version: 66.03
glider: 152
mission: 1
dive: 3
start: 4 24 108 20 0 21
data:
$ID,152
$MISSION,1
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51622
$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,600
$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,-4297.1089
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2976
$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,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3388
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-18.272327
$PRESSURE_SLOPE,0.0001162351
$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,0.69999999
$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,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,195557,4807.098,-12222.841,12,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.1
$GPS2,195926,4807.078,-12222.791,10,1.8,15,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.169,-0.036
$KALMAN_X,141.5,80.8,71.2,422.3,68.0
$KALMAN_Y,-157.1,-105.7,-97.1,-831.4,-83.6
$MHEAD_RNG_PITCHd_Wd,239.6,296,-27.2,-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,-1.78,-63.1,0.0,0.0,0,81,0.00,0.00,-61.20,0.000,2,0.000,0.000,444,2345,2358
$GC,83,-1.84,-112.6,3.1,-4.7,10,146,11.62,2.45,-42.97,0.000,4,0.166,0.078,2568,3711,3850
$GC,286,-1.84,-112.6,24.8,-12.2,53,293,0.00,2.35,0.00,0.000,6,0.000,0.039,2568,2310,3850
$GC,358,-1.84,-112.6,32.7,-11.8,69,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2310,3850
$GC,430,-1.84,-112.6,42.2,-13.5,85,436,0.00,2.40,0.00,0.000,4,0.000,0.065,2568,928,3850
$GC,450,-1.84,-112.6,45.2,-14.3,89,457,0.00,2.35,0.00,0.000,6,0.000,0.051,2568,2317,3851
$GC,591,-1.84,-112.6,66.7,-15.5,120,598,0.00,2.50,0.00,0.000,4,0.000,0.069,2568,3724,3850
$GC,620,-1.84,-112.6,71.3,-16.2,126,627,0.00,2.35,0.00,0.000,6,0.000,0.035,2568,2327,3850
$GC,762,-1.84,-112.6,93.1,-15.1,157,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2323,3850
$STATE,843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,843,begin apogee
$GC,847,-0.31,0.0,105.2,14.6,175,942,1.60,0.00,91.07,0.849,6,0.112,0.000,2902,2323,3388
$STATE,943,end apogee,CONTROL_FINISHED_OK
$STATE,943,begin climb
$GC,944,1.84,112.6,108.4,0.0,192,1040,2.12,0.00,89.93,0.811,6,0.071,0.000,3371,2322,2929
$GC,1173,1.84,112.6,80.2,15.6,239,1179,0.00,2.50,0.00,0.000,4,0.000,0.068,3371,3724,2929
$GC,1219,1.84,112.6,72.6,16.7,249,1225,0.00,2.38,0.00,0.000,6,0.000,0.045,3372,2332,2929
$GC,1360,1.84,112.6,50.8,15.5,280,1367,0.00,2.50,0.00,0.000,4,0.000,0.066,3371,3721,2928
$GC,1389,1.84,112.6,45.8,16.1,286,1396,0.00,2.40,0.00,0.000,6,0.000,0.041,3371,2327,2929
$GC,1525,1.84,112.6,25.2,14.9,317,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2326,2928
$GC,1597,1.84,112.6,14.6,13.7,333,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2325,2928
$GC,1668,1.88,140.8,6.8,7.0,349,1700,0.00,2.55,23.77,0.771,4,0.000,0.067,3372,3724,2814
$STATE,1843,end climb,NO_VERTICAL_VELOCITY
$STATE,1843,begin surface
$SM_CCo,1845,439.33,0.660,40,0,539,698.61
$SM_GC,1.20,12.82,0.00,0.00,0.045,0.000,0.000,441,2321,534,-11.60,-0.11,700.09
$IRIDIUM_FIX,4751.72,-12207.50,190797,202032
$TT8_MAMPS,0.020709
$HUMID,1479
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,14.70
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,80.2,43.7
$24V_AH,23.6,1.006
$10V_AH,10.1,0.444
$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,28.175,29.175,204.775,439.325,0.000,0.000,0.000,0.000,11.000,0.000,0.000,16.686,577.754,227.982,899.738,922.261,45.191,31.412,1304.832,0.000,920.216,0.000,5.463
$DEVICE_MAMPS,165.672,78.234,849.069,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,271.758,190.653,687.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19128,388
$CAP_FILE_SIZE,54439,0
$CFSIZE,260165632,258670592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,40,0
$GPS,240408,204438,4806.960,-12222.909,26,2.0,26,18.3