version: 66.04
glider: 151
mission: 3
dive: 5
start: 9 17 109 3 18 34
data:
$ID,151
$MISSION,3
$DIVE,5
$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,-18244.859
$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,16
$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
$GPS1,030120,4806.958,-12223.733,9,1.7,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.8
$GPS2,031807,4806.915,-12223.815,7,1.2,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,4805.040,-12239.735
$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,85
$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,12,begin dive
$GC,18,-1.35,-146.0,0.0,0.0,0,95,0.00,0.00,-74.25,0.000,2,0.000,0.000,430,2207,3031
$GC,102,-1.35,-146.0,3.0,-4.8,12,142,10.95,2.47,-23.73,0.000,4,0.209,0.076,2250,3611,3956
$GC,388,-1.35,-146.0,30.6,-10.3,75,395,0.00,2.40,0.00,0.000,6,0.000,0.048,2250,2193,3956
$GC,463,-1.35,-146.0,37.9,-9.6,91,470,0.00,2.47,0.00,0.000,4,0.000,0.067,2250,3604,3957
$GC,633,-1.35,-146.0,54.9,-10.4,127,639,0.00,2.35,0.00,0.000,6,0.000,0.052,2250,2201,3956
$GC,711,-1.35,-146.0,63.3,-10.3,143,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2201,3956
$GC,788,-1.35,-146.0,71.0,-10.1,159,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2201,3956
$GC,865,-1.35,-146.0,78.7,-9.8,175,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2201,3956
$STATE,925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,925,begin apogee
$GC,939,-0.33,0.0,85.4,9.9,188,1057,1.05,0.00,113.40,0.746,6,0.110,0.000,2471,2094,3362
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1064,1.35,146.0,89.5,0.0,208,1182,1.60,0.00,113.53,0.723,6,0.062,0.000,2841,2094,2766
$GC,1258,1.35,146.0,72.6,13.2,243,1264,0.00,2.50,0.00,0.000,4,0.000,0.074,2841,3502,2766
$GC,1292,1.35,146.0,67.7,14.5,249,1299,0.00,2.40,0.00,0.000,6,0.000,0.061,2841,2110,2767
$GC,1370,1.35,146.0,57.3,13.4,265,1377,0.00,2.60,0.00,0.000,4,0.000,0.094,2841,696,2765
$GC,1400,1.35,146.0,53.2,13.6,270,1407,0.00,2.42,0.00,0.000,6,0.000,0.054,2841,2099,2764
$GC,1477,1.35,146.0,42.9,13.2,286,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2100,2765
$GC,1555,1.35,146.0,33.6,12.1,302,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2100,2765
$GC,1630,1.35,146.0,24.2,12.5,318,1637,0.00,2.47,0.00,0.000,4,0.000,0.067,2841,3504,2765
$GC,1656,1.35,146.0,20.9,12.6,322,1663,0.00,2.42,0.00,0.000,6,0.000,0.057,2841,2106,2765
$GC,1732,1.35,146.0,11.6,12.6,338,1740,0.00,2.58,0.00,0.000,4,0.000,0.087,2840,702,2764
$GC,1759,1.35,146.0,8.4,12.0,342,1766,0.00,2.42,0.00,0.000,6,0.000,0.058,2841,2103,2764
$GC,1837,1.62,369.8,4.4,-0.3,358,1947,0.22,0.00,106.62,0.690,2,0.054,0.000,2904,2103,2217
$STATE,1948,end climb,SURFACE_DEPTH_REACHED
$STATE,1948,begin surface coast
$FINISH,0.6,1.005963
$STATE,2065,end surface coast,CONTROL_FINISHED_OK
$STATE,2065,begin surface
$SM_CCo,2097,171.35,0.674,0,0,1323,500.17
$SM_GC,1.49,0.00,0.00,171.35,0.000,0.000,0.674,423,2207,1323,-9.78,0.20,500.17
$IRIDIUM_FIX,4748.51,-12221.84,121298,030318
$TT8_MAMPS,0.028379
$HUMID,2146
$INTERNAL_PRESSURE,9.51015
$TCM_TEMP,16.90
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,80.2,11.1
$24V_AH,23.5,1.076
$10V_AH,10.8,0.456
$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,24.325,29.850,333.550,171.350,0.000,59.937,54.593,511.277,3.000,0.000,0.000,14.811,583.666,206.911,518.853,915.445,1062.621,0.000,962.953,0.000,912.136,0.000,5.444,0.000
$DEVICE_MAMPS,208.624,93.574,745.524,674.193,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,273.771,214.155,686.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22275,402
$CAP_FILE_SIZE,49117,0
$CFSIZE,260165632,256262144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,035746,4806.876,-12224.039,10,99.0,29,18.3