version: 66.03
glider: 151
mission: 1
dive: 10
start: 4 30 108 3 4 50
data:
$ID,151
$MISSION,1
$DIVE,10
$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,-3779.7935
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,025738,4805.712,-12221.694,26,1.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.9
$GPS2,030351,4805.583,-12221.579,12,1.2,12,18.3
$SPEED_LIMITS,0.121,0.303
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.261
$KALMAN_X,707.5,-103.4,105.7,1266.1,313.9
$KALMAN_Y,-1527.6,110.0,-211.4,-3487.9,-566.9
$MHEAD_RNG_PITCHd_Wd,311.1,932,-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,-293.3,0.0,0.0,0,86,0.00,0.00,-65.60,0.000,2,0.000,0.000,431,2406,2490
$GC,88,-0.80,-293.3,3.3,-3.5,11,150,10.82,0.00,-47.08,0.000,6,0.164,0.000,2436,2406,3955
$GC,216,-0.80,-293.3,9.0,-5.3,36,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2406,3957
$GC,286,-0.80,-293.3,12.7,-5.6,52,293,0.00,2.50,0.00,0.000,4,0.000,0.071,2436,994,3957
$GC,411,-0.80,-293.3,19.2,-5.1,81,418,0.00,2.42,0.00,0.000,6,0.000,0.063,2436,2393,3958
$GC,483,-0.80,-293.3,22.4,-4.4,97,490,0.00,2.50,0.00,0.000,4,0.000,0.075,2436,3795,3958
$GC,517,-0.80,-293.3,24.1,-5.0,104,524,0.00,2.38,0.00,0.000,6,0.000,0.046,2436,2389,3958
$GC,588,-0.80,-293.3,27.7,-4.7,120,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2388,3958
$GC,660,-0.80,-293.3,31.3,-4.9,136,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2388,3957
$GC,730,-0.80,-293.3,34.9,-5.0,152,736,0.00,2.53,0.00,0.000,4,0.000,0.081,2436,3796,3958
$GC,751,-0.80,-293.3,36.1,-5.2,156,758,0.00,2.35,0.00,0.000,6,0.000,0.053,2436,2405,3958
$GC,822,-0.80,-293.3,40.0,-5.4,172,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2405,3958
$GC,961,-0.80,-293.3,47.4,-5.5,203,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2405,3958
$GC,1098,-0.80,-293.3,55.3,-5.7,234,1105,0.00,2.50,0.00,0.000,4,0.000,0.081,2436,3795,3958
$GC,1128,-0.80,-293.3,57.1,-5.9,240,1135,0.00,2.35,0.00,0.000,6,0.000,0.053,2436,2406,3958
$GC,1269,-0.80,-293.3,64.7,-5.6,271,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2406,3958
$GC,1406,-0.80,-293.3,72.0,-5.1,302,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2405,3958
$GC,1547,-0.80,-293.3,79.3,-5.3,333,1553,0.00,2.47,0.00,0.000,4,0.000,0.084,2436,3800,3958
$GC,1580,-0.80,-293.3,81.2,-5.5,340,1587,0.00,2.38,0.00,0.000,6,0.000,0.051,2436,2399,3958
$GC,1721,-0.80,-293.3,88.5,-5.1,371,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2399,3958
$GC,1859,-0.80,-293.3,95.8,-4.9,402,1865,0.00,2.53,0.00,0.000,4,0.000,0.083,2436,3799,3957
$GC,1887,-0.80,-293.3,97.2,-5.3,407,1893,0.00,2.35,0.00,0.000,6,0.000,0.053,2436,2401,3957
$GC,2026,-0.80,-293.3,104.5,-5.3,438,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2401,3957
$STATE,2130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2130,begin apogee
$GC,2134,-0.31,0.0,110.1,5.4,461,2246,0.50,0.00,106.12,0.815,6,0.092,0.000,2545,2344,3404
$STATE,2247,end apogee,CONTROL_FINISHED_OK
$STATE,2247,begin climb
$GC,2248,0.80,293.3,112.6,0.0,481,2483,1.08,2.55,224.27,0.732,4,0.080,0.079,2784,3754,2208
$GC,2522,0.80,293.3,95.1,8.9,531,2528,0.00,2.40,0.00,0.000,6,0.000,0.053,2783,2355,2207
$GC,2660,0.80,293.3,83.6,8.2,562,2667,0.00,2.55,0.00,0.000,4,0.000,0.084,2784,941,2207
$GC,2686,0.80,293.3,81.2,8.7,567,2692,0.00,2.45,0.00,0.000,6,0.000,0.066,2784,2347,2207
$GC,2823,0.80,293.3,69.5,8.3,598,2830,0.00,2.53,0.00,0.000,4,0.000,0.083,2784,3751,2207
$GC,2852,0.80,293.3,66.9,8.6,604,2859,0.00,2.42,0.00,0.000,6,0.000,0.054,2784,2352,2207
$GC,2994,0.80,293.3,55.3,8.4,635,3000,0.00,2.53,0.00,0.000,4,0.000,0.084,2784,939,2206
$GC,3014,0.80,293.3,53.4,8.2,639,3020,0.00,2.45,0.00,0.000,6,0.000,0.070,2784,2355,2207
$GC,3152,0.80,293.3,42.4,8.0,670,3159,0.00,2.50,0.00,0.000,4,0.000,0.076,2784,3751,2207
$GC,3179,0.80,293.3,40.2,8.3,675,3185,0.00,2.38,0.00,0.000,6,0.000,0.056,2783,2349,2207
$GC,3311,0.80,293.3,29.5,7.8,706,3318,0.00,2.53,0.00,0.000,4,0.000,0.085,2784,944,2207
$GC,3332,0.80,293.3,27.8,7.8,710,3339,0.00,2.45,0.00,0.000,6,0.000,0.069,2784,2349,2207
$GC,3403,0.80,293.3,22.2,7.5,726,3411,0.00,2.50,0.00,0.000,4,0.000,0.081,2784,3747,2206
$GC,3429,0.80,293.3,20.0,8.2,731,3436,0.00,2.40,0.00,0.000,6,0.000,0.056,2784,2350,2207
$GC,3500,0.80,293.3,14.3,8.1,747,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2350,2207
$GC,3571,0.87,353.6,9.6,6.0,763,3627,0.10,2.55,48.42,0.775,4,0.080,0.077,2810,938,1960
$GC,3642,1.01,464.3,5.6,5.1,775,3669,0.05,2.47,21.12,0.688,2,0.081,0.061,2835,2353,1858
$STATE,3670,end climb,SURFACE_DEPTH_REACHED
$STATE,3670,begin surface coast
$FINISH,3.4,1.016284
$STATE,3795,end surface coast,CONTROL_FINISHED_OK
$STATE,3796,begin surface
$SM_CCo,3813,248.98,0.594,28,0,754,650.04
$SM_GC,1.34,0.00,0.00,248.98,0.000,0.000,0.594,430,2406,754,-10.06,0.17,650.04
$IRIDIUM_FIX,4748.51,-12217.40,250797,010121
$TT8_MAMPS,0.028379
$HUMID,1477
$INTERNAL_PRESSURE,8.90466
$TCM_TEMP,14.70
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,80.3,49.0
$24V_AH,23.6,1.724
$10V_AH,10.1,0.829
$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,22.950,69.050,399.950,248.975,0.000,30.025,23.876,233.294,8.500,0.000,0.000,13.793,1196.182,397.078,843.555,1760.677,395.001,33.345,1621.949,0.000,1761.476,0.000,5.469
$DEVICE_MAMPS,164.138,107.380,815.321,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,554.927,388.695,1260.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44226,809
$CAP_FILE_SIZE,81019,0
$CFSIZE,260165632,257974272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,28,0
$GPS,300408,041539,4805.854,-12221.816,11,1.7,11,18.3