version: 66.03
glider: 151
mission: 1
dive: 4
start: 4 29 108 20 59 52
data:
$ID,151
$MISSION,1
$DIVE,4
$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,150
$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,550
$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,-2751.5986
$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,2280
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,24
$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
$GPS1,205147,4807.583,-12223.179,10,2.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.4
$GPS2,205859,4807.541,-12223.176,12,2.3,31,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,-0.341
$KALMAN_X,-121.2,-91.2,-59.2,278.0,-41.7
$KALMAN_Y,148.2,123.2,60.1,-1829.4,50.8
$MHEAD_RNG_PITCHd_Wd,147.9,1025,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.09,-293.3,0.0,0.0,0,79,0.00,0.00,-59.60,0.000,2,0.000,0.000,436,2187,2494
$GC,81,-1.09,-293.3,3.0,-5.3,10,137,10.52,2.38,-40.45,0.000,4,0.170,0.094,2366,872,3955
$GC,373,-1.09,-293.3,26.1,-8.0,76,380,0.00,2.45,0.00,0.000,6,0.000,0.063,2366,2278,3958
$GC,443,-1.09,-293.3,31.5,-7.7,92,450,0.00,2.50,0.00,0.000,4,0.000,0.074,2366,877,3958
$GC,473,-1.09,-293.3,34.1,-8.9,98,479,0.00,2.45,0.00,0.000,6,0.000,0.062,2366,2285,3958
$GC,545,-1.09,-293.3,40.1,-8.5,114,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2285,3958
$GC,685,-1.09,-293.3,51.4,-8.1,145,691,0.00,2.45,0.00,0.000,4,0.000,0.076,2366,3683,3958
$GC,775,-1.09,-293.3,59.3,-8.9,165,781,0.00,2.35,0.00,0.000,6,0.000,0.050,2366,2277,3958
$GC,913,-1.09,-293.3,71.0,-8.2,196,920,0.00,2.50,0.00,0.000,4,0.000,0.080,2366,3677,3958
$GC,966,-1.09,-293.3,75.8,-9.2,207,972,0.00,2.35,0.00,0.000,6,0.000,0.049,2366,2278,3958
$GC,1104,-1.09,-293.3,87.3,-7.9,238,1111,0.00,2.50,0.00,0.000,4,0.000,0.075,2366,3676,3958
$GC,1139,-1.09,-293.3,90.3,-8.9,245,1145,0.00,2.35,0.00,0.000,6,0.000,0.052,2366,2278,3958
$GC,1278,-1.09,-293.3,101.6,-8.3,276,1285,0.00,2.50,0.00,0.000,4,0.000,0.077,2366,3674,3958
$GC,1341,-1.09,-293.3,106.8,-8.5,289,1347,0.00,2.35,0.00,0.000,6,0.000,0.051,2366,2279,3958
$STATE,1443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1443,begin apogee
$GC,1446,-0.31,0.0,115.2,8.1,312,1557,0.80,0.00,107.30,0.883,6,0.105,0.000,2535,2278,3404
$STATE,1558,end apogee,CONTROL_FINISHED_OK
$STATE,1558,begin climb
$GC,1560,1.09,293.3,118.1,0.0,332,1798,1.40,2.55,227.77,0.826,4,0.075,0.077,2845,3689,2207
$GC,1819,1.09,293.3,94.8,12.6,379,1825,0.00,2.42,0.00,0.000,6,0.000,0.060,2845,2282,2207
$GC,1959,1.09,293.3,76.9,12.6,410,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2282,2207
$GC,2098,1.09,293.3,59.0,13.0,441,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2282,2207
$GC,2235,1.09,293.3,41.0,12.6,472,2242,0.00,2.53,0.00,0.000,4,0.000,0.080,2845,3680,2207
$GC,2277,1.09,293.3,35.7,13.2,481,2284,0.00,2.42,0.00,0.000,6,0.000,0.058,2845,2282,2207
$GC,2348,1.09,293.3,27.0,12.4,497,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2281,2208
$GC,2418,1.09,293.3,18.3,12.4,513,2425,0.00,2.53,0.00,0.000,4,0.000,0.079,2845,3680,2207
$GC,2435,1.09,293.3,16.3,12.0,516,2442,0.00,2.42,0.00,0.000,6,0.000,0.060,2845,2279,2207
$GC,2505,1.09,293.3,8.4,10.4,532,2512,0.00,2.53,0.00,0.000,4,0.000,0.077,2845,3679,2207
$GC,2531,1.19,373.3,6.5,8.1,537,2604,0.05,2.40,63.62,0.775,6,0.072,0.054,2868,2280,1880
$STATE,2609,end climb,SURFACE_DEPTH_REACHED
$STATE,2609,begin surface coast
$FINISH,2.9,1.016717
$STATE,2820,end surface coast,CONTROL_FINISHED_OK
$STATE,2820,begin surface
$SM_CCo,2837,142.45,0.712,4,0,1161,550.21
$SM_GC,1.59,0.00,0.00,142.45,0.000,0.000,0.712,435,2278,1161,-10.01,-0.06,550.21
$IRIDIUM_FIX,4748.51,-12221.84,240797,202058
$TT8_MAMPS,0.029146
$HUMID,1526
$INTERNAL_PRESSURE,8.95349
$TCM_TEMP,14.50
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,80.1,44.8
$24V_AH,23.5,0.919
$10V_AH,10.1,0.376
$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,23.300,48.925,398.700,142.450,0.000,27.923,24.161,267.914,7.250,0.000,0.000,33.936,857.830,273.203,563.149,1342.539,409.094,32.356,1167.293,0.000,1321.838,0.000,5.462
$DEVICE_MAMPS,169.507,94.341,882.817,711.776,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.395,287.826,950.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31715,600
$CAP_FILE_SIZE,60634,0
$CFSIZE,260165632,258228224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,290408,215059,4807.148,-12223.074,13,2.1,32,18.3