version: 66.04
glider: 151
mission: 3
dive: 4
start: 9 17 109 2 16 57
data:
$ID,151
$MISSION,3
$DIVE,4
$D_SURF,4
$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,-18229.422
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$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
$GPS1,021119,4807.036,-12223.416,10,1.7,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-57.6
$GPS2,021637,4807.002,-12223.407,32,1.1,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,4805.127,-12239.327
$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,99
$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,18,-1.35,-146.0,0.0,0.0,0,133,0.00,0.00,-111.57,0.000,2,0.000,0.000,426,2193,3100
$GC,140,-1.35,-146.0,3.0,-4.6,18,180,10.75,2.42,-22.35,0.000,4,0.202,0.078,2251,3608,3953
$GC,430,-1.35,-146.0,29.7,-9.5,81,437,0.00,2.38,0.00,0.000,6,0.000,0.049,2252,2202,3953
$GC,508,-1.35,-146.0,36.9,-9.3,97,515,0.00,2.45,0.00,0.000,4,0.000,0.068,2252,3602,3953
$GC,631,-1.35,-146.0,49.0,-10.3,123,637,0.00,2.35,0.00,0.000,6,0.000,0.058,2251,2199,3953
$GC,779,-1.35,-146.0,62.9,-9.7,154,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2199,3953
$GC,923,-1.35,-146.0,77.2,-8.9,185,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2199,3953
$GC,1074,-1.35,-146.0,91.3,-9.9,216,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2199,3952
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1159,-0.33,0.0,99.3,9.7,232,1277,1.02,0.00,112.20,0.760,6,0.109,0.000,2469,2093,3363
$STATE,1277,end apogee,CONTROL_FINISHED_OK
$STATE,1278,begin climb
$GC,1284,1.35,146.0,102.8,0.0,252,1409,1.60,2.58,113.57,0.730,4,0.060,0.077,2839,3501,2766
$GC,1429,1.35,146.0,92.3,11.6,275,1436,0.00,2.42,0.00,0.000,6,0.000,0.061,2839,2103,2766
$GC,1577,1.35,146.0,72.2,13.3,306,1584,0.00,2.60,0.00,0.000,4,0.000,0.094,2839,696,2764
$GC,1611,1.35,146.0,66.7,14.1,312,1618,0.00,2.42,0.00,0.000,6,0.000,0.057,2839,2096,2764
$GC,1761,1.35,146.0,47.7,13.2,343,1767,0.00,2.47,0.00,0.000,4,0.000,0.077,2839,3512,2764
$GC,1787,1.35,146.0,43.6,13.1,347,1793,0.00,2.42,0.00,0.000,6,0.000,0.063,2839,2100,2764
$GC,1929,1.35,146.0,26.0,12.5,378,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2100,2764
$GC,2003,1.35,146.0,16.4,11.5,394,2010,0.00,2.58,0.00,0.000,4,0.000,0.089,2839,685,2763
$GC,2050,1.35,146.0,10.6,12.6,403,2057,0.00,2.45,0.00,0.000,6,0.000,0.060,2839,2102,2763
$GC,2125,1.49,258.7,4.5,4.8,419,2146,0.15,0.00,18.70,0.691,2,0.061,0.000,2879,2103,2675
$STATE,2147,end climb,SURFACE_DEPTH_REACHED
$STATE,2147,begin surface coast
$FINISH,3.4,1.019900
$STATE,2309,end surface coast,CONTROL_FINISHED_OK
$STATE,2309,begin surface
$SM_CCo,2341,259.20,0.679,0,0,1324,500.17
$SM_GC,1.42,0.00,0.00,259.20,0.000,0.000,0.679,430,2207,1324,-9.75,0.17,500.17
$IRIDIUM_FIX,4751.72,-12226.29,121298,020253
$TT8_MAMPS,0.028379
$HUMID,2092
$INTERNAL_PRESSURE,9.51015
$TCM_TEMP,16.20
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,90.3,10.6
$24V_AH,23.5,0.939
$10V_AH,10.8,0.397
$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,24.075,29.875,244.475,259.200,0.000,0.000,0.000,0.000,3.750,0.000,0.000,34.426,674.994,196.811,572.446,1056.336,198.673,0.000,1031.006,0.000,1031.515,0.000,9.755,0.000
$DEVICE_MAMPS,201.721,94.341,760.097,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,313.267,238.594,757.812,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25437,460
$CAP_FILE_SIZE,77264,0
$CFSIZE,260165632,256253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,030120,4806.958,-12223.733,9,1.7,9,18.3