version: 66.03
glider: 152
mission: 1
dive: 8
start: 4 25 108 0 29 26
data:
$ID,152
$MISSION,1
$DIVE,8
$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,-4446.6279
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,002023,4806.538,-12222.598,12,99.0,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.9
$GPS2,002835,4806.565,-12222.605,13,3.1,32,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.157,-0.204
$KALMAN_X,157.3,120.1,37.7,641.2,-136.4
$KALMAN_Y,-608.3,-300.7,-84.3,-1157.2,132.2
$MHEAD_RNG_PITCHd_Wd,124.2,1287,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.85,-195.5,0.0,0.0,0,81,0.00,0.00,-61.30,0.000,2,0.000,0.000,442,2322,2364
$GC,83,-0.85,-195.5,3.0,-3.0,10,148,12.93,2.58,-45.92,0.000,4,0.168,0.084,2783,3733,3953
$GC,288,-0.85,-195.5,17.5,-5.3,53,295,0.00,2.38,0.00,0.000,6,0.000,0.038,2783,2325,3954
$GC,361,-0.85,-195.5,21.8,-6.3,69,368,0.00,2.45,0.00,0.000,4,0.000,0.066,2783,935,3954
$GC,408,-0.85,-195.5,24.9,-6.5,79,415,0.00,2.38,0.00,0.000,6,0.000,0.050,2783,2323,3954
$GC,480,-0.85,-195.5,29.2,-5.9,95,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2323,3954
$GC,551,-0.85,-195.5,33.8,-6.5,111,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2324,3954
$GC,623,-0.85,-195.5,38.3,-6.1,127,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2323,3954
$GC,696,-0.85,-195.5,42.9,-6.2,143,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2324,3954
$GC,835,-0.85,-195.5,52.6,-6.7,174,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2324,3955
$GC,975,-0.85,-195.5,61.7,-6.6,205,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2323,3954
$GC,1114,-0.85,-195.5,70.6,-6.3,236,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2323,3954
$GC,1256,-0.85,-195.5,79.2,-6.2,267,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2323,3955
$GC,1396,-0.85,-195.5,87.7,-5.9,298,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2324,3954
$GC,1538,-0.85,-195.5,96.0,-6.0,329,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2324,3955
$GC,1678,-0.85,-195.5,104.2,-6.0,360,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2323,3955
$GC,1821,-0.85,-195.5,112.6,-6.0,391,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2323,3954
$STATE,1867,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1867,begin apogee
$GC,1871,-0.31,0.0,115.5,6.0,401,1986,0.52,0.00,111.12,0.856,6,0.091,0.000,2897,2324,3388
$STATE,1986,end apogee,CONTROL_FINISHED_OK
$STATE,1986,begin climb
$GC,1988,0.85,195.5,118.4,0.0,421,2151,1.20,0.00,154.90,0.815,6,0.074,0.000,3158,2323,2590
$GC,2282,0.85,195.5,100.4,7.7,480,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2323,2590
$GC,2424,0.85,195.5,90.0,7.4,511,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2323,2590
$GC,2563,0.85,195.5,80.1,7.0,542,2570,0.00,2.53,0.00,0.000,4,0.000,0.074,3158,934,2590
$GC,2602,0.85,195.5,77.3,7.5,550,2609,0.00,2.40,0.00,0.000,6,0.000,0.050,3158,2318,2590
$GC,2744,0.85,195.5,66.9,7.7,581,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2318,2590
$GC,2883,0.85,195.5,56.1,7.5,612,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2318,2589
$GC,3026,0.86,200.2,45.8,6.9,643,3038,0.00,2.50,5.43,0.654,4,0.000,0.067,3158,917,2571
$GC,3052,0.86,200.2,43.7,7.2,648,3059,0.00,2.42,0.00,0.000,6,0.000,0.048,3158,2325,2571
$GC,3189,0.86,200.2,34.0,7.1,679,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2325,2571
$GC,3261,0.87,211.6,29.0,6.7,695,3281,0.00,2.53,10.70,0.759,4,0.000,0.071,3158,934,2525
$GC,3296,0.87,211.6,26.5,7.0,701,3303,0.00,2.40,0.00,0.000,6,0.000,0.047,3157,2326,2525
$GC,3368,0.87,213.0,21.4,6.9,717,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2326,2525
$GC,3439,0.89,230.8,16.7,6.5,733,3459,0.00,0.00,17.08,0.780,6,0.000,0.000,3158,2326,2447
$GC,3525,0.91,240.8,10.9,6.7,751,3538,0.00,0.00,9.95,0.732,6,0.000,0.000,3158,2326,2406
$GC,3603,0.99,312.2,6.6,5.2,768,3666,0.15,0.00,57.08,0.776,6,0.075,0.000,3195,2326,2114
$GC,3731,1.32,576.9,5.2,0.5,793,3814,0.28,0.00,79.55,0.762,2,0.070,0.000,3263,2326,1711
$STATE,3814,end climb,SURFACE_DEPTH_REACHED
$STATE,3815,begin surface coast
$FINISH,1.3,1.015800
$STATE,4026,end surface coast,CONTROL_FINISHED_OK
$STATE,4026,begin surface
$SM_CCo,4044,144.73,0.677,11,0,942,600.00
$SM_GC,1.59,0.00,0.00,144.73,0.000,0.000,0.677,444,2325,942,-11.65,0.03,600.00
$IRIDIUM_FIX,4751.72,-12228.02,200797,000023
$TT8_MAMPS,0.021476
$HUMID,1481
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,14.70
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,80.2,44.9
$24V_AH,23.5,1.736
$10V_AH,10.1,0.795
$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,27.400,24.550,445.800,144.725,0.000,49.653,56.600,218.969,13.250,0.000,0.000,34.378,1239.496,442.253,643.356,1991.152,433.248,33.321,1461.072,0.000,1975.967,0.000,5.467
$DEVICE_MAMPS,167.973,83.603,855.972,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,599.682,402.680,1447.502,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44422,856
$CAP_FILE_SIZE,75705,0
$CFSIZE,260165632,258473984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$GPS,250408,014107,4806.307,-12222.413,5,1.5,22,18.3