version: 66.03
glider: 153
mission: 1
dive: 3
start: 4 29 108 21 11 59
data:
$ID,153
$MISSION,1
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51781
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5027.5806
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,465
$PITCH_MAX,3745
$C_PITCH,3270
$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,160
$ROLL_MAX,3870
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3950
$C_VBD,3500
$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,-13.561021
$PRESSURE_SLOPE,0.0001161872
$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
$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,0.0043449649
$SEABIRD_T_H,0.00062721409
$SEABIRD_T_I,2.149689e-05
$SEABIRD_T_J,2.0033956e-06
$SEABIRD_C_G,-9.9283581
$SEABIRD_C_H,1.1183646
$SEABIRD_C_I,-0.0012776167
$SEABIRD_C_J,0.00011918142
$GPS1,210341,4807.578,-12223.177,11,2.0,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.7
$GPS2,211103,4807.540,-12223.157,10,1.7,15,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.342
$KALMAN_X,-41.3,-44.7,-45.0,273.1,-16.8
$KALMAN_Y,-135.6,-91.7,-82.7,-976.1,-50.2
$MHEAD_RNG_PITCHd_Wd,148.6,1019,-11.6,-10.000
$D_GRID,107
$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,18,-1.09,-293.3,0.0,0.0,0,100,0.00,0.00,-79.20,0.000,2,0.000,0.000,462,2181,2721
$GC,102,-1.09,-293.3,3.0,-5.2,13,153,13.50,2.67,-31.35,0.000,4,0.156,0.119,3022,3587,3952
$GC,160,-1.09,-293.3,7.7,-6.2,22,167,0.00,2.53,0.00,0.000,6,0.000,0.071,3023,2173,3954
$GC,232,-1.09,-293.3,12.9,-6.5,38,239,0.00,2.50,0.00,0.000,4,0.000,0.069,3023,768,3957
$GC,479,-1.09,-293.3,27.3,-6.7,96,486,0.00,2.47,0.00,0.000,6,0.000,0.062,3022,2174,3959
$GC,550,-1.09,-293.3,31.8,-6.1,112,557,0.00,2.47,0.00,0.000,4,0.000,0.064,3023,774,3959
$GC,597,-1.09,-293.3,34.9,-7.0,122,604,0.00,2.47,0.00,0.000,6,0.000,0.062,3023,2179,3959
$GC,669,-1.09,-293.3,39.6,-6.7,138,675,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2178,3959
$GC,741,-1.09,-293.3,44.7,-6.9,154,748,0.00,2.70,0.00,0.000,4,0.000,0.114,3023,3588,3959
$GC,771,-1.09,-293.3,46.9,-7.3,160,778,0.00,2.50,0.00,0.000,6,0.000,0.072,3023,2185,3959
$GC,912,-1.09,-293.3,56.4,-6.8,191,917,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2186,3959
$GC,1050,-1.09,-293.3,66.3,-6.9,222,1057,0.00,2.72,0.00,0.000,4,0.000,0.113,3022,3597,3960
$GC,1078,-1.09,-293.3,68.2,-7.6,227,1084,0.00,2.53,0.00,0.000,6,0.000,0.074,3023,2176,3959
$GC,1217,-1.09,-293.3,77.5,-6.2,258,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2176,3959
$GC,1359,-1.09,-293.3,86.8,-6.7,289,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2176,3959
$GC,1497,-1.09,-293.3,95.9,-6.9,320,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2176,3959
$GC,1643,-1.09,-293.3,105.5,-6.7,351,1649,0.00,2.80,0.00,0.000,4,0.000,0.129,3023,3588,3959
$STATE,1663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1663,begin apogee
$GC,1670,-0.31,0.0,107.1,6.7,355,1765,0.80,0.00,90.30,0.719,6,0.097,0.000,3198,2176,3499
$STATE,1766,end apogee,CONTROL_FINISHED_OK
$STATE,1766,begin climb
$GC,1767,1.09,293.3,109.5,0.0,372,2004,1.35,0.00,228.65,0.677,6,0.071,0.000,3499,2175,2304
$GC,2135,1.09,293.3,75.9,11.4,444,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2175,2301
$GC,2277,1.09,293.3,59.5,11.4,475,2283,0.00,2.83,0.00,0.000,4,0.000,0.130,3499,3584,2301
$GC,2309,1.09,293.3,55.3,12.3,482,2316,0.00,2.58,0.00,0.000,6,0.000,0.081,3499,2184,2300
$GC,2450,1.09,293.3,39.2,11.8,513,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2184,2300
$GC,2521,1.09,293.3,31.3,10.9,529,2528,0.00,2.62,0.00,0.000,4,0.000,0.090,3499,770,2300
$GC,2543,1.09,293.3,28.8,11.1,533,2549,0.00,2.53,0.00,0.000,6,0.000,0.071,3499,2172,2300
$GC,2614,1.09,293.3,21.0,10.2,549,2621,0.00,2.80,0.00,0.000,4,0.000,0.128,3499,3584,2300
$GC,2661,1.09,293.3,15.7,11.5,559,2668,0.00,2.55,0.00,0.000,6,0.000,0.076,3499,2177,2300
$GC,2733,1.15,346.1,8.8,8.8,575,2783,0.00,2.60,42.33,0.650,4,0.000,0.080,3500,772,2089
$GC,2827,1.50,626.7,4.7,3.5,593,2861,0.35,2.50,27.23,0.634,2,0.054,0.064,3597,2177,1956
$STATE,2861,end climb,SURFACE_DEPTH_REACHED
$STATE,2862,begin surface coast
$FINISH,1.8,1.015843
$STATE,3038,end surface coast,CONTROL_FINISHED_OK
$STATE,3038,begin surface
$SM_CCo,3059,149.93,0.606,5,0,1134,580.13
$SM_GC,1.28,0.00,0.00,149.93,0.000,0.000,0.606,465,2177,1134,-12.90,-0.08,580.13
$IRIDIUM_FIX,4748.51,-12226.29,240797,212103
$TT8_MAMPS,0.025311
$HUMID,1524
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,15.80
$XPDR_PINGS,5
$24V_AH,23.7,0.676
$10V_AH,10.1,0.352
$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,29.600,51.950,388.500,149.925,0.000,0.000,0.000,0.000,2.500,0.000,0.000,16.661,919.026,251.967,583.101,1482.877,74.687,31.414,1232.007,0.000,1475.405,0.000,11.169
$DEVICE_MAMPS,155.701,129.623,718.679,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,442.878,308.629,1093.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34873,640
$CAP_FILE_SIZE,90325,0
$CFSIZE,260165632,258023424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,290408,220700,4807.178,-12222.993,11,4.7,31,18.3