version: 66.03
glider: 151
mission: 1
dive: 20
start: 4 30 108 12 33 44
data:
$ID,151
$MISSION,1
$DIVE,20
$D_SURF,4
$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,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,130
$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,-4036.9175
$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,19
$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,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
$GPS1,122735,4806.396,-12222.571,10,2.1,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.2
$GPS2,123245,4806.360,-12222.530,11,1.2,11,18.3
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.120,0.212
$KALMAN_X,2410.4,389.0,-0.6,-1998.7,52.4
$KALMAN_Y,-4775.8,-701.9,-7.4,1811.7,-112.7
$MHEAD_RNG_PITCHd_Wd,312.2,3539,-18.9,-10.000
$D_GRID,105
$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,-1.34,-127.1,0.0,0.0,0,126,0.00,0.00,-106.93,0.000,2,0.000,0.000,436,2476,3317
$GC,128,-1.34,-127.1,3.1,-3.0,18,166,10.27,2.45,-21.10,0.000,4,0.169,0.090,2320,3869,3922
$GC,189,-1.34,-127.1,5.5,-6.6,29,196,0.00,2.40,0.00,0.000,6,0.000,0.048,2320,2454,3922
$GC,262,-1.34,-127.1,12.7,-10.1,45,269,0.00,2.42,0.00,0.000,4,0.000,0.071,2320,1076,3923
$GC,402,-1.34,-127.1,25.8,-9.7,77,409,0.00,2.40,0.00,0.000,6,0.000,0.060,2320,2461,3923
$GC,472,-1.34,-127.1,33.0,-10.3,93,479,0.00,2.50,0.00,0.000,4,0.000,0.073,2320,3865,3923
$GC,517,-1.34,-127.1,38.2,-11.4,103,524,0.00,2.35,0.00,0.000,6,0.000,0.056,2320,2478,3923
$GC,591,-1.34,-127.1,46.0,-10.6,119,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2477,3923
$GC,728,-1.34,-127.1,60.7,-10.1,150,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2477,3923
$GC,868,-1.34,-127.1,75.0,-10.4,181,874,0.00,2.47,0.00,0.000,4,0.000,0.074,2320,3877,3923
$GC,909,-1.34,-127.1,79.6,-11.1,190,916,0.00,2.40,0.00,0.000,6,0.000,0.057,2320,2471,3923
$GC,1050,-1.34,-127.1,93.8,-9.9,221,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2471,3923
$STATE,1165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1165,begin apogee
$GC,1169,-0.31,0.0,105.3,9.6,247,1274,1.08,0.00,99.43,0.785,6,0.117,0.000,2540,2344,3404
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1277,1.34,127.1,107.7,0.0,266,1382,1.65,0.00,98.43,0.724,6,0.080,0.000,2902,2343,2884
$GC,1514,1.34,127.1,82.4,13.7,315,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2343,2884
$GC,1652,1.34,127.1,64.5,12.8,346,1659,0.00,2.53,0.00,0.000,4,0.000,0.076,2902,3746,2884
$GC,1707,1.34,127.1,56.8,13.9,358,1714,0.00,2.40,0.00,0.000,6,0.000,0.055,2903,2367,2884
$GC,1847,1.34,127.1,39.1,12.6,389,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2367,2884
$GC,1917,1.34,127.1,30.2,12.2,405,1924,0.00,2.50,0.00,0.000,4,0.000,0.081,2902,3753,2884
$GC,1943,1.34,127.1,27.1,12.8,410,1949,0.00,2.45,0.00,0.000,6,0.000,0.055,2902,2343,2884
$GC,2013,1.34,127.1,18.5,12.0,426,2020,0.00,2.53,0.00,0.000,4,0.000,0.077,2902,3746,2884
$GC,2046,1.34,127.1,14.3,12.5,433,2053,0.00,2.42,0.00,0.000,6,0.000,0.062,2902,2352,2884
$GC,2117,1.35,133.8,6.5,9.6,449,2130,0.00,2.50,6.32,0.672,4,0.000,0.077,2902,938,2858
$GC,2140,1.40,175.6,4.6,7.8,453,2155,0.00,2.47,9.88,0.728,2,0.000,0.067,2902,2348,2813
$STATE,2156,end climb,SURFACE_DEPTH_REACHED
$STATE,2156,begin surface coast
$FINISH,2.7,1.018981
$STATE,2211,end surface coast,CONTROL_FINISHED_OK
$STATE,2211,begin surface
$SM_CCo,2229,392.35,0.664,2,0,753,650.04
$SM_GC,1.25,0.00,0.00,392.35,0.000,0.000,0.664,432,2479,753,-10.05,0.25,650.04
$IRIDIUM_FIX,4745.30,-12217.40,250797,111123
$TT8_MAMPS,0.029146
$HUMID,1482
$INTERNAL_PRESSURE,8.89489
$TCM_TEMP,15.30
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,80.9,48.6
$24V_AH,23.6,3.086
$10V_AH,10.1,1.431
$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,24.050,39.625,214.050,392.350,0.000,29.270,27.396,177.749,5.500,0.000,0.000,12.854,699.344,232.713,697.675,1030.844,304.303,33.331,1173.839,0.000,1030.549,0.000,5.466
$DEVICE_MAMPS,168.740,89.739,785.408,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,320.765,224.432,738.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25435,468
$CAP_FILE_SIZE,50573,0
$CFSIZE,260165632,257675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300408,131837,4806.482,-12222.656,10,1.3,26,18.3