version: 66.03
glider: 153
mission: 1
dive: 10
start: 4 30 108 5 0 55
data:
$ID,153
$MISSION,1
$DIVE,10
$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,150
$USE_BATHY,0
$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,738.35297
$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,-5203.8389
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,465
$PITCH_MAX,3745
$C_PITCH,3275
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$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,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,12
$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,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
$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
$GPS1,044748,4806.640,-12222.754,7,99.0,26,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.8
$GPS2,050002,4806.498,-12222.643,39,1.5,44,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,0.318
$KALMAN_X,1736.8,386.4,303.5,-1650.7,86.4
$KALMAN_Y,-3176.1,-722.1,-462.6,1147.7,-202.5
$MHEAD_RNG_PITCHd_Wd,316.8,1030,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.26,-293.3,0.0,0.0,0,87,0.00,0.00,-66.30,0.000,2,0.000,0.000,461,2244,2390
$GC,90,-1.26,-293.3,3.5,-6.4,11,159,13.32,2.47,-47.22,0.000,4,0.155,0.073,2993,845,3954
$GC,178,-1.26,-293.3,6.3,-5.2,26,185,0.00,2.47,0.00,0.000,6,0.000,0.058,2993,2256,3956
$GC,250,-1.26,-293.3,10.7,-5.9,42,257,0.00,2.50,0.00,0.000,4,0.000,0.060,2993,840,3957
$GC,276,-1.26,-293.3,12.3,-6.1,47,283,0.00,2.45,0.00,0.000,6,0.000,0.055,2993,2244,3957
$GC,348,-1.26,-293.3,15.9,-5.1,63,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2244,3958
$GC,419,-1.26,-293.3,19.7,-5.6,79,426,0.00,2.47,0.00,0.000,4,0.000,0.059,2993,834,3958
$GC,495,-1.26,-293.3,24.7,-6.7,96,502,0.00,2.47,0.00,0.000,6,0.000,0.058,2993,2245,3958
$GC,567,-1.26,-293.3,29.9,-7.7,112,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2245,3958
$GC,639,-1.26,-293.3,35.0,-6.8,128,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2245,3958
$GC,709,-1.26,-293.3,40.5,-7.5,144,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2245,3958
$GC,852,-1.26,-293.3,51.2,-8.0,175,858,0.00,2.47,0.00,0.000,4,0.000,0.063,2993,830,3958
$GC,883,-1.26,-293.3,53.6,-7.9,181,889,0.00,2.47,0.00,0.000,6,0.000,0.060,2993,2255,3958
$GC,1021,-1.26,-293.3,63.9,-7.0,212,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2255,3958
$GC,1163,-1.26,-293.3,74.3,-7.0,243,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2255,3958
$GC,1303,-1.26,-293.3,84.5,-7.4,274,1310,0.00,2.50,0.00,0.000,4,0.000,0.064,2993,839,3958
$GC,1349,-1.26,-293.3,87.8,-7.6,283,1355,0.00,2.45,0.00,0.000,6,0.000,0.060,2993,2252,3958
$GC,1487,-1.26,-293.3,98.1,-7.5,314,1494,0.00,2.75,0.00,0.000,4,0.000,0.130,2993,3656,3958
$GC,1534,-1.26,-293.3,102.0,-8.3,324,1541,0.00,2.53,0.00,0.000,6,0.000,0.076,2993,2252,3958
$GC,1675,-1.26,-293.3,112.5,-7.5,355,1681,0.00,2.47,0.00,0.000,4,0.000,0.068,2993,834,3958
$STATE,1686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1686,begin apogee
$GC,1693,-0.38,0.0,113.3,7.2,357,1789,0.88,0.00,90.57,0.727,6,0.100,0.000,3183,2249,3500
$STATE,1789,end apogee,CONTROL_FINISHED_OK
$STATE,1789,begin climb
$GC,1791,1.26,293.3,115.7,0.0,374,2035,1.62,2.60,229.45,0.686,4,0.073,0.078,3544,849,2303
$GC,2040,1.26,293.3,90.3,14.1,418,2047,0.00,2.53,0.00,0.000,6,0.000,0.067,3544,2241,2302
$GC,2180,1.26,293.3,70.0,14.7,449,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,2242,2301
$GC,2319,1.26,293.3,49.5,13.9,480,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2242,2300
$GC,2456,1.26,293.3,30.1,14.2,511,2463,0.00,2.53,0.00,0.000,4,0.000,0.073,3544,847,2300
$GC,2473,1.26,293.3,27.7,14.1,514,2480,0.00,2.50,0.00,0.000,6,0.000,0.067,3544,2244,2300
$GC,2545,1.26,293.3,17.6,13.9,530,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2245,2300
$GC,2617,1.26,293.3,8.6,12.2,546,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,2245,2300
$STATE,2670,end climb,SURFACE_DEPTH_REACHED
$STATE,2670,begin surface coast
$FINISH,3.1,1.015598
$STATE,2734,end surface coast,CONTROL_FINISHED_OK
$STATE,2734,begin surface
$SM_CCo,2754,362.95,0.601,11,0,490,738.35
$SM_GC,1.16,0.00,0.00,362.95,0.000,0.000,0.601,465,2247,490,-12.93,-0.08,738.35
$IRIDIUM_FIX,4748.51,-12226.29,250797,050516
$TT8_MAMPS,0.025311
$HUMID,1504
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,14.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.1,42.6
$24V_AH,23.6,1.663
$10V_AH,10.1,0.863
$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,29.100,45.150,320.025,362.950,0.000,141.122,108.311,123.512,2.000,0.000,0.000,46.280,833.644,471.664,792.675,1345.895,476.181,33.333,1383.280,0.000,1319.017,0.000,5.453
$DEVICE_MAMPS,154.934,129.623,727.116,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,395.839,271.609,957.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31767,573
$CAP_FILE_SIZE,61381,0
$CFSIZE,260165632,257798144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,11,0
$GPS,300408,055451,4806.769,-12222.819,12,1.4,29,18.3