version: 66.03
glider: 151
mission: 1
dive: 5
start: 4 29 108 21 57 21
data:
$ID,151
$MISSION,1
$DIVE,5
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,150
$USE_BATHY,0
$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,550
$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,-2767.5674
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2610
$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,2280
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,21
$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,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,-0.5
$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
$GPS1,215059,4807.148,-12223.074,13,2.1,32,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.0
$GPS2,215626,4807.094,-12223.007,8,1.7,13,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,-0.303
$KALMAN_X,-166.4,-101.4,-48.2,528.8,-42.8
$KALMAN_Y,318.3,161.6,31.4,-2832.8,116.8
$MHEAD_RNG_PITCHd_Wd,131.5,2378,-11.6,-10.000
$D_GRID,150
$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,17,-1.09,-293.3,0.0,0.0,0,85,0.00,0.00,-64.97,0.000,2,0.000,0.000,435,2279,2808
$GC,87,-1.09,-293.3,3.4,-3.3,11,137,10.57,2.50,-29.45,0.000,4,0.172,0.085,2365,883,3956
$GC,312,-1.09,-293.3,20.6,-6.8,61,319,0.00,2.42,0.00,0.000,6,0.000,0.068,2366,2277,3958
$GC,383,-1.09,-293.3,25.9,-7.6,77,390,0.00,2.50,0.00,0.000,4,0.000,0.073,2366,3684,3958
$GC,449,-1.09,-293.3,31.5,-9.0,92,456,0.00,2.38,0.00,0.000,6,0.000,0.047,2366,2282,3958
$GC,523,-1.09,-293.3,37.6,-8.2,108,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2282,3958
$GC,596,-1.09,-293.3,43.7,-8.2,124,602,0.00,2.50,0.00,0.000,4,0.000,0.073,2366,3680,3959
$GC,639,-1.09,-293.3,47.6,-8.6,133,646,0.00,2.35,0.00,0.000,6,0.000,0.054,2365,2282,3959
$GC,777,-1.09,-293.3,59.1,-8.2,164,784,0.00,2.50,0.00,0.000,4,0.000,0.078,2366,3681,3959
$GC,847,-1.09,-293.3,65.2,-8.7,179,853,0.00,2.38,0.00,0.000,6,0.000,0.048,2366,2272,3958
$GC,985,-1.09,-293.3,76.3,-8.0,210,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2272,3959
$GC,1127,-1.09,-293.3,87.4,-7.9,241,1132,0.00,2.50,0.00,0.000,4,0.000,0.075,2366,3686,3959
$GC,1243,-1.09,-293.3,97.4,-8.8,267,1249,0.00,2.35,0.00,0.000,6,0.000,0.049,2366,2282,3959
$GC,1382,-1.09,-293.3,108.4,-7.4,298,1389,0.00,2.50,0.00,0.000,4,0.000,0.074,2366,3681,3959
$STATE,1451,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1451,begin apogee
$GC,1457,-0.31,0.0,114.3,8.7,313,1568,0.82,0.00,106.68,0.844,6,0.108,0.000,2537,2278,3404
$STATE,1569,end apogee,CONTROL_FINISHED_OK
$STATE,1569,begin climb
$GC,1570,1.09,293.3,117.2,0.0,333,1808,1.38,2.58,225.02,0.763,4,0.075,0.083,2845,3682,2208
$GC,1832,1.09,293.3,93.1,13.5,381,1838,0.00,2.42,0.00,0.000,6,0.000,0.064,2845,2281,2207
$GC,1972,1.09,293.3,75.1,12.9,412,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2282,2207
$GC,2112,1.09,293.3,57.3,12.7,443,2118,0.00,2.50,0.00,0.000,4,0.000,0.076,2845,3681,2207
$GC,2135,1.09,293.3,54.0,13.3,448,2142,0.00,2.42,0.00,0.000,6,0.000,0.062,2845,2284,2207
$GC,2275,1.09,293.3,36.7,12.6,479,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2284,2207
$GC,2345,1.09,293.3,27.7,12.3,495,2352,0.00,2.53,0.00,0.000,4,0.000,0.082,2845,3682,2207
$GC,2371,1.09,293.3,24.4,13.0,500,2378,0.00,2.42,0.00,0.000,6,0.000,0.056,2845,2280,2207
$GC,2441,1.09,293.3,15.7,11.6,516,2448,0.00,2.55,0.00,0.000,4,0.000,0.088,2845,877,2207
$GC,2471,1.09,293.3,12.0,12.5,522,2478,0.00,2.45,0.00,0.000,6,0.000,0.065,2844,2277,2207
$GC,2542,1.36,515.7,6.6,4.8,538,2598,0.22,0.00,52.80,0.770,2,0.061,0.000,2905,2277,1937
$STATE,2598,end climb,SURFACE_DEPTH_REACHED
$STATE,2599,begin surface coast
$FINISH,2.9,1.016478
$STATE,2807,end surface coast,CONTROL_FINISHED_OK
$STATE,2807,begin surface
$SM_CCo,2824,147.68,0.710,0,0,1160,550.21
$SM_GC,1.99,0.00,0.00,147.68,0.000,0.000,0.710,433,2277,1160,-10.01,-0.08,550.21
$IRIDIUM_FIX,4751.72,-12219.12,240797,212156
$TT8_MAMPS,0.029146
$HUMID,1513
$INTERNAL_PRESSURE,8.95349
$TCM_TEMP,15.60
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,80.1,44.2
$24V_AH,23.6,1.049
$10V_AH,10.1,0.443
$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,23.800,49.150,384.500,147.675,0.000,22.308,24.265,199.038,5.750,0.000,0.000,15.339,857.170,277.220,539.844,1315.207,325.710,33.317,1137.637,0.000,1314.142,0.000,5.457
$DEVICE_MAMPS,171.808,88.205,844.467,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.291,288.705,945.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31699,597
$CAP_FILE_SIZE,58662,0
$CFSIZE,260165632,258191360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290408,224832,4806.684,-12222.688,65,1.1,65,18.3