version: 66.03
glider: 151
mission: 1
dive: 12
start: 4 30 108 5 47 33
data:
$ID,151
$MISSION,1
$DIVE,12
$D_SURF,5
$D_FLARE,3
$D_TGT,140
$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,67
$T_MISSION,75
$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,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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3843.3838
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2617
$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,2470
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,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,-0.5
$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
$GPS1,054000,4805.873,-12221.870,14,99.0,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.2
$GPS2,054635,4805.749,-12221.782,10,6.5,29,18.3
$SPEED_LIMITS,0.121,0.303
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,0.203
$KALMAN_X,1222.2,46.4,176.6,280.9,102.7
$KALMAN_Y,-2471.6,-122.5,-310.3,-1905.4,-176.8
$MHEAD_RNG_PITCHd_Wd,311.6,538,-11.5,-6.965
$D_GRID,110
$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,-0.91,-156.7,0.0,0.0,0,92,0.00,0.00,-71.93,0.000,2,0.000,0.000,435,2392,2563
$GC,94,-1.05,-268.2,3.2,-3.6,12,156,10.60,0.00,-45.67,0.000,6,0.167,0.000,2384,2392,3954
$GC,219,-1.08,-293.3,8.0,-5.2,37,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2391,3955
$GC,289,-1.08,-293.3,12.6,-7.7,53,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2392,3955
$GC,358,-1.08,-293.3,17.4,-7.1,69,365,0.00,2.65,0.00,0.000,4,0.000,0.078,2384,3880,3955
$GC,387,-1.08,-293.3,19.7,-7.5,75,395,0.00,2.38,0.00,0.000,6,0.000,0.051,2384,2468,3955
$GC,458,-1.08,-293.3,25.0,-7.9,91,465,0.00,2.45,0.00,0.000,4,0.000,0.071,2384,1076,3955
$GC,503,-1.08,-293.3,28.6,-8.1,101,510,0.00,2.40,0.00,0.000,6,0.000,0.061,2384,2463,3955
$GC,574,-1.08,-293.3,34.2,-7.8,117,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2463,3956
$GC,645,-1.08,-293.3,39.7,-7.9,133,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2462,3956
$GC,717,-1.08,-293.3,45.3,-7.8,149,724,0.00,2.50,0.00,0.000,4,0.000,0.081,2384,3877,3956
$GC,750,-1.08,-293.3,48.2,-8.1,156,757,0.00,2.38,0.00,0.000,6,0.000,0.051,2383,2472,3956
$GC,890,-1.08,-293.3,58.8,-7.6,187,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2472,3956
$GC,1027,-1.08,-293.3,69.1,-7.7,218,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2472,3956
$GC,1167,-1.08,-293.3,79.5,-7.5,249,1176,0.00,2.47,0.00,0.000,4,0.000,0.080,2384,3869,3956
$GC,1229,-1.08,-293.3,84.8,-8.4,262,1236,0.00,2.35,0.00,0.000,6,0.000,0.047,2384,2478,3956
$GC,1373,-1.08,-293.3,95.5,-7.3,293,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2478,3956
$GC,1510,-1.08,-293.3,105.5,-7.3,324,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2477,3956
$STATE,1574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1574,begin apogee
$GC,1578,-0.31,0.0,110.3,7.4,338,1690,0.75,0.00,105.78,0.800,6,0.104,0.000,2542,2340,3403
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1691,begin climb
$GC,1692,1.08,293.3,112.9,0.0,358,1926,1.38,0.00,224.90,0.733,6,0.077,0.000,2848,2339,2207
$GC,2057,1.08,293.3,74.3,13.8,430,2064,0.00,2.55,0.00,0.000,4,0.000,0.074,2848,3766,2207
$GC,2078,1.08,293.3,71.3,13.7,434,2085,0.00,2.42,0.00,0.000,6,0.000,0.054,2848,2370,2207
$GC,2217,1.08,293.3,52.7,13.4,465,2223,0.00,2.55,0.00,0.000,4,0.000,0.087,2848,944,2206
$GC,2238,1.08,293.3,49.8,13.2,469,2245,0.00,2.42,0.00,0.000,6,0.000,0.070,2848,2354,2207
$GC,2376,1.08,293.3,31.8,12.8,500,2383,0.00,2.50,0.00,0.000,4,0.000,0.079,2848,3751,2206
$GC,2393,1.08,293.3,29.4,13.2,503,2400,0.00,2.42,0.00,0.000,6,0.000,0.053,2848,2347,2207
$GC,2464,1.08,293.3,20.3,12.6,519,2471,0.00,2.53,0.00,0.000,4,0.000,0.080,2848,917,2206
$GC,2481,1.08,293.3,18.1,12.8,522,2488,0.00,2.50,0.00,0.000,6,0.000,0.061,2848,2350,2207
$GC,2552,1.08,293.3,9.7,11.1,538,2559,0.00,2.50,0.00,0.000,4,0.000,0.075,2848,3750,2207
$GC,2569,1.08,293.3,7.9,10.5,541,2576,0.00,2.40,0.00,0.000,6,0.000,0.057,2848,2350,2206
$STATE,2602,end climb,SURFACE_DEPTH_REACHED
$STATE,2602,begin surface coast
$FINISH,2.9,1.016968
$STATE,2662,end surface coast,CONTROL_FINISHED_OK
$STATE,2662,begin surface
$SM_CCo,2680,280.83,0.680,2,0,754,650.04
$SM_GC,1.43,0.00,0.00,280.83,0.000,0.000,0.680,431,2485,754,-10.05,0.42,650.04
$IRIDIUM_FIX,4748.51,-12220.12,250797,040400
$TT8_MAMPS,0.029146
$HUMID,1470
$INTERNAL_PRESSURE,8.89489
$TCM_TEMP,15.40
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,90.1,36.4
$24V_AH,23.6,2.031
$10V_AH,10.1,0.985
$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,23.200,44.825,330.675,280.825,0.000,25.339,31.014,231.686,6.250,0.000,0.000,31.968,817.841,259.371,676.993,1250.404,376.025,33.337,1258.687,0.000,1230.084,0.000,6.993
$DEVICE_MAMPS,167.206,106.613,799.981,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,384.591,268.798,873.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28518,562
$CAP_FILE_SIZE,59133,0
$CFSIZE,260165632,257921024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,300408,063751,4806.015,-12222.010,13,1.4,13,18.3