version: 66.04
glider: 151
mission: 3
dive: 2
start: 9 16 109 23 12 46
data:
$ID,151
$MISSION,3
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,670
$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,-17982.77
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2617
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,230756,4807.236,-12222.337,8,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-55.2
$GPS2,231226,4807.249,-12222.355,12,1.7,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,4805.374,-12238.276
$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,105
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-118.05,0.000,2,0.000,0.000,431,2304,3286
$GC,146,-1.27,-146.0,3.3,-5.8,19,180,11.23,2.42,-15.75,0.000,4,0.203,0.080,2334,3701,3956
$GC,361,-1.27,-146.0,17.9,-6.1,65,368,0.00,2.35,0.00,0.000,6,0.000,0.050,2334,2309,3956
$GC,439,-1.27,-146.0,22.4,-5.9,81,446,0.00,2.50,0.00,0.000,4,0.000,0.077,2334,903,3956
$GC,520,-1.27,-146.0,27.8,-6.5,98,527,0.00,2.38,0.00,0.000,6,0.000,0.055,2334,2299,3956
$GC,596,-1.27,-146.0,32.4,-5.8,114,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2299,3956
$GC,670,-1.27,-146.0,37.0,-5.7,130,678,0.00,2.50,0.00,0.000,4,0.000,0.079,2334,904,3956
$GC,705,-1.27,-146.0,39.3,-6.6,136,712,0.00,2.38,0.00,0.000,6,0.000,0.055,2334,2300,3956
$STATE,756,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,756,begin apogee
$GC,770,-0.31,0.0,43.1,6.6,147,888,0.95,0.00,112.57,0.729,6,0.087,0.000,2546,2197,3363
$STATE,888,end apogee,CONTROL_FINISHED_OK
$STATE,888,begin climb
$GC,895,1.27,146.0,46.8,0.0,167,1020,1.45,2.55,113.05,0.702,4,0.042,0.073,2899,3600,2767
$GC,1085,1.27,146.0,27.5,17.0,201,1091,0.00,2.42,0.00,0.000,6,0.000,0.058,2899,2211,2766
$GC,1160,1.27,146.0,15.6,14.7,217,1167,0.00,2.60,0.00,0.000,4,0.000,0.091,2899,790,2764
$GC,1215,1.27,146.0,7.1,15.7,228,1222,0.00,2.42,0.00,0.000,6,0.000,0.058,2899,2194,2764
$GC,1290,1.58,395.2,4.3,-1.5,244,1400,0.25,0.00,106.88,0.689,2,0.053,0.000,2966,2193,2213
$STATE,1401,end climb,SURFACE_DEPTH_REACHED
$STATE,1401,begin surface coast
$FINISH,0.5,1.019148
$STATE,1474,end surface coast,CONTROL_FINISHED_OK
$STATE,1474,begin surface
$SM_CCo,1506,306.30,0.673,0,0,631,670.16
$SM_GC,1.10,0.00,0.00,306.30,0.000,0.000,0.673,419,2315,631,-10.11,0.42,670.16
$IRIDIUM_FIX,4748.51,-12219.12,111298,232359
$TT8_MAMPS,0.029146
$HUMID,2050
$INTERNAL_PRESSURE,9.50038
$TCM_TEMP,17.40
$XPDR_PINGS,6
$24V_AH,23.6,0.544
$10V_AH,10.8,0.228
$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,24.575,24.875,332.500,306.300,0.000,0.000,0.000,0.000,1.500,0.000,0.000,14.694,382.544,34.357,657.585,678.273,138.791,0.000,1021.642,0.000,678.823,0.000,0.993,0.000
$DEVICE_MAMPS,203.255,90.506,729.417,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,188.017,173.746,570.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12850,277
$CAP_FILE_SIZE,47652,0
$CFSIZE,260165632,256364544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160909,234422,4807.268,-12222.526,10,2.9,30,18.3