version: 66.03
glider: 153
mission: 1
dive: 12
start: 4 30 108 7 15 12
data:
$ID,153
$MISSION,1
$DIVE,12
$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,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,8
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5272.3799
$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,19
$R_STBD_OVSHOOT,3
$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
$GPS1,065509,4806.868,-12222.890,10,2.0,27,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.6
$GPS2,071418,4806.663,-12222.737,16,99.0,35,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.258
$KALMAN_X,2487.8,396.7,204.9,-2431.0,52.1
$KALMAN_Y,-4617.3,-737.0,-361.7,2807.8,-161.3
$MHEAD_RNG_PITCHd_Wd,316.1,704,-15.5,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.41,-182.4,0.0,0.0,0,93,0.00,0.00,-73.22,0.000,2,0.000,0.000,465,2245,2539
$GC,96,-1.55,-293.3,3.2,-5.7,12,159,12.93,0.00,-44.25,0.000,6,0.153,0.000,2927,2245,3953
$GC,224,-1.55,-293.3,9.1,-7.8,37,230,0.00,2.72,0.00,0.000,4,0.000,0.110,2927,3669,3956
$GC,367,-1.55,-293.3,21.3,-8.1,70,374,0.00,2.53,0.00,0.000,6,0.000,0.067,2927,2245,3957
$GC,439,-1.55,-293.3,27.1,-8.3,86,446,0.00,2.72,0.00,0.000,4,0.000,0.109,2927,3666,3958
$GC,486,-1.55,-293.3,31.4,-9.7,96,493,0.00,2.50,0.00,0.000,6,0.000,0.067,2927,2257,3958
$GC,558,-1.55,-293.3,38.1,-9.8,112,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2257,3958
$GC,630,-1.55,-293.3,45.0,-9.4,128,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2257,3958
$GC,771,-1.55,-293.3,59.4,-10.6,159,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2257,3958
$GC,910,-1.55,-293.3,73.4,-9.9,190,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2257,3958
$GC,1053,-1.55,-293.3,87.6,-9.9,221,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2257,3958
$GC,1191,-1.55,-293.3,101.6,-10.0,252,1198,0.00,2.50,0.00,0.000,4,0.000,0.067,2927,840,3958
$GC,1254,-1.55,-293.3,107.6,-10.2,265,1260,0.00,2.47,0.00,0.000,6,0.000,0.062,2927,2261,3958
$STATE,1311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1312,begin apogee
$GC,1315,-0.38,0.0,113.6,9.7,278,1412,1.20,0.00,90.55,0.721,6,0.104,0.000,3182,2261,3499
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1415,1.55,293.3,115.9,0.0,295,1656,1.90,2.62,229.38,0.679,4,0.074,0.084,3612,847,2303
$GC,1683,1.55,293.3,79.4,20.1,344,1691,0.00,2.53,0.00,0.000,6,0.000,0.065,3612,2249,2302
$GC,1825,1.55,293.3,52.4,19.5,375,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,2249,2301
$GC,1960,1.55,293.3,25.9,19.0,406,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,2249,2300
$GC,2031,1.55,293.3,12.3,18.4,422,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2249,2300
$STATE,2083,end climb,SURFACE_DEPTH_REACHED
$STATE,2084,begin surface coast
$FINISH,0.9,1.016047
$STATE,2114,end surface coast,CONTROL_FINISHED_OK
$STATE,2115,begin surface
$SM_CCo,2135,274.15,0.600,8,0,849,650.04
$SM_GC,1.21,0.00,0.00,274.15,0.000,0.000,0.600,465,2250,849,-12.92,0.00,650.04
$IRIDIUM_FIX,4751.72,-12226.29,250797,070722
$TT8_MAMPS,0.026078
$HUMID,1501
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,90.1,33.3
$24V_AH,23.6,1.958
$10V_AH,10.1,0.992
$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,29.675,20.600,319.925,274.150,0.000,114.511,100.638,685.409,3.250,0.000,0.000,37.533,626.944,302.745,657.519,1042.311,985.235,33.321,1137.258,0.000,1019.694,0.000,6.975
$DEVICE_MAMPS,153.400,110.448,720.980,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,304.953,206.782,736.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22220,441
$CAP_FILE_SIZE,53708,0
$CFSIZE,260165632,257748992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,8,0
$GPS,300408,075727,4806.852,-12222.845,33,1.3,51,18.3