version: 66.03
glider: 151
mission: 1
dive: 11
start: 4 30 108 4 33 46
data:
$ID,151
$MISSION,1
$DIVE,11
$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,-3810.7842
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,041539,4805.854,-12221.816,11,1.7,11,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.7
$GPS2,043247,4805.535,-12221.542,9,3.1,28,18.3
$SPEED_LIMITS,0.121,0.303
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.165,0.254
$KALMAN_X,1086.2,-36.1,166.7,802.5,228.5
$KALMAN_Y,-2173.5,-5.5,-320.8,-2700.4,-356.2
$MHEAD_RNG_PITCHd_Wd,308.6,1031,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.80,-293.3,0.0,0.0,0,97,0.00,0.00,-77.38,0.000,2,0.000,0.000,430,2406,2727
$GC,99,-0.80,-293.3,3.2,-2.7,13,155,10.82,0.00,-38.25,0.000,6,0.164,0.000,2435,2406,3956
$GC,219,-0.80,-293.3,7.6,-3.5,37,226,0.00,2.47,0.00,0.000,4,0.000,0.072,2435,998,3956
$GC,286,-0.80,-293.3,11.0,-4.9,52,293,0.00,2.40,0.00,0.000,6,0.000,0.062,2436,2389,3956
$GC,357,-0.80,-293.3,14.7,-5.2,68,364,0.00,2.50,0.00,0.000,4,0.000,0.075,2435,3796,3956
$GC,436,-0.80,-293.3,18.9,-6.1,86,443,0.00,2.38,0.00,0.000,6,0.000,0.051,2436,2386,3956
$GC,507,-0.80,-293.3,22.8,-5.4,102,514,0.00,2.42,0.00,0.000,4,0.000,0.071,2435,1005,3956
$GC,520,-0.80,-293.3,23.5,-5.4,104,527,0.00,2.40,0.00,0.000,6,0.000,0.065,2436,2395,3956
$GC,591,-0.80,-293.3,27.4,-5.5,120,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2395,3956
$GC,662,-0.80,-293.3,31.3,-5.6,136,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2395,3956
$GC,732,-0.80,-293.3,35.0,-5.3,152,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2396,3957
$GC,802,-0.80,-293.3,38.7,-5.1,168,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2395,3956
$GC,873,-0.80,-293.3,42.7,-5.4,184,880,0.00,2.53,0.00,0.000,4,0.000,0.074,2436,3808,3957
$GC,902,-0.80,-293.3,44.4,-5.7,190,909,0.00,2.38,0.00,0.000,6,0.000,0.045,2435,2404,3956
$GC,1043,-0.80,-293.3,52.0,-5.3,221,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2403,3956
$GC,1182,-0.80,-293.3,59.8,-5.6,252,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2403,3957
$GC,1324,-0.80,-293.3,67.4,-5.3,283,1330,0.00,2.50,0.00,0.000,4,0.000,0.077,2436,3807,3957
$GC,1362,-0.80,-293.3,69.5,-5.6,291,1368,0.00,2.35,0.00,0.000,6,0.000,0.046,2436,2400,3957
$GC,1501,-0.80,-293.3,77.0,-5.2,322,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2399,3956
$GC,1646,-0.80,-293.3,84.6,-5.5,353,1652,0.00,2.50,0.00,0.000,4,0.000,0.079,2436,3807,3956
$GC,1676,-0.80,-293.3,86.5,-5.7,359,1682,0.00,2.35,0.00,0.000,6,0.000,0.050,2436,2398,3956
$GC,1814,-0.80,-293.3,93.8,-4.9,390,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2398,3956
$GC,1955,-0.80,-293.3,101.0,-5.2,421,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2398,3956
$GC,2092,-0.80,-293.3,108.0,-5.0,452,2099,0.00,2.53,0.00,0.000,4,0.000,0.077,2435,3805,3956
$GC,2127,-0.80,-293.3,109.9,-5.6,459,2133,0.00,2.35,0.00,0.000,6,0.000,0.055,2435,2403,3956
$STATE,2138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2138,begin apogee
$GC,2142,-0.31,0.0,110.7,5.9,461,2254,0.50,0.00,105.95,0.817,6,0.094,0.000,2544,2337,3404
$STATE,2255,end apogee,CONTROL_FINISHED_OK
$STATE,2255,begin climb
$GC,2256,0.80,293.3,113.3,0.0,481,2491,1.10,2.58,224.65,0.729,4,0.080,0.074,2787,3761,2208
$GC,2537,0.80,293.3,94.8,9.1,533,2543,0.00,2.40,0.00,0.000,6,0.000,0.058,2788,2357,2208
$GC,2676,0.80,293.3,82.7,9.0,564,2682,0.00,2.55,0.00,0.000,4,0.000,0.089,2788,944,2208
$GC,2703,0.80,293.3,80.3,8.9,569,2709,0.00,2.45,0.00,0.000,6,0.000,0.074,2788,2352,2207
$GC,2842,0.80,293.3,67.8,8.7,600,2849,0.00,2.53,0.00,0.000,4,0.000,0.082,2788,3754,2207
$GC,2877,0.80,293.3,64.4,9.4,607,2883,0.00,2.40,0.00,0.000,6,0.000,0.058,2788,2346,2208
$GC,3017,0.80,293.3,51.9,8.9,638,3024,0.00,2.53,0.00,0.000,4,0.000,0.081,2788,945,2208
$GC,3037,0.80,293.3,50.0,8.8,642,3044,0.00,2.45,0.00,0.000,6,0.000,0.069,2788,2349,2207
$GC,3176,0.80,293.3,37.8,8.8,673,3183,0.00,2.53,0.00,0.000,4,0.000,0.076,2788,3755,2207
$GC,3205,0.80,293.3,34.9,9.4,679,3212,0.00,2.40,0.00,0.000,6,0.000,0.056,2788,2353,2207
$GC,3277,0.80,293.3,28.7,8.5,695,3284,0.00,2.53,0.00,0.000,4,0.000,0.082,2788,945,2207
$GC,3298,0.80,293.3,26.7,9.3,699,3305,0.00,2.45,0.00,0.000,6,0.000,0.066,2788,2351,2207
$GC,3370,0.80,293.3,20.4,8.8,715,3376,0.00,2.50,0.00,0.000,4,0.000,0.074,2788,3751,2208
$GC,3391,0.80,293.3,18.7,8.6,719,3397,0.00,2.40,0.00,0.000,6,0.000,0.055,2788,2350,2207
$GC,3461,0.80,293.3,13.2,7.8,735,3468,0.00,2.50,0.00,0.000,4,0.000,0.081,2788,951,2207
$GC,3478,0.80,293.3,11.9,7.8,738,3485,0.00,2.42,0.00,0.000,6,0.000,0.065,2788,2347,2207
$GC,3549,0.86,342.8,6.9,6.2,754,3598,0.00,2.55,39.95,0.770,4,0.000,0.074,2788,3750,2005
$STATE,3603,end climb,SURFACE_DEPTH_REACHED
$STATE,3603,begin surface coast
$FINISH,4.4,1.018689
$STATE,3634,end surface coast,CONTROL_FINISHED_OK
$STATE,3634,begin surface
$SM_CCo,3653,242.57,0.668,2,0,753,650.04
$SM_GC,1.40,0.00,0.00,242.57,0.000,0.000,0.668,435,2392,753,-10.04,-0.23,650.04
$IRIDIUM_FIX,4751.72,-12223.57,250797,040458
$TT8_MAMPS,0.029146
$HUMID,1467
$INTERNAL_PRESSURE,8.89489
$TCM_TEMP,15.40
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,80.0,46.9
$24V_AH,23.6,1.890
$10V_AH,10.1,0.919
$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,22.625,78.625,370.550,242.575,0.000,110.224,113.267,502.793,10.000,0.000,0.000,30.361,1141.777,560.314,702.189,1694.357,850.705,33.341,1458.112,0.000,1676.518,0.000,5.464
$DEVICE_MAMPS,164.138,213.993,816.855,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,526.511,362.076,1183.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41104,770
$CAP_FILE_SIZE,90035,0
$CFSIZE,260165632,257916928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,300408,054000,4805.873,-12221.870,14,99.0,33,18.3