version: 66.03
glider: 151
mission: 1
dive: 8
start: 4 30 108 0 46 1
data:
$ID,151
$MISSION,1
$DIVE,8
$D_SURF,4
$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,-2841.0205
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,003605,4805.816,-12221.922,202,99.0,221,18.3
$_CALLS,1
$_XMS_NAKs,43
$_XMS_TOUTs,3
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-63.2
$GPS2,004507,4805.665,-12221.732,42,2.0,46,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.260
$KALMAN_X,-151.9,-106.2,12.6,2030.9,34.0
$KALMAN_Y,-39.6,130.7,-26.8,-5022.1,-168.0
$MHEAD_RNG_PITCHd_Wd,316.8,704,-15.4,-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,-1.19,-183.1,0.0,0.0,0,79,0.00,0.00,-59.38,0.000,2,0.000,0.000,437,2417,2725
$GC,81,-1.33,-293.3,3.3,-3.2,10,131,10.27,2.53,-34.00,0.000,4,0.169,0.082,2324,998,3955
$GC,142,-1.33,-293.3,7.0,-5.0,20,149,0.00,2.40,0.00,0.000,6,0.000,0.064,2323,2389,3956
$GC,213,-1.33,-293.3,12.3,-9.6,36,219,0.00,2.50,0.00,0.000,4,0.000,0.072,2324,3796,3956
$GC,302,-1.33,-293.3,20.3,-7.9,56,309,0.00,2.35,0.00,0.000,6,0.000,0.045,2323,2400,3956
$GC,374,-1.33,-293.3,26.2,-8.5,72,381,0.00,2.50,0.00,0.000,4,0.000,0.072,2324,3800,3956
$GC,407,-1.33,-293.3,29.3,-10.2,79,414,0.00,2.35,0.00,0.000,6,0.000,0.046,2323,2403,3956
$GC,479,-1.33,-293.3,36.0,-9.3,95,486,0.00,2.47,0.00,0.000,4,0.000,0.071,2324,3794,3957
$GC,513,-1.33,-293.3,39.6,-11.8,102,520,0.00,2.35,0.00,0.000,6,0.000,0.048,2324,2405,3957
$GC,586,-1.33,-293.3,47.3,-10.4,118,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2405,3957
$GC,726,-1.33,-293.3,61.5,-10.1,149,732,0.00,2.47,0.00,0.000,4,0.000,0.076,2324,3803,3957
$GC,781,-1.33,-293.3,67.5,-11.3,161,787,0.00,2.35,0.00,0.000,6,0.000,0.047,2324,2397,3957
$GC,923,-1.33,-293.3,82.1,-9.9,192,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2396,3957
$GC,1064,-1.33,-293.3,96.0,-9.8,223,1070,0.00,2.50,0.00,0.000,4,0.000,0.082,2324,3806,3957
$GC,1148,-1.33,-293.3,104.9,-10.4,242,1155,0.00,2.38,0.00,0.000,6,0.000,0.048,2324,2406,3957
$GC,1288,-1.33,-293.3,118.7,-9.8,273,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2406,3956
$STATE,1299,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1299,begin apogee
$GC,1303,-0.31,0.0,119.9,9.9,275,1414,1.05,0.00,105.90,0.815,6,0.110,0.000,2542,2339,3403
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1416,1.33,293.3,122.7,0.0,295,1653,1.62,2.60,224.30,0.731,4,0.077,0.079,2908,3751,2208
$GC,1668,1.33,293.3,91.9,18.6,341,1675,0.00,2.40,0.00,0.000,6,0.000,0.056,2908,2366,2208
$GC,1807,1.33,293.3,65.7,18.5,372,1814,0.00,2.60,0.00,0.000,4,0.000,0.089,2908,943,2207
$GC,1824,1.33,293.3,62.5,18.8,375,1830,0.00,2.45,0.00,0.000,6,0.000,0.064,2908,2352,2207
$GC,1965,1.33,293.3,37.2,17.8,406,1971,0.00,2.53,0.00,0.000,4,0.000,0.081,2908,3762,2207
$GC,1990,1.33,293.3,32.4,18.8,411,1996,0.00,2.45,0.00,0.000,6,0.000,0.059,2908,2349,2207
$GC,2063,1.33,293.3,19.3,17.6,427,2070,0.00,2.55,0.00,0.000,4,0.000,0.082,2907,940,2206
$GC,2076,1.33,293.3,17.0,17.8,429,2083,0.00,2.47,0.00,0.000,6,0.000,0.071,2908,2354,2207
$GC,2148,1.33,293.3,6.8,10.8,445,2155,0.00,2.50,0.00,0.000,4,0.000,0.077,2908,3747,2207
$STATE,2172,end climb,SURFACE_DEPTH_REACHED
$STATE,2172,begin surface coast
$FINISH,2.9,1.016062
$STATE,2207,end surface coast,CONTROL_FINISHED_OK
$STATE,2207,begin surface
$SM_CCo,2226,203.57,0.676,3,0,1161,550.21
$SM_GC,2.26,0.00,0.00,203.57,0.000,0.000,0.676,435,2380,1161,-10.04,-0.57,550.21
$IRIDIUM_FIX,4748.51,-12217.40,240797,232359
$TT8_MAMPS,0.029146
$HUMID,1495
$INTERNAL_PRESSURE,8.94372
$TCM_TEMP,14.50
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,80.4,48.4
$24V_AH,23.6,1.432
$10V_AH,10.1,0.629
$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,23.725,54.150,330.200,203.575,0.000,24.035,47.997,353.748,7.750,0.000,0.000,47.862,665.313,222.027,578.335,1037.327,501.529,33.332,1075.873,0.000,1003.691,0.000,5.465
$DEVICE_MAMPS,168.740,88.972,815.321,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,312.819,209.600,696.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25415,458
$CAP_FILE_SIZE,54587,0
$CFSIZE,260165632,258097152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,300408,004507,4805.665,-12221.732,42,2.0,46,18.3