version: 66.03
glider: 150
mission: 2
dive: 12
start: 4 25 108 5 31 17
data:
$ID,150
$MISSION,2
$DIVE,12
$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,-2804.1536
$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,20
$R_STBD_OVSHOOT,20
$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,5
$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
$GPS1,051735,4806.039,-12221.969,11,99.0,30,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.7
$GPS2,053020,4806.035,-12221.979,7,0.9,12,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,0.210
$KALMAN_X,-45.7,-1.0,-123.4,1903.0,-22.9
$KALMAN_Y,359.1,38.4,202.0,-3543.3,58.0
$MHEAD_RNG_PITCHd_Wd,306.2,4415,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-195.5,0.0,0.0,0,146,0.00,0.00,-125.07,0.000,2,0.000,0.000,429,2097,3303
$GC,148,-0.85,-195.5,3.2,-2.7,23,190,13.25,2.65,-17.70,0.000,4,0.173,0.106,2850,3516,3954
$GC,277,-0.85,-195.5,11.8,-6.1,51,284,0.00,2.42,0.00,0.000,6,0.000,0.061,2850,2105,3955
$GC,348,-0.85,-195.5,15.2,-4.6,67,354,0.00,2.42,0.00,0.000,4,0.000,0.071,2850,698,3955
$GC,389,-0.85,-195.5,17.3,-5.4,76,395,0.00,2.42,0.00,0.000,6,0.000,0.061,2850,2119,3955
$GC,458,-0.85,-195.5,21.0,-5.1,92,465,0.00,2.55,0.00,0.000,4,0.000,0.093,2850,3516,3956
$GC,509,-0.85,-195.5,23.7,-5.6,103,515,0.00,2.42,0.00,0.000,6,0.000,0.061,2850,2104,3955
$GC,580,-0.85,-195.5,27.5,-5.4,119,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2104,3956
$GC,649,-0.85,-195.5,31.5,-5.7,135,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2104,3955
$GC,718,-0.85,-195.5,35.4,-5.8,151,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2104,3956
$GC,787,-0.85,-195.5,39.7,-6.0,167,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2104,3955
$GC,861,-0.85,-195.5,44.1,-5.8,183,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2104,3956
$GC,1003,-0.85,-195.5,52.5,-5.8,214,1009,0.00,2.58,0.00,0.000,4,0.000,0.097,2850,3516,3956
$GC,1046,-0.85,-195.5,55.0,-6.0,223,1052,0.00,2.42,0.00,0.000,6,0.000,0.062,2850,2106,3955
$GC,1189,-0.85,-195.5,63.2,-5.9,254,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2106,3955
$GC,1332,-0.85,-195.5,71.3,-5.6,285,1338,0.00,2.60,0.00,0.000,4,0.000,0.094,2850,3520,3955
$GC,1356,-0.85,-195.5,72.8,-5.8,290,1363,0.00,2.42,0.00,0.000,6,0.000,0.065,2850,2113,3955
$GC,1500,-0.85,-195.5,80.8,-5.6,321,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2113,3955
$GC,1641,-0.85,-195.5,88.8,-5.8,352,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2113,3956
$GC,1784,-0.85,-195.5,96.9,-5.7,383,1790,0.00,2.58,0.00,0.000,4,0.000,0.100,2850,3515,3955
$GC,1818,-0.85,-195.5,99.1,-6.0,390,1824,0.00,2.42,0.00,0.000,6,0.000,0.066,2850,2109,3956
$GC,1960,-0.85,-195.5,107.0,-5.8,421,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2109,3956
$STATE,1978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1978,begin apogee
$GC,1982,-0.31,0.0,108.1,5.5,425,2072,0.57,0.00,85.05,0.907,6,0.097,0.000,2975,2109,3519
$STATE,2073,end apogee,CONTROL_FINISHED_OK
$STATE,2073,begin climb
$GC,2075,0.85,195.5,110.0,0.0,442,2240,1.15,2.55,152.50,0.862,4,0.079,0.074,3233,708,2721
$GC,2245,0.85,195.5,100.5,7.4,474,2251,0.00,2.45,0.00,0.000,6,0.000,0.062,3233,2110,2721
$GC,2389,0.85,195.5,88.6,7.9,505,2395,0.00,2.65,0.00,0.000,4,0.000,0.107,3233,3513,2720
$GC,2422,0.85,195.5,85.8,8.2,512,2429,0.00,2.45,0.00,0.000,6,0.000,0.065,3233,2112,2720
$GC,2567,0.85,195.5,74.5,8.1,543,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2112,2720
$GC,2708,0.85,195.5,62.8,8.1,574,2714,0.00,2.58,0.00,0.000,4,0.000,0.096,3233,3514,2721
$GC,2728,0.85,195.5,61.0,8.4,578,2735,0.00,2.45,0.00,0.000,6,0.000,0.064,3233,2105,2720
$GC,2872,0.85,195.5,49.3,7.9,609,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2104,2720
$GC,3011,0.85,195.5,37.9,7.9,640,3018,0.00,2.60,0.00,0.000,4,0.000,0.097,3233,3516,2720
$GC,3043,0.85,195.5,35.2,8.3,647,3050,0.00,2.45,0.00,0.000,6,0.000,0.065,3233,2099,2720
$GC,3114,0.85,195.5,29.9,7.8,663,3120,0.00,2.45,0.00,0.000,4,0.000,0.077,3233,694,2720
$GC,3135,0.85,195.5,28.2,7.7,667,3141,0.00,2.42,0.00,0.000,6,0.000,0.066,3234,2112,2720
$GC,3205,0.85,195.5,22.8,7.4,683,3212,0.00,2.58,0.00,0.000,4,0.000,0.097,3233,3513,2720
$GC,3237,0.85,195.5,20.3,8.0,690,3244,0.00,2.42,0.00,0.000,6,0.000,0.062,3233,2109,2720
$GC,3308,0.85,195.5,14.9,7.6,706,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2109,2720
$GC,3379,0.85,195.5,9.8,7.3,722,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2109,2720
$GC,3449,0.90,231.9,5.3,6.1,738,3483,0.00,0.00,29.75,0.831,6,0.000,0.000,3233,2109,2573
$STATE,3492,end climb,SURFACE_DEPTH_REACHED
$STATE,3492,begin surface coast
$FINISH,3.4,1.020036
$STATE,3637,end surface coast,CONTROL_FINISHED_OK
$STATE,3637,begin surface
$SM_CCo,3656,276.73,0.788,2,0,1073,600.00
$SM_GC,0.98,0.00,0.00,276.73,0.000,0.000,0.788,425,2105,1073,-12.06,-0.11,600.00
$IRIDIUM_FIX,4751.72,-12221.84,200797,050519
$TT8_MAMPS,0.028379
$HUMID,1508
$INTERNAL_PRESSURE,9.01717
$TCM_TEMP,17.30
$XPDR_PINGS,45
$24V_AH,23.1,2.090
$10V_AH,10.1,0.859
$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,27.025,59.975,267.300,276.725,0.000,87.014,89.993,372.232,12.000,0.000,0.000,14.063,1164.742,797.772,700.777,1397.010,666.842,33.343,1399.197,0.000,1392.380,0.000,5.561
$DEVICE_MAMPS,172.575,107.380,907.361,787.709,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,532.050,389.437,938.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41159,781
$CAP_FILE_SIZE,79591,0
$CFSIZE,260165632,258334720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250408,063745,4806.324,-12222.317,10,1.4,11,18.3