version: 66.03
glider: 153
mission: 1
dive: 6
start: 4 30 108 0 20 45
data:
$ID,153
$MISSION,1
$DIVE,6
$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,150
$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,-5077.7988
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,465
$PITCH_MAX,3745
$C_PITCH,3275
$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,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,12
$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
$GPS1,000809,4806.813,-12222.873,39,0.9,39,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.7
$GPS2,001945,4806.586,-12222.720,9,1.5,15,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.188,0.296
$KALMAN_X,588.3,202.3,10.9,-122.2,175.2
$KALMAN_Y,-974.0,-432.2,-92.2,-1547.7,-135.8
$MHEAD_RNG_PITCHd_Wd,309.2,840,-11.6,-10.000
$D_GRID,104
$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,-1.09,-293.3,0.0,0.0,0,81,0.00,0.00,-61.38,0.000,2,0.000,0.000,461,2181,2330
$GC,84,-1.09,-293.3,3.0,-3.4,10,153,13.57,2.40,-47.38,0.000,4,0.156,0.074,3031,831,3954
$GC,177,-1.09,-293.3,7.6,-8.2,26,183,0.00,2.50,0.00,0.000,6,0.000,0.058,3031,2255,3956
$GC,248,-1.09,-293.3,11.1,-3.6,42,255,0.00,2.70,0.00,0.000,4,0.000,0.111,3031,3645,3958
$GC,358,-1.09,-293.3,15.3,-4.6,67,364,0.00,2.47,0.00,0.000,6,0.000,0.067,3031,2250,3959
$GC,429,-1.09,-293.3,18.8,-4.7,83,436,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2250,3959
$GC,500,-1.09,-293.3,22.6,-5.6,99,507,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2250,3959
$GC,572,-1.09,-293.3,26.5,-5.8,115,578,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2250,3959
$GC,643,-1.09,-293.3,30.7,-5.7,131,650,0.00,2.47,0.00,0.000,4,0.000,0.067,3031,848,3960
$GC,690,-1.09,-293.3,33.9,-7.0,141,697,0.00,2.45,0.00,0.000,6,0.000,0.061,3031,2242,3959
$GC,761,-1.09,-293.3,38.3,-6.4,157,768,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2242,3959
$GC,835,-1.09,-293.3,42.9,-5.7,173,840,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2242,3959
$GC,974,-1.09,-293.3,51.4,-6.0,204,981,0.00,2.47,0.00,0.000,4,0.000,0.063,3032,843,3960
$GC,1002,-1.09,-293.3,53.0,-6.1,209,1008,0.00,2.45,0.00,0.000,6,0.000,0.063,3031,2252,3960
$GC,1140,-1.09,-293.3,61.5,-6.0,240,1147,0.00,2.72,0.00,0.000,4,0.000,0.124,3031,3654,3959
$GC,1187,-1.09,-293.3,64.8,-7.2,250,1194,0.00,2.53,0.00,0.000,6,0.000,0.075,3031,2255,3960
$GC,1328,-1.09,-293.3,73.3,-6.2,281,1333,0.00,2.50,0.00,0.000,4,0.000,0.070,3031,833,3959
$GC,1358,-1.09,-293.3,75.1,-6.2,287,1364,0.00,2.47,0.00,0.000,6,0.000,0.063,3031,2257,3960
$GC,1498,-1.09,-293.3,83.9,-6.0,318,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2257,3959
$GC,1640,-1.09,-293.3,92.4,-6.3,349,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2257,3959
$GC,1778,-1.09,-293.3,100.4,-5.6,380,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2257,3959
$STATE,1839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1839,begin apogee
$GC,1843,-0.31,0.0,104.1,6.0,393,1938,0.77,0.00,90.55,0.718,6,0.093,0.000,3202,2257,3500
$STATE,1939,end apogee,CONTROL_FINISHED_OK
$STATE,1939,begin climb
$GC,1941,1.09,293.3,105.8,0.0,410,2177,1.38,0.00,229.18,0.676,6,0.070,0.000,3510,2258,2303
$GC,2308,1.09,293.3,69.0,12.8,482,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2258,2301
$GC,2449,1.09,293.3,52.3,11.9,513,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2258,2300
$GC,2587,1.09,293.3,35.8,11.8,544,2594,0.00,2.60,0.00,0.000,4,0.000,0.082,3510,847,2300
$GC,2601,1.09,293.3,34.2,12.0,546,2608,0.00,2.53,0.00,0.000,6,0.000,0.068,3510,2251,2300
$GC,2673,1.09,293.3,25.9,11.5,562,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2251,2300
$GC,2744,1.09,293.3,17.9,11.2,578,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2250,2300
$GC,2815,1.09,293.3,10.3,10.1,594,2822,0.00,2.75,0.00,0.000,4,0.000,0.122,3510,3656,2300
$GC,2829,1.10,299.8,9.0,9.8,596,2842,0.00,2.58,6.20,0.571,6,0.000,0.078,3510,2248,2277
$GC,2908,1.51,633.2,5.6,2.3,613,3008,0.38,0.00,96.50,0.641,2,0.061,0.000,3602,2248,1786
$STATE,3008,end climb,SURFACE_DEPTH_REACHED
$STATE,3008,begin surface coast
$FINISH,3.1,1.014777
$STATE,3219,end surface coast,CONTROL_FINISHED_OK
$STATE,3219,begin surface
$SM_CCo,3239,269.85,0.591,11,0,490,738.35
$SM_GC,1.24,0.00,0.00,269.85,0.000,0.000,0.591,462,2245,490,-12.94,-0.14,738.35
$IRIDIUM_FIX,4751.72,-12223.57,250797,000037
$TT8_MAMPS,0.025311
$HUMID,1529
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.2,42.5
$24V_AH,23.6,1.096
$10V_AH,10.1,0.564
$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,29.800,40.600,422.425,269.850,0.000,129.214,128.505,112.373,2.250,0.000,0.000,16.920,970.729,494.488,756.728,1586.550,473.273,33.322,1449.955,0.000,1585.238,0.000,5.453
$DEVICE_MAMPS,156.468,124.254,717.912,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,471.387,334.204,1188.154,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34852,679
$CAP_FILE_SIZE,66069,0
$CFSIZE,260165632,257925120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,11,0
$GPS,300408,012117,4806.685,-12222.821,13,5.2,32,18.3