version: 66.03
glider: 151
mission: 1
dive: 3
start: 4 29 108 20 0 20
data:
$ID,151
$MISSION,1
$DIVE,3
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51663
$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,580
$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,-2717.0337
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2610
$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,247
$ROLL_MAX,3926
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3954
$C_VBD,3404
$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,-23.203138
$PRESSURE_SLOPE,0.0001148558
$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,-0.5
$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,0.0043511889
$SEABIRD_T_H,0.00063513592
$SEABIRD_T_I,2.430502e-05
$SEABIRD_T_J,2.5370914e-06
$SEABIRD_C_G,-10.00406
$SEABIRD_C_H,1.1117702
$SEABIRD_C_I,-0.0010280402
$SEABIRD_C_J,0.00016666186
$GPS1,195532,4807.946,-12223.203,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.5
$GPS2,195929,4807.926,-12223.207,12,5.1,31,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,-0.345
$KALMAN_X,-53.4,-40.8,-38.6,98.9,-39.8
$KALMAN_Y,17.0,17.1,16.9,-828.9,13.1
$MHEAD_RNG_PITCHd_Wd,151.2,1734,-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,17,-1.09,-293.3,0.0,0.0,0,108,0.00,0.00,-88.28,0.000,2,0.000,0.000,433,2166,2665
$GC,110,-1.09,-293.3,3.1,-5.6,15,161,10.43,2.45,-33.30,0.000,4,0.167,0.090,2366,771,3955
$GC,400,-1.09,-293.3,26.3,-7.5,80,407,0.00,2.45,0.00,0.000,6,0.000,0.068,2365,2182,3956
$GC,471,-1.09,-293.3,31.5,-7.4,96,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2182,3957
$GC,541,-1.09,-293.3,36.8,-7.7,112,548,0.00,2.45,0.00,0.000,4,0.000,0.071,2366,3582,3957
$GC,583,-1.09,-293.3,40.4,-8.9,121,589,0.00,2.33,0.00,0.000,6,0.000,0.048,2366,2177,3957
$GC,721,-1.09,-293.3,51.5,-8.0,152,728,0.00,2.47,0.00,0.000,4,0.000,0.071,2366,3582,3957
$GC,818,-1.09,-293.3,59.7,-8.8,173,824,0.00,2.33,0.00,0.000,6,0.000,0.054,2366,2181,3957
$GC,958,-1.09,-293.3,71.1,-7.9,204,964,0.00,2.47,0.00,0.000,4,0.000,0.075,2366,3584,3957
$GC,1054,-1.09,-293.3,79.5,-8.8,225,1061,0.00,2.35,0.00,0.000,6,0.000,0.050,2366,2175,3956
$GC,1194,-1.09,-293.3,91.1,-8.7,256,1201,0.00,2.47,0.00,0.000,4,0.000,0.073,2366,3576,3956
$GC,1275,-1.09,-293.3,97.9,-8.7,273,1281,0.00,2.35,0.00,0.000,6,0.000,0.054,2366,2171,3956
$GC,1413,-1.09,-293.3,109.3,-8.1,304,1420,0.00,2.47,0.00,0.000,4,0.000,0.071,2366,3575,3956
$STATE,1424,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1424,begin apogee
$GC,1430,-0.31,0.0,110.5,8.1,306,1541,0.80,0.00,106.50,0.854,6,0.107,0.000,2534,2180,3404
$STATE,1541,end apogee,CONTROL_FINISHED_OK
$STATE,1541,begin climb
$GC,1543,1.09,293.3,113.7,0.0,326,1781,1.38,2.50,227.52,0.815,4,0.077,0.072,2841,3583,2207
$GC,1805,1.09,293.3,89.8,13.0,374,1812,0.00,2.42,0.00,0.000,6,0.000,0.060,2841,2190,2207
$GC,1945,1.09,293.3,72.3,12.2,405,1951,0.00,2.47,0.00,0.000,4,0.000,0.074,2841,3582,2207
$GC,1976,1.09,293.3,68.5,12.9,411,1981,0.00,2.40,0.00,0.000,6,0.000,0.061,2841,2181,2207
$GC,2114,1.09,293.3,51.2,12.7,442,2120,0.00,2.50,0.00,0.000,4,0.000,0.080,2842,3576,2207
$GC,2151,1.09,293.3,46.0,13.2,450,2158,0.00,2.42,0.00,0.000,6,0.000,0.058,2842,2181,2206
$GC,2287,1.09,293.3,29.5,11.9,481,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2181,2207
$GC,2356,1.09,293.3,21.0,12.3,497,2363,0.00,2.50,0.00,0.000,4,0.000,0.074,2841,3579,2206
$GC,2398,1.09,293.3,16.0,11.8,506,2405,0.00,2.40,0.00,0.000,6,0.000,0.062,2841,2187,2206
$GC,2471,1.11,315.0,8.2,9.5,522,2496,0.00,0.00,18.33,0.776,6,0.000,0.000,2841,2188,2120
$GC,2559,1.54,661.2,5.6,2.0,541,2609,0.43,0.00,46.65,0.780,2,0.065,0.000,2943,2188,1883
$STATE,2610,end climb,SURFACE_DEPTH_REACHED
$STATE,2610,begin surface coast
$FINISH,1.3,1.016725
$STATE,2818,end surface coast,CONTROL_FINISHED_OK
$STATE,2818,begin surface
$SM_CCo,2836,166.90,0.759,4,0,1038,580.13
$SM_GC,1.36,0.00,0.00,166.90,0.000,0.000,0.759,436,2186,1038,-10.00,0.17,580.13
$IRIDIUM_FIX,4751.72,-12223.57,240797,202008
$TT8_MAMPS,0.028379
$HUMID,1515
$INTERNAL_PRESSURE,8.95349
$TCM_TEMP,15.60
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,90.2,29.9
$24V_AH,23.6,0.778
$10V_AH,10.1,0.306
$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,23.975,48.600,399.000,166.900,0.000,0.000,0.000,0.000,6.500,0.000,0.000,33.789,851.162,267.858,597.490,1342.950,52.546,31.416,1203.488,0.000,1318.212,0.000,7.512
$DEVICE_MAMPS,167.206,89.739,854.438,759.330,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.803,300.092,970.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31794,599
$CAP_FILE_SIZE,70930,0
$CFSIZE,260165632,258244608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,290408,205147,4807.583,-12223.179,10,2.6,29,18.3