0.87,209.5,11.2,6.8,812,3816,0.00,2.65,7.03,0.650,4,0.000,0.108,3223,3691,2632
$GC,3829,0.89,224.4,9.5,6.6,817,3853,0.00,2.45,13.93,0.696,6,0.000,0.065,3223,2278,2570
$GC,3917,1.08,383.0,5.3,3.1,836,3979,0.20,0.00,59.65,0.713,2,0.075,0.000,3274,2277,2264
$STATE,3980,end climb,SURFACE_DEPTH_REACHED
$STATE,3980,begin surface coast
$FINISH,3.1,1.017874
$STATE,4174,end surface coast,NO_VERTICAL_VELOCITY
$STATE,4174,begin surface
$SM_CCo,4193,222.45,0.680,3,0,1039,600.00
$SM_GC,1.34,0.00,0.00,222.45,0.000,0.000,0.680,431,2275,1039,-12.01,-0.20,600.00
$IRIDIUM_FIX,4751.72,-12226.29,200797,010152
$TT8_MAMPS,0.029146
$HUMID,1508
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,17.30
$XPDR_PINGS,129
$ALTIM_BOTTOM_PING,80.0,46.9
$24V_AH,23.6,1.640
$10V_AH,10.1,0.783
$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,27.575,83.850,338.125,222.450,0.000,28.172,30.563,273.560,32.750,0.000,0.000,36.262,1329.011,786.623,702.795,1621.639,443.652,33.338,1495.484,0.000,1595.946,0.000,5.464
$DEVICE_MAMPS,168.740,111.982,794.612,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,612.228,437.714,1065.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47402,894
$CAP_FILE_SIZE,88578,0
$CFSIZE,260165632,258367488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250408,043138,4806.136,-12222.114,50,1.9,51,18.3