version: 66.04
glider: 151
mission: 3
dive: 16
start: 9 17 109 13 24 27
data:
$ID,151
$MISSION,3
$DIVE,16
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$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,30
$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,696.16138
$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,-18637.488
$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,14
$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,16
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,125551,4804.747,-12221.658,7,99.0,26,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-57.8
$GPS2,132406,4804.573,-12221.541,15,1.6,32,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,4813.925,-12213.435
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.051,0.274
$KALMAN_X,1314.2,925.6,410.6,-2.2,-120.4
$KALMAN_Y,-1973.5,-1332.8,-516.4,547.8,97.8
$MHEAD_RNG_PITCHd_Wd,11.7,20000,-21.3,-12.500
$D_GRID,150
$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,-1.70,-146.0,0.0,0.0,0,140,0.00,0.00,-117.90,0.000,2,0.000,0.000,427,2201,3353
$GC,146,-1.70,-146.0,3.3,-5.4,19,181,10.68,2.53,-13.07,0.000,4,0.215,0.089,2175,790,3956
$GC,248,-1.70,-146.0,16.9,-11.6,38,255,0.00,2.38,0.00,0.000,6,0.000,0.049,2175,2194,3957
$GC,326,-1.70,-146.0,25.6,-11.2,54,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2194,3957
$GC,402,-1.70,-146.0,34.8,-12.5,70,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2195,3957
$GC,478,-1.70,-146.0,44.5,-12.3,86,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2195,3957
$GC,555,-1.70,-146.0,54.8,-14.1,102,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2196,3957
$GC,638,-1.70,-146.0,65.9,-12.7,118,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2195,3957
$GC,715,-1.70,-146.0,76.2,-12.8,134,722,0.00,2.45,0.00,0.000,4,0.000,0.067,2175,3599,3957
$GC,753,-1.70,-146.0,81.2,-13.4,140,760,0.00,2.38,0.00,0.000,6,0.000,0.050,2175,2200,3958
$STATE,769,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,769,begin apogee
$GC,783,-0.36,0.0,84.0,13.7,143,901,1.42,0.00,112.57,0.741,6,0.138,0.000,2465,2091,3363
$STATE,901,end apogee,CONTROL_FINISHED_OK
$STATE,901,begin climb
$GC,908,1.70,146.0,88.9,0.0,163,1026,1.95,0.00,112.70,0.710,6,0.061,0.000,2919,2091,2767
$GC,1102,1.70,146.0,64.8,18.2,198,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2091,2766
$GC,1179,1.70,146.0,51.0,17.4,214,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2092,2766
$GC,1256,1.70,146.0,37.5,17.3,230,1263,0.00,2.50,0.00,0.000,4,0.000,0.070,2919,3492,2765
$GC,1278,1.70,146.0,33.5,18.1,233,1285,0.00,2.40,0.00,0.000,6,0.000,0.060,2919,2113,2765
$GC,1355,1.70,146.0,20.0,17.2,249,1362,0.00,2.58,0.00,0.000,4,0.000,0.092,2919,693,2764
$GC,1373,1.70,146.0,16.9,17.0,251,1380,0.00,2.42,0.00,0.000,6,0.000,0.057,2919,2098,2764
$GC,1448,1.77,202.2,5.6,9.3,267,1488,0.00,0.00,37.90,0.678,2,0.000,0.000,2919,2099,2575
$STATE,1489,end climb,SURFACE_DEPTH_REACHED
$STATE,1489,begin surface coast
$FINISH,1.2,1.019335
$STATE,1660,end surface coast,CONTROL_FINISHED_OK
$STATE,1660,begin surface
$SM_CCo,1692,402.38,0.655,2,0,525,696.16
$SM_GC,1.17,0.00,0.00,402.38,0.000,0.000,0.655,425,2204,525,-9.77,0.11,696.16
$IRIDIUM_FIX,4745.30,-12222.84,121298,131306
$TT8_MAMPS,0.028379
$HUMID,2011
$INTERNAL_PRESSURE,9.44179
$TCM_TEMP,17.20
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.1,13.5
$24V_AH,23.5,2.928
$10V_AH,10.8,1.011
$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,24.875,19.950,263.175,402.375,0.000,144.018,244.065,814.506,4.250,0.000,0.000,33.287,455.770,351.288,733.722,741.763,1531.551,0.000,1114.992,0.000,718.424,0.000,14.561,0.000
$DEVICE_MAMPS,214.760,92.040,740.922,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,210.996,167.547,540.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15937,313
$CAP_FILE_SIZE,46875,0
$CFSIZE,260165632,255983616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170909,140038,4804.618,-12221.401,7,1.1,8,18.3