version: 66.03
glider: 151
mission: 1
dive: 6
start: 4 29 108 22 54 45
data:
$ID,151
$MISSION,1
$DIVE,6
$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,-2779.1697
$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,19
$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
$GPS1,224832,4806.684,-12222.688,65,1.1,65,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.2
$GPS2,225350,4806.607,-12222.596,9,1.3,9,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,-0.301
$KALMAN_X,-188.8,-110.8,-41.1,1061.0,-20.7
$KALMAN_Y,345.5,156.0,33.2,-3754.1,106.5
$MHEAD_RNG_PITCHd_Wd,130.7,1344,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.09,-293.3,0.0,0.0,0,79,0.00,0.00,-59.38,0.000,2,0.000,0.000,434,2277,2689
$GC,81,-1.09,-293.3,3.4,-3.6,10,132,10.45,2.53,-34.92,0.000,4,0.166,0.089,2367,875,3956
$GC,375,-1.09,-293.3,24.7,-7.1,75,382,0.00,2.45,0.00,0.000,6,0.000,0.069,2367,2279,3958
$GC,446,-1.09,-293.3,29.9,-7.2,91,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2279,3957
$GC,516,-1.09,-293.3,35.4,-8.1,107,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2280,3958
$GC,588,-1.09,-293.3,40.9,-8.1,123,594,0.00,2.47,0.00,0.000,4,0.000,0.077,2366,3690,3958
$GC,652,-1.09,-293.3,46.4,-8.5,137,658,0.00,2.35,0.00,0.000,6,0.000,0.049,2366,2279,3958
$GC,791,-1.09,-293.3,57.2,-7.8,168,798,0.00,2.50,0.00,0.000,4,0.000,0.073,2366,3677,3958
$GC,835,-1.09,-293.3,60.8,-8.3,177,841,0.00,2.35,0.00,0.000,6,0.000,0.054,2366,2280,3958
$GC,974,-1.09,-293.3,71.6,-8.1,208,980,0.00,2.50,0.00,0.000,4,0.000,0.074,2366,3680,3958
$GC,1012,-1.09,-293.3,74.8,-8.7,216,1018,0.00,2.40,0.00,0.000,6,0.000,0.052,2367,2276,3958
$GC,1154,-1.09,-293.3,85.9,-8.3,247,1160,0.00,2.50,0.00,0.000,4,0.000,0.074,2367,3689,3958
$GC,1231,-1.09,-293.3,92.5,-8.3,264,1237,0.00,2.40,0.00,0.000,6,0.000,0.049,2367,2280,3958
$GC,1370,-1.09,-293.3,103.5,-7.7,295,1376,0.00,2.47,0.00,0.000,4,0.000,0.080,2367,3684,3958
$GC,1429,-1.09,-293.3,108.6,-8.9,308,1436,0.00,2.40,0.00,0.000,6,0.000,0.055,2367,2279,3958
$STATE,1515,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1515,begin apogee
$GC,1519,-0.31,0.0,115.6,8.1,327,1630,0.80,0.00,105.57,0.819,6,0.107,0.000,2534,2278,3404
$STATE,1631,end apogee,CONTROL_FINISHED_OK
$STATE,1631,begin climb
$GC,1632,1.09,293.3,118.1,0.0,347,1869,1.40,2.58,223.80,0.740,4,0.081,0.076,2843,3677,2208
$GC,1889,1.09,293.3,94.3,14.0,394,1896,0.00,2.45,0.00,0.000,6,0.000,0.057,2843,2280,2207
$GC,2030,1.09,293.3,75.3,13.1,425,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2280,2207
$GC,2166,1.09,293.3,57.3,12.6,456,2173,0.00,2.53,0.00,0.000,4,0.000,0.076,2843,3678,2207
$GC,2192,1.09,293.3,53.7,13.7,461,2198,0.00,2.40,0.00,0.000,6,0.000,0.057,2843,2278,2207
$GC,2331,1.09,293.3,36.2,12.6,492,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2278,2207
$GC,2400,1.09,293.3,27.3,12.1,508,2408,0.00,2.53,0.00,0.000,4,0.000,0.076,2843,3679,2207
$GC,2443,1.09,293.3,22.0,12.5,517,2449,0.00,2.42,0.00,0.000,6,0.000,0.056,2843,2281,2207
$GC,2513,1.09,293.3,13.8,11.0,533,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2281,2207
$GC,2584,1.23,405.2,7.6,7.4,549,2645,0.15,0.00,58.80,0.746,2,0.064,0.000,2887,2281,1905
$STATE,2646,end climb,SURFACE_DEPTH_REACHED
$STATE,2646,begin surface coast
$FINISH,3.5,1.016358
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2848,148.20,0.673,5,0,1161,550.21
$SM_GC,2.01,0.00,0.00,148.20,0.000,0.000,0.673,435,2281,1161,-10.01,0.03,550.21
$IRIDIUM_FIX,4748.51,-12219.12,240797,222252
$TT8_MAMPS,0.028379
$HUMID,1499
$INTERNAL_PRESSURE,8.94372
$TCM_TEMP,15.50
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,80.2,45.3
$24V_AH,23.6,1.175
$10V_AH,10.1,0.512
$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,23.475,44.225,388.175,148.200,0.000,24.179,24.597,192.595,5.750,0.000,0.000,10.973,863.589,282.221,563.645,1325.890,320.355,33.324,1164.215,0.000,1327.994,0.000,5.459
$DEVICE_MAMPS,165.672,88.972,819.156,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.253,291.768,952.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31629,603
$CAP_FILE_SIZE,58043,0
$CFSIZE,260165632,258154496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,290408,234551,4806.208,-12222.265,10,1.5,10,18.3