version: 66.03
glider: 152
mission: 1
dive: 20
start: 4 25 108 13 3 19
data:
$ID,152
$MISSION,1
$DIVE,20
$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,-4687.9102
$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,24
$R_STBD_OVSHOOT,35
$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
$GPS1,125715,4807.821,-12223.982,11,1.1,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.3
$GPS2,130221,4807.812,-12223.972,10,1.1,10,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,0.175
$KALMAN_X,-773.5,-159.5,111.5,88.6,-3.9
$KALMAN_Y,-1228.2,-63.6,-326.1,1780.2,-13.3
$MHEAD_RNG_PITCHd_Wd,336.6,351,-26.9,-10.000
$D_GRID,103
$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,-1.76,-64.8,0.0,0.0,0,111,0.00,0.00,-91.47,0.000,2,0.000,0.000,443,2385,2658
$GC,113,-1.83,-123.5,3.2,-3.9,15,171,11.90,2.45,-39.53,0.000,4,0.173,0.074,2571,975,3892
$GC,186,-1.85,-142.9,7.7,-8.0,27,194,0.00,2.38,-1.48,0.000,6,0.000,0.044,2571,2368,3953
$GC,258,-1.85,-142.9,17.2,-14.0,43,265,0.00,2.53,0.00,0.000,4,0.000,0.068,2571,3771,3954
$GC,343,-1.85,-142.9,30.2,-15.4,62,350,0.00,2.35,0.00,0.000,6,0.000,0.035,2571,2373,3954
$GC,414,-1.85,-142.9,41.4,-15.5,78,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2370,3954
$GC,556,-1.85,-142.9,64.8,-16.2,109,562,0.00,2.42,0.00,0.000,4,0.000,0.064,2571,977,3954
$GC,597,-1.85,-142.9,72.1,-17.1,118,604,0.00,2.38,0.00,0.000,6,0.000,0.045,2571,2370,3954
$GC,745,-1.85,-142.9,95.6,-16.7,149,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2371,3954
$STATE,790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,790,begin apogee
$GC,794,-0.31,0.0,103.6,16.6,159,912,1.62,0.00,111.45,0.840,6,0.116,0.000,2904,2253,3388
$STATE,913,end apogee,CONTROL_FINISHED_OK
$STATE,913,begin climb
$GC,915,1.85,142.9,107.8,0.0,180,1034,2.17,0.00,113.62,0.804,6,0.074,0.000,3376,2253,2805
$GC,1168,1.85,142.9,73.1,18.1,231,1174,0.00,2.55,0.00,0.000,4,0.000,0.068,3376,3682,2805
$GC,1215,1.85,142.9,64.5,18.4,241,1221,0.00,2.35,0.00,0.000,6,0.000,0.041,3376,2294,2805
$GC,1355,1.85,142.9,39.6,17.6,272,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2293,2805
$GC,1426,1.85,142.9,27.8,16.4,288,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2293,2804
$GC,1497,1.85,142.9,16.3,16.3,304,1504,0.00,2.47,0.00,0.000,4,0.000,0.067,3376,3671,2805
$GC,1540,1.85,142.9,9.6,16.0,313,1547,0.00,2.40,0.00,0.000,6,0.000,0.041,3376,2270,2804
$STATE,1585,end climb,SURFACE_DEPTH_REACHED
$STATE,1585,begin surface coast
$FINISH,4.7,1.018610
$STATE,1624,end surface coast,CONTROL_FINISHED_OK
$STATE,1624,begin surface
$SM_CCo,1627,397.08,0.707,13,0,540,698.61
$SM_GC,1.45,12.85,0.00,0.00,0.046,0.000,0.000,447,2386,534,-11.58,0.31,700.33
$IRIDIUM_FIX,4751.72,-12223.57,200797,121238
$TT8_MAMPS,0.021476
$HUMID,1463
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,14.70
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,90.7,28.2
$24V_AH,23.5,3.443
$10V_AH,10.1,1.653
$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,28.550,24.600,225.075,397.075,0.000,22.359,25.974,180.043,7.250,0.000,0.000,12.038,492.435,213.611,744.026,777.777,296.178,33.322,1129.943,0.000,783.790,0.000,6.966
$DEVICE_MAMPS,173.342,73.632,839.865,707.174,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,229.954,165.071,571.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19111,332
$CAP_FILE_SIZE,39822,0
$CFSIZE,260165632,258068480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,13,0
$GPS,250408,134038,4807.975,-12224.088,7,1.6,7,18.3