version: 66.03
glider: 153
mission: 1
dive: 9
start: 4 30 108 3 51 35
data:
$ID,153
$MISSION,1
$DIVE,9
$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,0
$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,650
$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,-5156.9277
$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,13
$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,18
$R_STBD_OVSHOOT,13
$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,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
$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
$GPS1,034204,4806.581,-12222.674,10,1.8,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.3
$GPS2,035041,4806.456,-12222.571,8,3.4,27,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.169,0.308
$KALMAN_X,1383.9,379.5,289.1,-1189.7,124.7
$KALMAN_Y,-2452.4,-723.6,-438.6,323.2,-197.2
$MHEAD_RNG_PITCHd_Wd,313.0,1139,-11.6,-10.000
$D_GRID,150
$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,-1.26,-293.3,0.0,0.0,0,81,0.00,0.00,-61.05,0.000,2,0.000,0.000,466,2242,2243
$GC,84,-1.26,-293.3,3.4,-6.0,10,153,13.30,0.00,-49.65,0.000,6,0.154,0.000,2995,2243,3953
$GC,218,-1.26,-293.3,9.4,-5.7,36,224,0.00,2.47,0.00,0.000,4,0.000,0.061,2995,840,3955
$GC,465,-1.26,-293.3,23.8,-6.9,94,472,0.00,2.47,0.00,0.000,6,0.000,0.058,2995,2253,3957
$GC,537,-1.26,-293.3,29.0,-7.5,110,544,0.00,2.50,0.00,0.000,4,0.000,0.061,2995,835,3958
$GC,584,-1.26,-293.3,32.7,-8.1,120,591,0.00,2.47,0.00,0.000,6,0.000,0.058,2995,2250,3957
$GC,656,-1.26,-293.3,38.2,-7.6,136,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2250,3958
$GC,727,-1.26,-293.3,43.7,-7.3,152,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2250,3958
$GC,869,-1.26,-293.3,54.4,-7.6,183,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2250,3958
$GC,1007,-1.26,-293.3,64.8,-7.4,214,1014,0.00,2.47,0.00,0.000,4,0.000,0.063,2995,845,3958
$GC,1060,-1.26,-293.3,68.8,-7.7,225,1066,0.00,2.42,0.00,0.000,6,0.000,0.059,2995,2249,3958
$GC,1198,-1.26,-293.3,78.9,-6.5,256,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2249,3958
$GC,1345,-1.26,-293.3,89.2,-6.8,287,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2249,3958
$GC,1481,-1.26,-293.3,99.4,-7.5,318,1488,0.00,2.75,0.00,0.000,4,0.000,0.126,2995,3653,3958
$GC,1517,-1.26,-293.3,102.0,-8.2,325,1523,0.00,2.50,0.00,0.000,6,0.000,0.076,2995,2248,3958
$GC,1654,-1.26,-293.3,111.9,-7.0,356,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2248,3958
$STATE,1664,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1664,begin apogee
$GC,1668,-0.38,0.0,112.8,7.1,358,1765,0.88,0.00,90.45,0.726,6,0.095,0.000,3186,2248,3500
$STATE,1766,end apogee,CONTROL_FINISHED_OK
$STATE,1766,begin climb
$GC,1767,1.26,293.3,114.6,0.0,375,2004,1.60,0.00,229.38,0.684,6,0.074,0.000,3541,2248,2304
$GC,2137,1.26,293.3,72.6,14.7,447,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2248,2301
$GC,2276,1.26,293.3,52.2,14.7,478,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2248,2300
$GC,2415,1.26,293.3,32.4,14.7,509,2422,0.00,2.58,0.00,0.000,4,0.000,0.083,3541,845,2301
$GC,2433,1.26,293.3,29.8,14.6,512,2440,0.00,2.53,0.00,0.000,6,0.000,0.071,3541,2242,2301
$GC,2505,1.26,293.3,19.6,14.3,528,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2242,2300
$GC,2576,1.26,293.3,10.0,12.7,544,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2243,2300
$GC,2647,1.52,512.0,4.2,4.9,560,2656,0.25,0.00,5.78,0.558,2,0.055,0.000,3611,2243,2278
$STATE,2656,end climb,SURFACE_DEPTH_REACHED
$STATE,2657,begin surface coast
$FINISH,4.4,1.017237
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2760,begin surface
$SM_CCo,2762,354.02,0.590,17,0,490,738.35
$SM_GC,1.25,13.57,0.00,0.00,0.048,0.000,0.000,460,2243,480,-12.89,-0.20,740.56
$IRIDIUM_FIX,4748.51,-12302.11,250797,030347
$TT8_MAMPS,0.025311
$HUMID,1528
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.1,42.5
$24V_AH,23.6,1.522
$10V_AH,10.1,0.791
$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,29.600,25.175,325.600,354.025,0.000,78.709,77.518,144.976,1.500,0.000,0.000,29.849,847.539,448.262,795.117,1364.246,388.602,33.327,1379.720,0.000,1350.794,0.000,5.453
$DEVICE_MAMPS,154.167,125.788,725.582,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.715,277.556,982.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31672,585
$CAP_FILE_SIZE,56936,0
$CFSIZE,260165632,257851392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,17,0
$GPS,300408,044748,4806.640,-12222.754,7,99.0,26,18.3