version: 66.04
glider: 151
mission: 3
dive: 6
start: 9 17 109 4 19 3
data:
$ID,151
$MISSION,3
$DIVE,6
$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,-18288.205
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,035746,4806.876,-12224.039,10,99.0,29,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.8
$GPS2,041837,4806.814,-12224.027,40,0.8,41,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,4804.939,-12239.946
$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,65
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,18,-1.35,-146.0,0.0,0.0,0,95,0.00,0.00,-74.45,0.000,2,0.000,0.000,423,2208,3080
$GC,102,-1.35,-146.0,3.5,-5.6,12,142,10.93,2.42,-20.88,0.000,4,0.206,0.081,2253,3601,3956
$GC,174,-1.35,-146.0,9.9,-7.8,24,181,0.00,2.38,0.00,0.000,6,0.000,0.045,2253,2193,3956
$GC,249,-1.35,-146.0,16.3,-8.5,40,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2193,3956
$GC,324,-1.35,-146.0,22.7,-8.8,56,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2193,3956
$GC,399,-1.35,-146.0,29.3,-9.3,72,406,0.00,2.47,0.00,0.000,4,0.000,0.074,2253,803,3957
$GC,422,-1.35,-146.0,31.4,-9.3,75,429,0.00,2.38,0.00,0.000,6,0.000,0.049,2253,2204,3957
$GC,499,-1.35,-146.0,36.6,-7.2,91,506,0.00,2.50,0.00,0.000,4,0.000,0.074,2254,805,3957
$GC,688,-1.35,-146.0,54.9,-9.8,132,695,0.00,2.38,0.00,0.000,6,0.000,0.058,2253,2201,3957
$GC,767,-1.35,-146.0,62.7,-10.0,148,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2201,3957
$STATE,786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,787,begin apogee
$GC,800,-0.33,0.0,65.1,9.2,152,919,1.05,0.00,112.97,0.732,6,0.117,0.000,2473,2096,3363
$STATE,919,end apogee,CONTROL_FINISHED_OK
$STATE,919,begin climb
$GC,925,1.35,146.0,69.1,0.0,172,1050,1.60,2.55,113.28,0.708,4,0.059,0.066,2843,3507,2767
$GC,1081,1.35,146.0,58.3,12.5,197,1087,0.00,2.42,0.00,0.000,6,0.000,0.056,2843,2101,2767
$GC,1159,1.35,146.0,46.9,12.9,213,1165,0.00,2.58,0.00,0.000,4,0.000,0.094,2843,695,2765
$GC,1206,1.35,146.0,40.7,13.4,222,1213,0.00,2.42,0.00,0.000,6,0.000,0.054,2843,2101,2765
$GC,1282,1.35,146.0,31.5,12.0,238,1289,0.00,2.47,0.00,0.000,4,0.000,0.068,2842,3501,2765
$GC,1326,1.35,146.0,25.9,13.3,246,1333,0.00,2.42,0.00,0.000,6,0.000,0.055,2843,2103,2765
$GC,1403,1.35,146.0,16.2,12.0,262,1410,0.00,2.58,0.00,0.000,4,0.000,0.094,2843,700,2764
$GC,1441,1.35,146.0,11.7,12.2,269,1449,0.00,2.40,0.00,0.000,6,0.000,0.055,2843,2094,2764
$GC,1517,1.60,352.2,6.4,0.5,285,1652,0.20,0.00,131.68,0.684,2,0.055,0.000,2901,2093,2084
$STATE,1653,end climb,SURFACE_DEPTH_REACHED
$STATE,1653,begin surface coast
$FINISH,0.6,1.008395
$STATE,1722,end surface coast,CONTROL_FINISHED_OK
$STATE,1722,begin surface
$SM_CCo,1753,145.40,0.666,0,0,1324,500.17
$SM_GC,1.44,0.00,0.00,145.40,0.000,0.000,0.666,426,2218,1324,-9.77,0.51,500.17
$IRIDIUM_FIX,4751.72,-12226.29,121298,040407
$TT8_MAMPS,0.028379
$HUMID,2128
$INTERNAL_PRESSURE,9.50038
$TCM_TEMP,16.90
$XPDR_PINGS,12
$24V_AH,23.5,1.219
$10V_AH,10.7,0.511
$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,24.225,34.725,357.925,145.400,0.000,111.789,163.983,539.033,3.000,0.000,0.000,42.712,460.415,270.505,506.856,777.655,1147.918,0.000,913.406,0.000,749.650,0.000,0.993,0.000
$DEVICE_MAMPS,206.323,94.341,731.718,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,218.221,180.187,586.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16004,321
$CAP_FILE_SIZE,47482,0
$CFSIZE,260165632,256241664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,045143,4806.711,-12224.148,8,1.1,9,18.3