version: 66.03
glider: 152
mission: 1
dive: 16
start: 4 25 108 9 16 49
data:
$ID,152
$MISSION,1
$DIVE,16
$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,70
$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,-4603.793
$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,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,32
$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,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
$GPS1,091038,4807.094,-12223.416,33,1.0,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.0
$GPS2,091551,4807.054,-12223.405,9,1.3,9,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,0.276
$KALMAN_X,-667.9,-163.6,29.1,769.4,47.5
$KALMAN_Y,-756.3,75.9,-106.5,-453.5,-172.9
$MHEAD_RNG_PITCHd_Wd,321.1,1901,-14.9,-10.000
$D_GRID,101
$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,-1.17,-195.5,0.0,0.0,0,80,0.00,0.00,-61.15,0.000,2,0.000,0.000,443,2388,2377
$GC,83,-1.17,-195.5,3.1,-5.4,10,153,12.65,2.45,-49.97,0.000,4,0.171,0.070,2715,978,3952
$GC,251,-1.17,-195.5,15.1,-8.6,44,258,0.00,2.38,0.00,0.000,6,0.000,0.044,2715,2368,3952
$GC,323,-1.17,-195.5,21.3,-8.7,60,330,0.00,2.53,0.00,0.000,4,0.000,0.069,2715,3773,3953
$GC,370,-1.17,-195.5,25.6,-9.8,70,377,0.00,2.35,0.00,0.000,6,0.000,0.034,2715,2373,3953
$GC,442,-1.17,-195.5,32.3,-9.3,86,449,0.00,2.42,0.00,0.000,4,0.000,0.059,2715,984,3953
$GC,485,-1.17,-195.5,36.3,-9.9,95,491,0.00,2.38,0.00,0.000,6,0.000,0.044,2715,2376,3953
$GC,558,-1.17,-195.5,43.5,-9.3,111,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2376,3953
$GC,698,-1.17,-195.5,57.3,-10.0,142,705,0.00,2.45,0.00,0.000,4,0.000,0.061,2715,989,3953
$GC,726,-1.17,-195.5,59.9,-9.7,147,732,0.00,2.35,0.00,0.000,6,0.000,0.048,2715,2382,3953
$GC,864,-1.17,-195.5,73.2,-9.0,178,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2382,3953
$GC,1010,-1.17,-195.5,86.3,-8.7,209,1016,0.00,2.45,0.00,0.000,4,0.000,0.065,2715,982,3953
$GC,1040,-1.17,-195.5,89.2,-9.7,215,1046,0.00,2.35,0.00,0.000,6,0.000,0.048,2715,2376,3953
$STATE,1170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1174,-0.31,0.0,101.3,8.8,244,1294,0.90,0.00,110.95,0.839,6,0.100,0.000,2902,2255,3387
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1296,1.17,195.5,104.7,0.0,265,1459,1.50,0.00,154.38,0.802,6,0.075,0.000,3226,2254,2590
$GC,1590,1.17,195.5,79.8,10.7,324,1598,0.00,2.58,0.00,0.000,4,0.000,0.071,3226,3675,2590
$GC,1611,1.17,195.5,77.6,10.9,328,1618,0.00,2.35,0.00,0.000,6,0.000,0.040,3226,2300,2590
$GC,1754,1.18,200.4,63.1,9.8,359,1766,0.00,2.58,5.68,0.634,4,0.000,0.076,3226,873,2570
$GC,1777,1.18,200.4,60.4,10.3,363,1783,0.00,2.40,0.00,0.000,6,0.000,0.051,3226,2281,2570
$GC,1917,1.18,200.4,45.6,10.1,394,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2281,2570
$GC,2053,1.18,200.4,31.4,11.0,425,2060,0.00,2.50,0.00,0.000,4,0.000,0.071,3226,3675,2570
$GC,2079,1.18,200.4,28.5,11.2,430,2085,0.00,2.38,0.00,0.000,6,0.000,0.038,3226,2278,2570
$GC,2150,1.18,206.6,21.1,9.8,446,2164,0.00,2.50,6.75,0.674,4,0.000,0.074,3226,878,2544
$GC,2179,1.18,206.6,18.2,10.3,451,2186,0.00,2.40,0.00,0.000,6,0.000,0.047,3226,2273,2544
$GC,2250,1.20,222.8,11.0,9.4,467,2271,0.00,2.53,14.85,0.751,4,0.000,0.071,3226,3680,2478
$GC,2323,1.35,339.8,5.3,6.0,482,2423,0.15,2.38,92.38,0.759,6,0.054,0.036,3270,2278,2002
$GC,2489,1.70,625.4,4.8,0.1,513,2552,0.30,0.00,60.25,0.743,2,0.060,0.000,3346,2278,1698
$STATE,2553,end climb,SURFACE_DEPTH_REACHED
$STATE,2553,begin surface coast
$FINISH,0.6,1.012021
$STATE,2759,end surface coast,CONTROL_FINISHED_OK
$STATE,2759,begin surface
$SM_CCo,2779,126.50,0.695,6,0,942,600.00
$SM_GC,1.47,0.00,0.00,126.50,0.000,0.000,0.695,444,2387,942,-11.64,0.34,600.00
$IRIDIUM_FIX,4748.51,-12205.79,200797,080827
$TT8_MAMPS,0.021476
$HUMID,1464
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,14.10
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,80.3,39.1
$24V_AH,23.5,2.869
$10V_AH,10.1,1.405
$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,28.275,49.000,445.225,126.500,0.000,25.644,28.197,181.630,7.750,0.000,0.000,11.316,812.228,203.726,581.957,1345.832,325.059,33.331,1208.946,0.000,1355.728,0.000,5.450
$DEVICE_MAMPS,171.041,75.933,839.098,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,396.598,311.033,1025.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31783,572
$CAP_FILE_SIZE,58429,0
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,6,0
$GPS,250408,100633,4807.241,-12223.626,14,1.6,14,18.3