version: 66.03
glider: 150
mission: 2
dive: 10
start: 4 25 108 3 6 33
data:
$ID,150
$MISSION,2
$DIVE,10
$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,-2757.2715
$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,25
$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
$GPS1,025922,4806.309,-12222.303,5,2.7,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.8
$GPS2,030537,4806.348,-12222.305,9,1.3,25,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.223
$KALMAN_X,35.2,78.6,-90.9,1309.5,-105.8
$KALMAN_Y,138.3,-98.5,150.7,-2556.8,193.4
$MHEAD_RNG_PITCHd_Wd,131.9,746,-9.8,-6.965
$D_GRID,107
$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,-195.5,0.0,0.0,0,129,0.00,0.00,-108.78,0.000,2,0.000,0.000,428,2113,3039
$GC,131,-0.85,-195.5,3.4,-3.1,20,172,13.25,0.00,-24.10,0.000,6,0.173,0.000,2850,2113,3953
$GC,235,-0.85,-195.5,9.4,-4.1,42,241,0.00,2.53,0.00,0.000,4,0.000,0.091,2850,3513,3955
$GC,264,-0.85,-195.5,10.5,-4.0,48,270,0.00,2.42,0.00,0.000,6,0.000,0.064,2850,2099,3956
$GC,334,-0.85,-195.5,13.4,-4.2,64,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2099,3956
$GC,404,-0.85,-195.5,16.5,-4.5,80,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2099,3957
$GC,473,-0.85,-195.5,20.1,-5.2,96,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2099,3957
$GC,542,-0.85,-195.5,23.6,-4.9,112,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2100,3957
$GC,612,-0.85,-195.5,27.5,-5.8,128,618,0.00,2.60,0.00,0.000,4,0.000,0.090,2850,3518,3957
$GC,682,-0.85,-195.5,32.0,-6.4,144,689,0.00,2.42,0.00,0.000,6,0.000,0.067,2850,2112,3957
$GC,752,-0.85,-195.5,36.2,-5.9,160,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2112,3957
$GC,821,-0.85,-195.5,40.3,-6.2,176,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2112,3957
$GC,963,-0.85,-195.5,48.7,-5.7,207,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2112,3957
$GC,1104,-0.85,-195.5,57.2,-6.0,238,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2112,3957
$GC,1246,-0.85,-195.5,65.3,-5.7,269,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2112,3957
$GC,1387,-0.85,-195.5,73.7,-5.9,300,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2112,3957
$GC,1529,-0.85,-195.5,82.1,-5.8,331,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2111,3956
$GC,1673,-0.85,-195.5,90.5,-6.0,362,1679,0.00,2.58,0.00,0.000,4,0.000,0.100,2850,3515,3957
$GC,1707,-0.85,-195.5,92.6,-6.0,369,1713,0.00,2.42,0.00,0.000,6,0.000,0.064,2850,2109,3956
$GC,1849,-0.85,-195.5,100.8,-5.9,400,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2109,3957
$STATE,1957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1957,begin apogee
$GC,1961,-0.31,0.0,107.1,5.7,424,2052,0.55,0.00,85.32,0.899,6,0.117,0.000,2971,2109,3519
$STATE,2053,end apogee,CONTROL_FINISHED_OK
$STATE,2053,begin climb
$GC,2054,0.85,195.5,109.2,0.0,441,2213,1.15,0.00,152.57,0.861,6,0.089,0.000,3227,2109,2721
$GC,2350,0.85,195.5,91.1,7.4,501,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2109,2720
$GC,2490,0.85,195.5,80.1,7.8,532,2496,0.00,2.62,0.00,0.000,4,0.000,0.100,3227,3514,2721
$GC,2520,0.85,195.5,77.5,8.1,538,2526,0.00,2.45,0.00,0.000,6,0.000,0.071,3227,2107,2720
$GC,2664,0.85,195.5,66.5,7.9,569,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2107,2721
$GC,2804,0.85,195.5,55.6,7.6,600,2810,0.00,2.60,0.00,0.000,4,0.000,0.098,3227,3514,2720
$GC,2829,0.85,195.5,53.6,7.7,605,2835,0.00,2.45,0.00,0.000,6,0.000,0.069,3227,2105,2721
$GC,2970,0.85,195.5,42.7,7.6,636,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2104,2721
$GC,3104,0.85,195.5,32.8,7.5,667,3110,0.00,2.60,0.00,0.000,4,0.000,0.097,3226,3515,2721
$GC,3136,0.85,195.5,30.3,7.8,674,3142,0.00,2.42,0.00,0.000,6,0.000,0.069,3227,2110,2720
$GC,3206,0.85,195.5,25.0,7.7,690,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2110,2720
$GC,3275,0.86,199.6,20.1,6.9,706,3282,0.00,0.00,4.97,0.662,6,0.000,0.000,3227,2110,2705
$GC,3346,0.86,202.5,15.2,6.9,722,3353,0.00,0.00,4.15,0.594,6,0.000,0.000,3227,2110,2693
$GC,3416,0.86,202.5,10.2,7.0,738,3423,0.00,2.58,0.00,0.000,4,0.000,0.091,3227,3514,2693
$GC,3467,0.90,232.3,7.0,6.2,749,3496,0.00,2.42,24.73,0.828,6,0.000,0.067,3227,2109,2572
$GC,3561,1.17,456.3,4.3,1.5,769,3590,0.30,0.00,26.90,0.815,2,0.065,0.000,3303,2109,2435
$STATE,3591,end climb,SURFACE_DEPTH_REACHED
$STATE,3591,begin surface coast
$FINISH,2.7,1.018451
$STATE,3798,end surface coast,CONTROL_FINISHED_OK
$STATE,3798,begin surface
$SM_CCo,3817,265.95,0.790,2,0,1072,600.00
$SM_GC,0.94,0.00,0.00,265.95,0.000,0.000,0.790,425,2106,1072,-12.06,-0.11,600.00
$IRIDIUM_FIX,4748.51,-12224.57,200797,010141
$TT8_MAMPS,0.027612
$HUMID,1528
$INTERNAL_PRESSURE,9.01717
$TCM_TEMP,16.50
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,90.1,37.2
$24V_AH,23.4,1.776
$10V_AH,10.1,0.724
$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,27.650,35.125,298.650,265.950,0.000,25.802,27.207,222.241,10.250,0.000,0.000,26.725,1215.692,724.213,679.623,1487.832,374.222,33.324,1394.774,0.000,1469.314,0.000,6.989
$DEVICE_MAMPS,173.342,100.477,898.924,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,561.626,420.553,1009.419,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44311,824
$CAP_FILE_SIZE,75564,0
$CFSIZE,260165632,258416640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250408,041553,4806.091,-12222.106,11,5.2,31,18.3