version: 66.03
glider: 150
mission: 2
dive: 9
start: 4 25 108 1 48 1
data:
$ID,150
$MISSION,2
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,140
$D_ABORT,200
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51705
$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,-2729.9185
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,430
$PITCH_MAX,3717
$C_PITCH,3046
$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,2110
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3951
$C_VBD,3519
$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,-5.4720573
$PRESSURE_SLOPE,0.000116226
$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,0
$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,3
$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
$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
$GPS1,014032,4806.468,-12222.413,7,1.3,19,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-71.0
$GPS2,014705,4806.517,-12222.431,11,2.6,30,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.228
$KALMAN_X,149.5,108.5,-33.7,951.9,-106.7
$KALMAN_Y,-74.0,-159.6,53.8,-1874.2,227.4
$MHEAD_RNG_PITCHd_Wd,133.8,1095,-9.8,-6.965
$D_GRID,108
$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,17,-0.85,-195.5,0.0,0.0,0,91,0.00,0.00,-71.00,0.000,2,0.000,0.000,428,2104,2763
$GC,93,-0.85,-195.5,3.1,-4.4,13,145,13.23,2.62,-33.25,0.000,4,0.172,0.101,2852,3515,3953
$GC,218,-0.85,-195.5,10.6,-5.0,39,225,0.00,2.42,0.00,0.000,6,0.000,0.067,2851,2107,3955
$GC,289,-0.85,-195.5,14.0,-4.7,55,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2107,3956
$GC,358,-0.85,-195.5,17.3,-4.5,71,365,0.00,2.58,0.00,0.000,4,0.000,0.094,2851,3516,3957
$GC,391,-0.85,-195.5,19.1,-5.2,78,398,0.00,2.42,0.00,0.000,6,0.000,0.066,2851,2110,3956
$GC,462,-0.85,-195.5,22.8,-5.8,94,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2110,3956
$GC,532,-0.85,-195.5,26.7,-5.8,110,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2110,3957
$GC,602,-0.85,-195.5,30.7,-5.7,126,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2110,3956
$GC,672,-0.85,-195.5,34.8,-5.7,142,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2110,3956
$GC,742,-0.85,-195.5,39.1,-6.1,158,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2110,3957
$GC,816,-0.85,-195.5,43.7,-6.0,174,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2110,3956
$GC,958,-0.85,-195.5,52.6,-5.9,205,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2110,3957
$GC,1098,-0.85,-195.5,60.5,-5.6,236,1104,0.00,2.58,0.00,0.000,4,0.000,0.099,2851,3513,3957
$GC,1123,-0.85,-195.5,62.0,-5.7,241,1129,0.00,2.42,0.00,0.000,6,0.000,0.067,2851,2112,3956
$GC,1265,-0.85,-195.5,70.1,-6.0,272,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2112,3956
$GC,1407,-0.85,-195.5,78.2,-5.9,303,1413,0.00,2.58,0.00,0.000,4,0.000,0.097,2851,3513,3956
$GC,1443,-0.85,-195.5,80.6,-6.2,310,1450,0.00,2.42,0.00,0.000,6,0.000,0.065,2851,2109,3956
$GC,1586,-0.85,-195.5,88.8,-5.9,341,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2109,3956
$GC,1726,-0.85,-195.5,96.7,-5.4,372,1732,0.00,2.58,0.00,0.000,4,0.000,0.099,2851,3513,3956
$GC,1762,-0.85,-195.5,98.9,-6.0,379,1768,0.00,2.42,0.00,0.000,6,0.000,0.065,2851,2110,3957
$GC,1904,-0.85,-195.5,106.6,-5.2,410,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2109,3957
$STATE,1927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1928,begin apogee
$GC,1931,-0.31,0.0,108.0,5.5,415,2021,0.55,0.00,84.95,0.897,6,0.095,0.000,2971,2109,3519
$STATE,2022,end apogee,CONTROL_FINISHED_OK
$STATE,2022,begin climb
$GC,2023,0.85,195.5,109.8,0.0,432,2182,1.15,0.00,152.55,0.860,6,0.079,0.000,3228,2109,2722
$GC,2318,0.85,195.5,90.9,8.1,492,2324,0.00,2.62,0.00,0.000,4,0.000,0.101,3229,3511,2720
$GC,2348,0.85,195.5,88.4,8.3,498,2354,0.00,2.45,0.00,0.000,6,0.000,0.072,3228,2114,2720
$GC,2493,0.85,195.5,77.0,8.0,529,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2113,2720
$GC,2634,0.85,195.5,65.5,7.9,560,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2113,2720
$GC,2775,0.85,195.5,54.3,7.8,591,2781,0.00,2.60,0.00,0.000,4,0.000,0.097,3228,3517,2720
$GC,2808,0.85,195.5,51.7,8.2,598,2815,0.00,2.45,0.00,0.000,6,0.000,0.064,3229,2107,2720
$GC,2951,0.85,195.5,41.3,7.2,629,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2107,2720
$GC,3082,0.85,195.5,31.8,7.1,660,3089,0.00,2.60,0.00,0.000,4,0.000,0.099,3229,3517,2720
$GC,3114,0.85,195.5,29.3,7.6,667,3121,0.00,2.45,0.00,0.000,6,0.000,0.064,3229,2102,2720
$GC,3185,0.85,195.5,24.3,7.2,683,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2102,2720
$GC,3255,0.85,195.5,19.2,7.1,699,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2102,2720
$GC,3326,0.86,205.1,14.4,6.7,715,3344,0.00,2.65,8.95,0.779,4,0.000,0.094,3228,3509,2683
$GC,3371,0.86,205.1,11.0,7.2,724,3377,0.00,2.42,0.00,0.000,6,0.000,0.065,3229,2110,2683
$GC,3443,0.90,233.8,6.5,6.3,740,3472,0.00,2.55,23.98,0.824,4,0.000,0.075,3229,700,2565
$STATE,3650,end climb,NO_VERTICAL_VELOCITY
$STATE,3650,begin surface
$SM_CCo,3653,356.38,0.733,20,0,470,747.92
$SM_GC,0.87,11.98,0.00,0.00,0.044,0.000,0.000,428,2113,463,-11.98,0.08,749.88
$IRIDIUM_FIX,4751.72,-12223.57,200797,000051
$TT8_MAMPS,0.027612
$HUMID,1528
$INTERNAL_PRESSURE,8.96834
$TCM_TEMP,16.20
$XPDR_PINGS,46
$24V_AH,23.4,1.628
$10V_AH,10.1,0.646
$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,26.900,50.325,270.425,356.375,0.000,29.983,26.577,227.283,12.750,0.000,0.000,33.018,1185.887,781.981,839.994,1430.870,388.286,33.329,1525.896,0.000,1404.700,0.000,11.236
$DEVICE_MAMPS,171.808,101.244,897.390,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,537.872,393.621,945.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41164,788
$CAP_FILE_SIZE,76069,0
$CFSIZE,260165632,258465792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,20,0
$GPS,250408,025922,4806.309,-12222.303,5,2.7,25,18.3