version: 66.03
glider: 153
mission: 1
dive: 4
start: 4 29 108 22 22 19
data:
$ID,153
$MISSION,1
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51781
$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,738.35297
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5044.7422
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,465
$PITCH_MAX,3745
$C_PITCH,3270
$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,160
$ROLL_MAX,3870
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3950
$C_VBD,3500
$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,-13.561021
$PRESSURE_SLOPE,0.0001161872
$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
$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,0.0043449649
$SEABIRD_T_H,0.00062721409
$SEABIRD_T_I,2.149689e-05
$SEABIRD_T_J,2.0033956e-06
$SEABIRD_C_G,-9.9283581
$SEABIRD_C_H,1.1183646
$SEABIRD_C_I,-0.0012776167
$SEABIRD_C_J,0.00011918142
$GPS1,220700,4807.178,-12222.993,11,4.7,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.7
$GPS2,222121,4807.032,-12222.819,10,1.9,15,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.031
$KALMAN_X,46.6,27.6,-7.3,489.3,2.5
$KALMAN_Y,-227.7,-158.6,-109.1,-1736.4,-22.5
$MHEAD_RNG_PITCHd_Wd,241.3,231,-27.2,-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,18,-1.78,-63.1,0.0,0.0,0,87,0.00,0.00,-67.07,0.000,2,0.000,0.000,466,2178,3074
$GC,89,-1.85,-120.2,3.4,-3.9,11,129,12.77,2.65,-20.30,0.000,4,0.160,0.114,2864,3590,3953
$GC,368,-1.85,-120.2,32.8,-10.6,74,375,0.00,2.50,0.00,0.000,6,0.000,0.070,2864,2183,3958
$GC,439,-1.85,-120.2,41.0,-11.6,90,446,0.00,2.70,0.00,0.000,4,0.000,0.107,2864,3584,3958
$GC,570,-1.85,-120.2,58.6,-14.7,119,576,0.00,2.47,0.00,0.000,6,0.000,0.071,2864,2178,3959
$GC,706,-1.85,-120.2,76.7,-13.3,150,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2179,3959
$GC,848,-1.85,-120.2,94.8,-13.5,181,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2179,3959
$STATE,929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,929,begin apogee
$GC,932,-0.31,0.0,105.6,13.2,199,1028,1.58,0.00,90.20,0.709,6,0.110,0.000,3194,2178,3500
$STATE,1029,end apogee,CONTROL_FINISHED_OK
$STATE,1029,begin climb
$GC,1030,1.85,120.2,108.4,0.0,216,1139,2.12,2.67,95.10,0.680,4,0.070,0.091,3670,775,3008
$GC,1168,1.85,120.2,94.1,16.4,241,1174,0.00,2.53,0.00,0.000,6,0.000,0.071,3670,2186,3007
$GC,1306,1.85,120.2,70.6,16.2,272,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,3670,2186,3007
$GC,1446,1.85,120.2,47.4,16.0,303,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3669,2186,3007
$GC,1581,1.85,120.2,25.5,15.4,334,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3669,2186,3006
$GC,1652,1.85,120.2,14.8,14.0,350,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3669,2186,3006
$GC,1723,1.92,173.4,7.8,4.4,366,1773,0.00,2.60,42.75,0.650,4,0.000,0.078,3670,769,2791
$STATE,1925,end climb,NO_VERTICAL_VELOCITY
$STATE,1925,begin surface
$SM_CCo,1927,460.02,0.586,19,0,490,738.35
$SM_GC,1.12,13.80,0.00,0.00,0.047,0.000,0.000,466,2191,479,-12.85,0.31,741.05
$IRIDIUM_FIX,4751.72,-12226.29,240797,222256
$TT8_MAMPS,0.025311
$HUMID,1525
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.5,51.9
$24V_AH,23.7,0.821
$10V_AH,10.1,0.411
$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,30.275,20.675,228.050,460.025,0.000,143.021,130.741,235.384,1.000,0.000,0.000,16.532,608.675,480.793,813.681,964.494,605.721,32.323,1229.146,0.000,961.540,0.000,5.473
$DEVICE_MAMPS,160.303,114.283,708.708,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,284.213,204.092,719.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22302,410
$CAP_FILE_SIZE,47110,0
$CFSIZE,260165632,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,19,0
$GPS,290408,230621,4806.922,-12222.924,12,1.7,12,18.3