version: 66.04
glider: 151
mission: 3
dive: 3
start: 9 17 109 0 16 33
data:
$ID,151
$MISSION,3
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,200
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0276
$MASS,51567
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,260
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,12223
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18092.781
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2581
$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,165
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3954
$C_VBD,3363
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.09889
$PRESSURE_SLOPE,0.0001148558
$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
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.5
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043511889
$SEABIRD_T_H,0.00063513592
$SEABIRD_T_I,2.430502e-05
$SEABIRD_T_J,2.5370914e-06
$SEABIRD_C_G,-10.00406
$SEABIRD_C_H,1.1117702
$SEABIRD_C_I,-0.0010280402
$SEABIRD_C_J,0.00016666186
$GPS1,000826,4807.282,-12222.586,6,1.6,7,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-54.7
$GPS2,001613,4807.278,-12222.607,12,1.4,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,4805.402,-12238.529
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,241.7,20000,-17.5,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,133,0.00,0.00,-111.95,0.000,2,0.000,0.000,431,2316,3278
$GC,140,-1.27,-146.0,3.6,-6.2,18,174,11.05,2.40,-15.00,0.000,4,0.203,0.079,2299,3705,3956
$GC,383,-1.27,-146.0,23.9,-8.4,71,390,0.00,2.38,0.00,0.000,6,0.000,0.048,2299,2295,3956
$GC,460,-1.27,-146.0,30.0,-8.0,87,467,0.00,2.45,0.00,0.000,4,0.000,0.074,2299,908,3956
$GC,516,-1.27,-146.0,34.4,-8.0,98,523,0.00,2.35,0.00,0.000,6,0.000,0.054,2299,2293,3956
$GC,591,-1.27,-146.0,40.2,-7.9,114,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2293,3956
$GC,736,-1.27,-146.0,51.5,-8.2,145,742,0.00,2.47,0.00,0.000,4,0.000,0.079,2299,896,3956
$GC,797,-1.27,-146.0,56.7,-8.5,157,803,0.00,2.38,0.00,0.000,6,0.000,0.058,2299,2306,3956
$GC,944,-1.27,-146.0,68.0,-7.6,188,951,0.00,2.50,0.00,0.000,4,0.000,0.077,2299,907,3956
$GC,975,-1.27,-146.0,70.8,-7.8,193,981,0.00,2.35,0.00,0.000,6,0.000,0.061,2299,2301,3956
$GC,1125,-1.27,-146.0,81.9,-7.4,224,1132,0.00,2.50,0.00,0.000,4,0.000,0.078,2300,905,3955
$GC,1393,-1.27,-146.0,103.1,-8.0,282,1400,0.00,2.38,0.00,0.000,6,0.000,0.065,2299,2294,3954
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1443,begin apogee
$GC,1457,-0.31,0.0,107.2,6.8,293,1575,0.95,0.00,113.15,0.776,6,0.110,0.000,2507,2191,3363
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1582,1.27,146.0,110.3,0.0,313,1706,1.48,2.60,114.07,0.748,4,0.058,0.094,2858,802,2766
$GC,1863,1.27,146.0,76.4,15.7,368,1870,0.00,2.42,0.00,0.000,6,0.000,0.059,2858,2194,2765
$GC,2014,1.27,146.0,55.5,14.4,399,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2194,2765
$GC,2154,1.27,146.0,35.0,13.8,430,2161,0.00,2.53,0.00,0.000,4,0.000,0.081,2858,810,2763
$GC,2184,1.27,146.0,30.7,14.8,435,2191,0.00,2.40,0.00,0.000,6,0.000,0.058,2858,2194,2763
$GC,2261,1.27,146.0,20.4,13.0,451,2268,0.00,2.53,0.00,0.000,4,0.000,0.082,2858,812,2763
$GC,2307,1.27,146.0,14.2,13.8,460,2314,0.00,2.40,0.00,0.000,6,0.000,0.058,2858,2200,2763
$GC,2383,1.28,153.7,5.8,9.6,476,2397,0.00,2.53,7.38,0.682,4,0.000,0.079,2858,803,2735
$STATE,2609,end climb,NO_VERTICAL_VELOCITY
$STATE,2609,begin surface
$SM_CCo,2616,448.27,0.660,10,0,525,696.16
$SM_GC,1.14,10.20,0.00,0.00,0.038,0.000,0.000,426,2313,520,-9.81,0.37,697.39
$IRIDIUM_FIX,4751.72,-12223.57,121298,000028
$TT8_MAMPS,0.028379
$HUMID,2149
$INTERNAL_PRESSURE,9.49062
$TCM_TEMP,16.20
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,90.0,9.8
$24V_AH,23.5,0.725
$10V_AH,10.8,0.308
$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,Compass2
$DEVICE_SECS,23.675,44.325,234.600,448.275,0.000,0.000,0.000,0.000,3.000,0.000,0.000,31.679,782.913,344.089,806.008,1183.054,213.189,0.000,1315.360,0.000,1161.549,0.000,9.787,0.000
$DEVICE_MAMPS,203.255,94.341,776.204,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,359.807,276.968,846.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28550,528
$CAP_FILE_SIZE,65191,0
$CFSIZE,260165632,256303104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$GPS,170909,011131,4807.258,-12223.001,7,1.9,12,18.3