version: 66.03
glider: 152
mission: 1
dive: 11
start: 4 25 108 4 20 1
data:
$ID,152
$MISSION,1
$DIVE,11
$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,0
$USE_ICE,-1
$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,51622
$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,-4495.2651
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2976
$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,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3388
$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,-18.272327
$PRESSURE_SLOPE,0.0001162351
$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,10
$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,0.69999999
$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,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,041303,4805.998,-12222.011,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.2
$GPS2,041909,4806.000,-12222.003,13,1.2,13,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.218
$KALMAN_X,-485.2,-5.8,-235.3,2426.2,-200.4
$KALMAN_Y,13.8,-86.1,282.1,-3403.4,244.8
$MHEAD_RNG_PITCHd_Wd,309.7,4450,-9.8,-6.965
$D_GRID,140
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.85,-195.5,0.0,0.0,0,101,0.00,0.00,-80.00,0.000,2,0.000,0.000,447,2338,2812
$GC,103,-0.85,-195.5,3.2,-2.4,13,161,13.00,2.50,-34.95,0.000,4,0.171,0.081,2783,3719,3953
$GC,332,-0.85,-195.5,18.0,-6.4,62,339,0.00,2.35,0.00,0.000,6,0.000,0.037,2783,2324,3953
$GC,404,-0.85,-195.5,22.3,-5.8,78,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2322,3953
$GC,476,-0.85,-195.5,26.8,-6.4,94,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2321,3953
$GC,548,-0.85,-195.5,31.5,-6.3,110,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2321,3954
$GC,620,-0.85,-195.5,36.3,-6.8,126,627,0.00,2.47,0.00,0.000,4,0.000,0.068,2783,925,3954
$GC,655,-0.85,-195.5,38.7,-6.9,133,662,0.00,2.40,0.00,0.000,6,0.000,0.047,2783,2326,3954
$GC,731,-0.85,-195.5,43.5,-6.6,149,737,0.00,2.50,0.00,0.000,4,0.000,0.073,2783,3730,3954
$GC,755,-0.85,-195.5,45.4,-6.6,154,762,0.00,2.35,0.00,0.000,6,0.000,0.035,2783,2330,3954
$GC,896,-0.85,-195.5,54.2,-6.2,185,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2327,3954
$GC,1035,-0.85,-195.5,63.3,-6.4,216,1042,0.00,2.53,0.00,0.000,4,0.000,0.071,2783,3725,3954
$GC,1063,-0.85,-195.5,65.2,-6.8,221,1069,0.00,2.33,0.00,0.000,6,0.000,0.035,2783,2322,3953
$GC,1202,-0.85,-195.5,74.5,-6.4,252,1209,0.00,2.45,0.00,0.000,4,0.000,0.067,2783,936,3954
$GC,1232,-0.85,-195.5,76.5,-6.8,258,1239,0.00,2.38,0.00,0.000,6,0.000,0.048,2783,2325,3954
$GC,1375,-0.85,-195.5,85.3,-6.2,289,1381,0.00,2.50,0.00,0.000,4,0.000,0.071,2783,3728,3954
$GC,1406,-0.85,-195.5,87.4,-6.5,295,1412,0.00,2.33,0.00,0.000,6,0.000,0.035,2783,2324,3954
$GC,1546,-0.85,-195.5,96.4,-5.9,326,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2321,3954
$GC,1690,-0.85,-195.5,105.5,-6.6,357,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2321,3954
$GC,1829,-0.85,-195.5,114.1,-6.0,388,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2320,3954
$STATE,1874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1875,begin apogee
$GC,1878,-0.31,0.0,116.9,6.1,398,1998,0.55,0.00,111.38,0.854,6,0.087,0.000,2903,2320,3388
$STATE,1999,end apogee,CONTROL_FINISHED_OK
$STATE,1999,begin climb
$GC,2001,0.85,195.5,119.7,0.0,419,2164,1.15,0.00,155.12,0.818,6,0.073,0.000,3155,2319,2591
$GC,2297,0.85,195.5,101.8,7.4,478,2304,0.00,2.50,0.00,0.000,4,0.000,0.072,3156,935,2590
$GC,2352,0.85,195.5,97.6,7.5,490,2359,0.00,2.40,0.00,0.000,6,0.000,0.049,3156,2317,2590
$GC,2495,0.85,195.5,87.3,7.4,521,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2318,2590
$GC,2634,0.85,195.5,76.8,7.5,552,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2318,2590
$GC,2777,0.85,195.5,66.3,7.5,583,2783,0.00,2.45,0.00,0.000,4,0.000,0.068,3155,934,2590
$GC,2800,0.85,195.5,64.4,7.6,588,2807,0.00,2.40,0.00,0.000,6,0.000,0.048,3155,2326,2589
$GC,2943,0.85,195.5,54.3,7.1,619,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2327,2590
$GC,3082,0.85,195.5,44.2,7.1,650,3090,0.00,2.50,0.00,0.000,4,0.000,0.068,3155,930,2590
$GC,3100,0.85,195.5,43.0,7.2,653,3107,0.00,2.38,0.00,0.000,6,0.000,0.051,3155,2332,2590
$GC,3238,0.85,195.5,33.4,7.2,684,3244,0.00,2.50,0.00,0.000,4,0.000,0.074,3155,3719,2590
$GC,3255,0.85,195.5,32.1,7.0,687,3262,0.00,2.35,0.00,0.000,6,0.000,0.038,3155,2336,2589
$GC,3327,0.85,195.5,26.9,7.1,703,3334,0.00,2.50,0.00,0.000,4,0.000,0.070,3155,928,2589
$GC,3365,0.85,195.5,24.1,7.3,711,3372,0.00,2.40,0.00,0.000,6,0.000,0.047,3155,2329,2589
$GC,3437,0.85,195.5,19.0,7.2,727,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2329,2590
$GC,3508,0.86,203.3,14.2,6.8,743,3522,0.00,0.00,7.95,0.726,6,0.000,0.000,3155,2329,2558
$GC,3587,0.89,228.9,9.2,6.3,760,3619,0.00,2.58,22.15,0.782,4,0.000,0.066,3156,917,2454
$GC,3634,0.94,265.8,6.3,6.1,768,3673,0.08,2.42,30.30,0.769,6,0.058,0.046,3184,2326,2303
$STATE,3703,end climb,SURFACE_DEPTH_REACHED
$STATE,3703,begin surface coast
$FINISH,3.2,1.019890
$STATE,3869,end surface coast,CONTROL_FINISHED_OK
$STATE,3869,begin surface
$SM_CCo,3887,241.68,0.754,0,0,942,600.00
$SM_GC,1.46,0.00,0.00,241.68,0.000,0.000,0.754,441,2326,942,-11.66,0.03,600.00
$IRIDIUM_FIX,4748.51,-12224.57,200797,030306
$TT8_MAMPS,0.021476
$HUMID,1467
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,14.70
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,90.2,36.7
$24V_AH,23.5,2.184
$10V_AH,10.1,1.065
$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,26.800,58.450,326.900,241.675,0.000,30.666,42.083,209.852,12.000,0.000,0.000,14.846,1218.064,372.467,647.471,1875.947,392.874,33.333,1424.322,0.000,1882.045,0.000,6.996
$DEVICE_MAMPS,171.041,80.535,854.438,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,575.168,378.307,1359.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44268,820
$CAP_FILE_SIZE,77053,0
$CFSIZE,260165632,258342912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,052933,4806.340,-12222.424,8,1.2,9,18.3