version: 66.03
glider: 151
mission: 1
dive: 9
start: 4 30 108 1 50 33
data:
$ID,151
$MISSION,1
$DIVE,9
$D_SURF,5
$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,150
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51663
$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,650
$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,-3765.3713
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2617
$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,247
$ROLL_MAX,3926
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3954
$C_VBD,3404
$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,-23.203138
$PRESSURE_SLOPE,0.0001148558
$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,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0043511889
$SEABIRD_T_H,0.00063513592
$SEABIRD_T_I,2.430502e-05
$SEABIRD_T_J,2.5370914e-06
$SEABIRD_C_G,-10.00406
$SEABIRD_C_H,1.1117702
$SEABIRD_C_I,-0.0010280402
$SEABIRD_C_J,0.00016666186
$GPS1,004507,4805.665,-12221.732,42,2.0,46,18.3
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-66.5
$GPS2,014935,4805.442,-12221.456,16,1.7,17,18.3
$SPEED_LIMITS,0.121,0.303
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.266
$KALMAN_X,431.1,-109.8,77.4,1718.9,242.1
$KALMAN_Y,-1039.9,136.9,-138.4,-4319.4,-505.7
$MHEAD_RNG_PITCHd_Wd,313.0,1233,-7.0,-6.965
$D_GRID,110
$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,-0.80,-293.3,0.0,0.0,0,80,0.00,0.00,-60.08,0.000,2,0.000,0.000,435,2380,2747
$GC,82,-0.80,-293.3,3.2,-2.3,10,133,10.93,2.58,-34.28,0.000,4,0.170,0.089,2436,3806,3957
$GC,226,-0.80,-293.3,10.6,-5.7,40,233,0.00,2.38,0.00,0.000,6,0.000,0.052,2436,2396,3958
$GC,297,-0.80,-293.3,14.4,-4.7,56,304,0.00,2.45,0.00,0.000,4,0.000,0.069,2437,1004,3958
$GC,359,-0.80,-293.3,17.6,-5.7,70,366,0.00,2.42,0.00,0.000,6,0.000,0.061,2437,2405,3958
$GC,431,-0.80,-293.3,21.0,-4.8,86,437,0.00,2.47,0.00,0.000,4,0.000,0.074,2437,3796,3958
$GC,468,-0.80,-293.3,23.0,-5.3,94,475,0.00,2.35,0.00,0.000,6,0.000,0.050,2437,2401,3958
$GC,539,-0.80,-293.3,26.6,-4.8,110,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2402,3958
$GC,609,-0.80,-293.3,30.4,-5.5,126,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2402,3958
$GC,680,-0.80,-293.3,34.2,-5.3,142,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2401,3959
$GC,750,-0.80,-293.3,38.0,-5.4,158,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2401,3959
$GC,822,-0.80,-293.3,41.8,-5.4,174,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2401,3959
$GC,962,-0.80,-293.3,49.5,-5.8,205,968,0.00,2.50,0.00,0.000,4,0.000,0.081,2437,3808,3959
$GC,995,-0.80,-293.3,51.5,-5.9,212,1002,0.00,2.38,0.00,0.000,6,0.000,0.048,2437,2409,3958
$GC,1135,-0.80,-293.3,58.9,-5.0,243,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2409,3958
$GC,1273,-0.80,-293.3,66.3,-5.1,274,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2409,3959
$GC,1413,-0.80,-293.3,73.7,-5.4,305,1419,0.00,2.47,0.00,0.000,4,0.000,0.077,2437,3801,3958
$GC,1451,-0.80,-293.3,76.0,-5.8,313,1457,0.00,2.35,0.00,0.000,6,0.000,0.053,2437,2395,3958
$GC,1592,-0.80,-293.3,83.7,-5.6,344,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2395,3958
$GC,1731,-0.80,-293.3,91.4,-5.5,375,1737,0.00,2.50,0.00,0.000,4,0.000,0.077,2437,3802,3958
$GC,1764,-0.80,-293.3,93.5,-5.9,382,1771,0.00,2.38,0.00,0.000,6,0.000,0.054,2436,2406,3958
$GC,1904,-0.80,-293.3,101.0,-5.2,413,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2406,3958
$GC,2041,-0.80,-293.3,108.4,-5.3,444,2048,0.00,2.50,0.00,0.000,4,0.000,0.082,2436,3796,3957
$STATE,2069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2069,begin apogee
$GC,2076,-0.31,0.0,110.0,5.4,450,2188,0.50,0.00,106.12,0.821,6,0.097,0.000,2544,2341,3404
$STATE,2188,end apogee,CONTROL_FINISHED_OK
$STATE,2188,begin climb
$GC,2190,0.80,293.3,112.6,0.0,470,2424,1.10,2.58,224.77,0.738,4,0.078,0.080,2789,3754,2207
$GC,2461,0.80,293.3,94.6,9.2,520,2468,0.00,2.42,0.00,0.000,6,0.000,0.051,2788,2353,2207
$GC,2602,0.80,293.3,82.0,9.1,551,2608,0.00,2.55,0.00,0.000,4,0.000,0.091,2789,940,2207
$GC,2623,0.80,293.3,80.0,9.1,555,2629,0.00,2.45,0.00,0.000,6,0.000,0.066,2788,2348,2207
$GC,2762,0.80,293.3,67.1,8.9,586,2769,0.00,2.53,0.00,0.000,4,0.000,0.077,2789,3751,2207
$GC,2789,0.80,293.3,64.8,9.1,591,2795,0.00,2.40,0.00,0.000,6,0.000,0.053,2789,2347,2207
$GC,2927,0.80,293.3,52.4,8.8,622,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2347,2207
$GC,3067,0.80,293.3,40.2,8.6,653,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2347,2207
$GC,3198,0.80,293.3,29.0,8.7,684,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2347,2207
$GC,3268,0.80,293.3,23.0,8.4,700,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2347,2207
$GC,3338,0.80,293.3,17.0,8.4,716,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2347,2206
$GC,3408,0.80,293.3,11.5,7.8,732,3415,0.00,2.53,0.00,0.000,4,0.000,0.075,2789,3749,2206
$GC,3433,0.80,293.3,9.6,7.3,737,3440,0.00,2.40,0.00,0.000,6,0.000,0.051,2789,2348,2205
$GC,3505,1.01,469.0,6.1,4.1,753,3543,0.17,0.00,35.42,0.786,2,0.067,0.000,2837,2348,2029
$STATE,3543,end climb,SURFACE_DEPTH_REACHED
$STATE,3544,begin surface coast
$FINISH,3.7,1.016569
$STATE,3690,end surface coast,CONTROL_FINISHED_OK
$STATE,3690,begin surface
$SM_CCo,3707,246.90,0.679,2,0,753,650.04
$SM_GC,1.80,0.00,0.00,246.90,0.000,0.000,0.679,431,2405,753,-10.06,0.11,650.04
$IRIDIUM_FIX,4748.51,-12224.57,250797,000058
$TT8_MAMPS,0.029146
$HUMID,1492
$INTERNAL_PRESSURE,8.90466
$TCM_TEMP,15.40
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,80.3,49.4
$24V_AH,23.6,1.579
$10V_AH,10.1,0.739
$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,23.075,54.175,366.325,246.900,0.000,29.303,29.394,294.389,8.000,0.000,0.000,19.014,1177.838,373.006,673.105,1740.271,456.361,33.348,1415.960,0.000,1740.068,0.000,5.473
$DEVICE_MAMPS,169.507,90.506,820.690,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,544.809,379.899,1244.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41119,794
$CAP_FILE_SIZE,76879,0
$CFSIZE,260165632,258023424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,300408,025738,4805.712,-12221.694,26,1.2,27,18.3