version: 66.03
glider: 153
mission: 1
dive: 17
start: 4 30 108 12 2 51
data:
$ID,153
$MISSION,1
$DIVE,17
$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,-5397.4502
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,115057,4806.913,-12222.948,11,1.5,27,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.8
$GPS2,120154,4806.846,-12222.903,13,2.6,32,18.3
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.138,0.201
$KALMAN_X,3771.2,413.2,-5.8,-3722.6,67.1
$KALMAN_Y,-6871.0,-739.4,-50.0,5085.9,-69.2
$MHEAD_RNG_PITCHd_Wd,307.1,2532,-18.9,-10.000
$D_GRID,103
$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,-1.61,-127.1,0.0,0.0,0,118,0.00,0.00,-96.40,0.000,2,0.000,0.000,466,2248,3524
$GC,120,-1.61,-127.1,3.3,-2.5,16,153,12.98,2.67,-12.52,0.000,4,0.157,0.117,2916,3655,3952
$GC,393,-1.61,-127.1,27.8,-10.8,78,399,0.00,2.50,0.00,0.000,6,0.000,0.068,2917,2250,3956
$GC,464,-1.61,-127.1,35.2,-10.3,94,471,0.00,2.70,0.00,0.000,4,0.000,0.109,2916,3659,3956
$GC,549,-1.61,-127.1,45.0,-11.2,113,555,0.00,2.50,0.00,0.000,6,0.000,0.069,2917,2244,3956
$GC,686,-1.61,-127.1,59.6,-10.2,144,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2245,3956
$GC,828,-1.61,-127.1,74.1,-9.8,175,834,0.00,2.45,0.00,0.000,4,0.000,0.064,2916,833,3956
$GC,860,-1.61,-127.1,77.5,-10.8,182,867,0.00,2.50,0.00,0.000,6,0.000,0.061,2917,2246,3956
$GC,1005,-1.61,-127.1,92.1,-9.8,213,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2247,3957
$STATE,1120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1120,begin apogee
$GC,1124,-0.38,0.0,103.4,9.8,239,1219,1.25,0.00,90.32,0.714,6,0.104,0.000,3182,2247,3500
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1222,1.61,127.1,105.5,0.0,256,1329,1.98,0.00,101.05,0.683,6,0.073,0.000,3622,2247,2980
$GC,1462,1.61,127.1,75.3,15.1,305,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,2247,2979
$GC,1600,1.61,127.1,54.1,15.2,336,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,2247,2978
$GC,1739,1.61,127.1,34.0,14.3,367,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,2247,2978
$GC,1810,1.61,127.1,23.8,14.2,383,1817,0.00,2.60,0.00,0.000,4,0.000,0.085,3622,845,2978
$GC,1836,1.61,127.1,20.2,14.3,388,1843,0.00,2.53,0.00,0.000,6,0.000,0.071,3622,2246,2978
$GC,1907,1.61,127.1,10.7,13.2,404,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,2246,2978
$STATE,1972,end climb,SURFACE_DEPTH_REACHED
$STATE,1973,begin surface coast
$FINISH,2.7,1.019143
$STATE,2028,end surface coast,CONTROL_FINISHED_OK
$STATE,2029,begin surface
$SM_CCo,2049,342.08,0.611,4,0,850,650.04
$SM_GC,1.27,0.00,0.00,342.08,0.000,0.000,0.611,464,2246,850,-12.93,-0.11,650.04
$IRIDIUM_FIX,4745.30,-12205.79,250797,121220
$TT8_MAMPS,0.025311
$HUMID,1519
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,80.3,52.0
$24V_AH,23.6,2.578
$10V_AH,10.1,1.290
$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,30.000,20.450,191.375,342.075,0.000,114.440,180.119,132.954,3.000,0.000,0.000,34.424,643.671,312.285,612.768,1023.519,496.931,33.325,1039.275,0.000,1004.878,0.000,5.475
$DEVICE_MAMPS,157.235,117.351,714.077,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,298.442,209.285,736.295,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22324,432
$CAP_FILE_SIZE,43165,0
$CFSIZE,260165632,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,300408,124406,4806.939,-12223.011,8,99.0,27,18.3