version: 66.03
glider: 150
mission: 2
dive: 8
start: 4 25 108 0 34 6
data:
$ID,150
$MISSION,2
$DIVE,8
$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,-2696.2725
$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,23
$R_STBD_OVSHOOT,23
$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,3
$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
$GPS1,002755,4806.651,-12222.567,24,1.1,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.9
$GPS2,003309,4806.676,-12222.566,14,1.6,14,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.122,-0.227
$KALMAN_X,238.4,139.2,30.7,598.7,-85.8
$KALMAN_Y,-278.1,-217.9,-47.9,-1216.1,182.5
$MHEAD_RNG_PITCHd_Wd,133.5,1434,-9.8,-6.965
$D_GRID,105
$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,-195.5,0.0,0.0,0,102,0.00,0.00,-82.05,0.000,2,0.000,0.000,425,2107,3031
$GC,104,-0.85,-195.5,3.5,-4.2,15,146,13.18,2.58,-21.80,0.000,4,0.169,0.105,2849,3513,3953
$GC,193,-0.85,-195.5,11.1,-4.7,33,199,0.00,2.42,0.00,0.000,6,0.000,0.067,2849,2107,3954
$GC,263,-0.85,-195.5,14.0,-4.5,49,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2107,3955
$GC,332,-0.85,-195.5,17.2,-4.3,65,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2107,3956
$GC,402,-0.85,-195.5,20.3,-5.0,81,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2108,3957
$GC,471,-0.85,-195.5,24.7,-6.2,97,477,0.00,2.58,0.00,0.000,4,0.000,0.092,2849,3513,3957
$GC,512,-0.85,-195.5,27.3,-6.1,106,519,0.00,2.42,0.00,0.000,6,0.000,0.068,2849,2109,3957
$GC,582,-0.85,-195.5,31.6,-6.2,122,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2109,3957
$GC,652,-0.85,-195.5,36.1,-6.6,138,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2109,3957
$GC,721,-0.85,-195.5,40.4,-6.4,154,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2109,3957
$GC,862,-0.85,-195.5,49.3,-6.6,185,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2109,3957
$GC,1003,-0.85,-195.5,57.9,-6.1,216,1010,0.00,2.60,0.00,0.000,4,0.000,0.097,2849,3517,3957
$GC,1033,-0.85,-195.5,59.6,-5.8,222,1040,0.00,2.45,0.00,0.000,6,0.000,0.071,2849,2107,3956
$GC,1177,-0.85,-195.5,67.6,-5.4,253,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2107,3956
$GC,1318,-0.85,-195.5,75.8,-5.7,284,1325,0.00,2.60,0.00,0.000,4,0.000,0.099,2849,3518,3957
$GC,1353,-0.85,-195.5,77.8,-5.8,291,1360,0.00,2.45,0.00,0.000,6,0.000,0.070,2849,2105,3957
$GC,1498,-0.85,-195.5,86.1,-5.7,322,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2105,3957
$GC,1640,-0.85,-195.5,94.1,-5.7,353,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2105,3957
$GC,1783,-0.85,-195.5,102.3,-5.6,384,1790,0.00,2.60,0.00,0.000,4,0.000,0.097,2849,3515,3957
$GC,1822,-0.85,-195.5,104.6,-6.1,392,1828,0.00,2.45,0.00,0.000,6,0.000,0.071,2849,2103,3956
$STATE,1832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1832,begin apogee
$GC,1836,-0.31,0.0,105.4,6.4,394,1927,0.57,0.00,85.00,0.893,6,0.104,0.000,2974,2103,3519
$STATE,1928,end apogee,CONTROL_FINISHED_OK
$STATE,1928,begin climb
$GC,1929,0.85,195.5,107.4,0.0,411,2088,1.12,0.00,152.75,0.856,6,0.087,0.000,3226,2103,2722
$GC,2224,0.85,195.5,88.5,8.0,471,2230,0.00,2.65,0.00,0.000,4,0.000,0.101,3226,3513,2720
$GC,2262,0.85,195.5,85.2,8.7,479,2268,0.00,2.45,0.00,0.000,6,0.000,0.067,3226,2115,2721
$GC,2405,0.85,195.5,73.8,8.2,510,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2115,2721
$GC,2547,0.85,195.5,62.5,8.0,541,2553,0.00,2.60,0.00,0.000,4,0.000,0.097,3226,3513,2720
$GC,2576,0.85,195.5,60.1,8.1,547,2582,0.00,2.45,0.00,0.000,6,0.000,0.066,3227,2109,2720
$GC,2718,0.85,195.5,49.2,7.2,578,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2109,2720
$GC,2862,0.85,197.1,39.0,6.9,609,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2109,2720
$GC,2933,0.86,201.6,34.2,6.9,625,2946,0.00,2.60,6.53,0.720,4,0.000,0.095,3226,3514,2695
$GC,2963,0.86,201.6,31.7,7.4,631,2970,0.00,2.45,0.00,0.000,6,0.000,0.064,3227,2109,2696
$GC,3032,0.86,201.6,26.6,7.3,647,3038,0.00,2.47,0.00,0.000,4,0.000,0.078,3226,696,2696
$GC,3052,0.86,201.6,25.1,7.5,651,3058,0.00,2.42,0.00,0.000,6,0.000,0.067,3226,2109,2696
$GC,3124,0.86,201.6,20.0,7.0,667,3130,0.00,2.60,0.00,0.000,4,0.000,0.100,3226,3515,2696
$GC,3144,0.86,204.8,18.4,6.9,671,3157,0.00,2.42,4.00,0.574,6,0.000,0.064,3226,2107,2685
$GC,3220,0.86,204.8,12.9,7.2,688,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2107,2685
$GC,3290,0.90,236.8,8.4,6.2,704,3318,0.00,0.00,26.92,0.821,6,0.000,0.000,3226,2107,2553
$GC,3383,1.14,426.6,5.1,2.3,724,3495,0.25,0.00,108.45,0.809,2,0.074,0.000,3290,2107,1992
$STATE,3495,end climb,SURFACE_DEPTH_REACHED
$STATE,3495,begin surface coast
$FINISH,2.4,1.017030
$STATE,3685,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3686,begin surface
$SM_CCo,3704,167.90,0.717,12,0,1072,600.00
$SM_GC,1.04,0.00,0.00,167.90,0.000,0.000,0.717,427,2104,1072,-12.04,-0.17,600.00
$IRIDIUM_FIX,4748.51,-12226.29,190797,232347
$TT8_MAMPS,0.027612
$HUMID,1527
$INTERNAL_PRESSURE,9.01717
$TCM_TEMP,17.40
$XPDR_PINGS,48
$24V_AH,23.4,1.471
$10V_AH,10.1,0.570
$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,27.375,50.275,383.650,167.900,0.000,24.577,27.569,179.942,13.250,0.000,0.000,15.987,1156.856,677.840,680.084,1421.062,329.352,33.323,1396.563,0.000,1411.626,0.000,11.222
$DEVICE_MAMPS,168.740,105.079,892.788,717.145,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,537.810,398.592,964.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41134,790
$CAP_FILE_SIZE,74792,0
$CFSIZE,260165632,258506752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,250408,014032,4806.468,-12222.413,7,1.3,19,18.3