version: 66.03
glider: 153
mission: 1
dive: 16
start: 4 30 108 11 8 3
data:
$ID,153
$MISSION,1
$DIVE,16
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$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,-5362.3994
$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,17
$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,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
$GPS1,105306,4806.870,-12222.932,12,4.4,31,18.3
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.6
$GPS2,110704,4806.800,-12222.820,9,1.5,9,18.3
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,0.203
$KALMAN_X,3590.4,426.7,2.5,-3463.3,37.0
$KALMAN_Y,-6544.8,-753.5,-68.8,4708.1,-49.9
$MHEAD_RNG_PITCHd_Wd,308.1,2658,-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,16,begin dive
$GC,18,-1.61,-127.1,0.0,0.0,0,105,0.00,0.00,-83.85,0.000,2,0.000,0.000,465,2245,2779
$GC,107,-1.61,-127.1,3.0,-5.1,14,165,12.90,2.70,-37.53,0.000,4,0.153,0.121,2919,3661,3952
$GC,404,-1.61,-127.1,25.0,-10.6,80,411,0.00,2.50,0.00,0.000,6,0.000,0.067,2919,2250,3956
$GC,476,-1.61,-127.1,32.1,-9.6,96,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2250,3956
$GC,547,-1.61,-127.1,39.3,-10.1,112,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2250,3956
$GC,619,-1.61,-127.1,47.2,-10.6,128,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2250,3956
$GC,760,-1.61,-127.1,61.7,-10.3,159,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2250,3956
$GC,899,-1.61,-127.1,75.8,-9.8,190,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2249,3957
$GC,1046,-1.61,-127.1,90.1,-9.6,221,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2250,3956
$GC,1186,-1.61,-127.1,104.5,-9.7,252,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2250,3957
$STATE,1196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1196,begin apogee
$GC,1200,-0.38,0.0,105.7,9.8,254,1296,1.25,0.00,90.38,0.715,6,0.106,0.000,3184,2249,3500
$STATE,1297,end apogee,CONTROL_FINISHED_OK
$STATE,1297,begin climb
$GC,1299,1.61,127.1,108.0,0.0,271,1406,1.95,0.00,101.07,0.684,6,0.074,0.000,3623,2249,2980
$GC,1538,1.61,127.1,78.7,15.5,320,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,2249,2978
$GC,1679,1.61,127.1,57.6,15.3,351,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,2249,2978
$GC,1818,1.61,127.1,37.2,14.5,382,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,2249,2978
$GC,1889,1.61,127.1,26.8,14.4,398,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,2249,2978
$GC,1960,1.61,127.1,16.9,13.2,414,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,2249,2978
$GC,2031,1.61,127.1,7.3,12.6,430,2038,0.00,2.58,0.00,0.000,4,0.000,0.086,3623,849,2977
$GC,2049,1.61,127.1,5.3,11.1,433,2056,0.00,2.50,0.00,0.000,6,0.000,0.067,3623,2249,2978
$STATE,2064,end climb,SURFACE_DEPTH_REACHED
$STATE,2065,begin surface coast
$FINISH,3.2,1.018973
$STATE,2112,end surface coast,CONTROL_FINISHED_OK
$STATE,2112,begin surface
$SM_CCo,2133,353.55,0.611,5,0,850,650.04
$SM_GC,1.21,0.00,0.00,353.55,0.000,0.000,0.611,466,2248,850,-12.92,-0.06,650.04
$IRIDIUM_FIX,4751.72,-12223.57,250797,111106
$TT8_MAMPS,0.025311
$HUMID,1526
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.60
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,100.2,22.3
$24V_AH,23.6,2.462
$10V_AH,10.1,1.232
$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,29.900,10.275,191.450,353.550,0.000,186.520,169.484,137.050,4.750,0.000,0.000,11.277,664.196,456.070,641.399,1040.842,569.968,33.329,1090.159,0.000,1041.218,0.000,14.170
$DEVICE_MAMPS,153.400,121.186,714.844,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,309.701,215.268,760.443,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22234,447
$CAP_FILE_SIZE,46909,0
$CFSIZE,260165632,257642496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,300408,115057,4806.913,-12222.948,11,1.5,27,18.3