version: 66.03
glider: 150
mission: 2
dive: 21
start: 4 25 108 14 6 32
data:
$ID,150
$MISSION,2
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,100
$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,-2959.9026
$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,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,15
$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,2
$ALTIM_SENSITIVITY,1
$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
$GPS1,135707,4807.477,-12223.555,9,1.7,25,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.7
$GPS2,140535,4807.463,-12223.523,14,2.2,33,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.110,0.185
$KALMAN_X,328.1,7.6,92.3,-605.6,-3.1
$KALMAN_Y,-599.9,-78.4,-179.4,562.4,7.2
$MHEAD_RNG_PITCHd_Wd,310.9,1155,-21.7,-10.000
$D_GRID,103
$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,-1.48,-97.8,0.0,0.0,0,108,0.00,0.00,-86.80,0.000,2,0.000,0.000,425,2196,3120
$GC,110,-1.48,-97.8,3.4,-3.6,16,156,12.48,2.58,-25.58,0.000,4,0.171,0.100,2717,3605,3920
$GC,269,-1.48,-97.8,15.7,-9.2,51,275,0.00,2.45,0.00,0.000,6,0.000,0.059,2717,2183,3920
$GC,339,-1.48,-97.8,21.5,-7.9,67,345,0.00,2.42,0.00,0.000,4,0.000,0.064,2717,768,3920
$GC,384,-1.48,-97.8,25.6,-9.4,77,391,0.00,2.45,0.00,0.000,6,0.000,0.057,2717,2196,3920
$GC,454,-1.48,-97.8,31.9,-9.2,93,460,0.00,2.58,0.00,0.000,4,0.000,0.091,2717,3607,3920
$GC,491,-1.48,-97.8,35.5,-9.9,101,497,0.00,2.45,0.00,0.000,6,0.000,0.059,2717,2182,3920
$GC,562,-1.48,-97.8,42.3,-9.7,117,568,0.00,2.42,0.00,0.000,4,0.000,0.064,2717,765,3920
$GC,605,-1.48,-97.8,46.6,-10.0,126,611,0.00,2.45,0.00,0.000,6,0.000,0.059,2716,2196,3920
$GC,748,-1.48,-97.8,61.1,-9.9,157,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2196,3920
$GC,888,-1.48,-97.8,75.5,-10.0,188,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2196,3920
$GC,1032,-1.48,-97.8,89.8,-9.9,219,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2196,3920
$STATE,1168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1168,begin apogee
$GC,1171,-0.31,0.0,103.4,10.0,249,1256,1.23,0.00,78.22,0.891,6,0.122,0.000,2972,2196,3519
$STATE,1257,end apogee,CONTROL_FINISHED_OK
$STATE,1257,begin climb
$GC,1258,1.48,97.8,105.4,0.0,265,1343,1.73,0.00,77.32,0.858,6,0.074,0.000,3365,2196,3120
$GC,1479,1.48,97.8,82.6,12.3,311,1485,0.00,2.50,0.00,0.000,4,0.000,0.073,3365,777,3119
$GC,1504,1.48,97.8,79.3,13.2,316,1510,0.00,2.45,0.00,0.000,6,0.000,0.064,3365,2189,3119
$GC,1646,1.48,97.8,61.4,12.5,347,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2189,3118
$GC,1786,1.48,97.8,44.3,12.0,378,1792,0.00,2.45,0.00,0.000,4,0.000,0.070,3365,776,3119
$GC,1840,1.48,97.8,37.4,13.2,390,1847,0.00,2.45,0.00,0.000,6,0.000,0.062,3365,2196,3118
$GC,1910,1.48,97.8,28.9,12.2,406,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2196,3118
$GC,1979,1.48,97.8,21.1,10.8,422,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2196,3118
$GC,2047,1.48,97.8,13.7,10.5,438,2054,0.00,2.47,0.00,0.000,4,0.000,0.067,3365,770,3118
$GC,2088,1.48,97.8,9.5,10.1,447,2094,0.00,2.45,0.00,0.000,6,0.000,0.059,3365,2191,3118
$GC,2158,1.57,171.4,4.7,4.9,463,2226,0.10,2.70,57.97,0.823,4,0.072,0.104,3396,3597,2819
$STATE,2238,end climb,SURFACE_DEPTH_REACHED
$STATE,2238,begin surface coast
$FINISH,3.8,1.020256
$STATE,2383,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2383,begin surface
$SM_CCo,2405,338.75,0.775,3,0,1073,600.00
$SM_GC,1.07,0.00,0.00,338.75,0.000,0.000,0.775,427,2184,1073,-12.05,-0.17,600.00
$IRIDIUM_FIX,4751.72,-12226.29,200797,141407
$TT8_MAMPS,0.027612
$HUMID,1502
$INTERNAL_PRESSURE,9.01717
$TCM_TEMP,17.50
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,80.2,9.1
$24V_AH,23.4,3.376
$10V_AH,10.1,1.354
$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,28.575,39.775,213.525,338.750,0.000,59.938,49.514,230.779,8.750,0.000,0.000,36.019,759.552,491.723,663.243,952.721,419.717,33.325,1138.952,0.000,928.993,0.000,5.358
$DEVICE_MAMPS,171.041,103.545,891.254,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,348.644,266.651,646.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25347,513
$CAP_FILE_SIZE,54492,0
$CFSIZE,260165632,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250408,145315,4807.686,-12223.721,9,1.5,9,18.3