version: 66.03
glider: 152
mission: 1
dive: 4
start: 4 24 108 20 53 3
data:
$ID,152
$MISSION,1
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$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,-4327.2573
$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,23
$R_STBD_OVSHOOT,26
$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,6
$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,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,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
$GPS1,204438,4806.960,-12222.909,26,2.0,26,18.3
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.1
$GPS2,205207,4806.882,-12222.875,12,1.7,28,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,0.139
$KALMAN_X,272.7,146.7,104.8,93.3,77.5
$KALMAN_Y,-290.9,-187.6,-141.6,-936.7,-77.4
$MHEAD_RNG_PITCHd_Wd,303.7,268,-26.8,-10.000
$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,17,-1.76,-65.1,0.0,0.0,0,99,0.00,0.00,-78.97,0.000,2,0.000,0.000,441,2317,2371
$GC,101,-1.81,-112.9,3.1,-5.1,13,159,11.82,2.50,-38.67,0.000,4,0.169,0.074,2576,3732,3849
$GC,182,-1.81,-112.9,12.8,-12.8,27,189,0.00,2.40,0.00,0.000,6,0.000,0.035,2576,2312,3850
$GC,253,-1.82,-114.8,20.0,-9.8,43,260,0.00,2.42,0.00,0.000,4,0.000,0.061,2576,930,3850
$GC,275,-1.82,-114.8,22.4,-10.7,47,282,0.00,2.40,0.00,0.000,6,0.000,0.046,2576,2329,3850
$GC,347,-1.82,-114.8,30.3,-11.0,63,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2329,3851
$GC,418,-1.82,-114.8,39.1,-13.2,79,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2330,3851
$GC,491,-1.82,-114.8,49.2,-14.0,95,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2330,3851
$GC,630,-1.82,-114.8,69.3,-14.2,126,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2330,3851
$GC,775,-1.82,-114.8,90.2,-15.1,157,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2330,3851
$STATE,876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,876,begin apogee
$GC,880,-0.31,0.0,105.3,14.6,180,977,1.58,0.00,91.10,0.843,6,0.111,0.000,2898,2330,3388
$STATE,977,end apogee,CONTROL_FINISHED_OK
$STATE,977,begin climb
$GC,979,1.82,114.8,108.4,0.0,197,1081,2.12,0.00,91.68,0.810,6,0.071,0.000,3371,2330,2919
$GC,1214,1.82,114.8,78.5,15.5,245,1220,0.00,2.47,0.00,0.000,4,0.000,0.071,3371,3723,2919
$GC,1253,1.82,114.8,72.1,17.7,253,1259,0.00,2.38,0.00,0.000,6,0.000,0.041,3371,2327,2919
$GC,1391,1.82,114.8,50.0,15.6,284,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2325,2919
$GC,1528,1.82,114.8,29.4,14.6,315,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2325,2919
$GC,1599,1.82,114.8,18.9,14.3,331,1606,0.00,2.50,0.00,0.000,4,0.000,0.064,3371,3721,2919
$GC,1663,1.82,114.8,9.3,14.6,345,1670,0.00,2.38,0.00,0.000,6,0.000,0.040,3371,2330,2919
$GC,1734,1.96,229.6,8.7,-1.8,361,1834,0.12,2.50,91.53,0.771,4,0.067,0.064,3403,3729,2452
$STATE,1952,end climb,NO_VERTICAL_VELOCITY
$STATE,1952,begin surface
$SM_CCo,1955,366.35,0.654,32,0,540,698.61
$SM_GC,1.44,13.00,0.00,0.00,0.047,0.000,0.000,441,2318,534,-11.61,-0.20,700.09
$IRIDIUM_FIX,4748.51,-12220.12,190797,202019
$TT8_MAMPS,0.021476
$HUMID,1469
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,14.10
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,80.6,39.7
$24V_AH,23.6,1.157
$10V_AH,10.1,0.501
$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,28.650,24.400,274.300,366.350,0.000,22.725,26.483,300.696,10.000,0.000,0.000,29.521,586.607,238.792,836.149,974.135,426.666,32.322,1288.333,0.000,960.611,0.000,5.452
$DEVICE_MAMPS,168.740,74.399,842.933,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,285.459,198.905,722.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22255,405
$CAP_FILE_SIZE,47022,0
$CFSIZE,260165632,258658304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,32,0
$GPS,240408,213702,4806.901,-12223.067,7,1.7,12,18.3