version: 66.04
glider: 151
mission: 3
dive: 12
start: 9 17 109 8 43 40
data:
$ID,151
$MISSION,3
$DIVE,12
$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,-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,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-18488.736
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,080902,4805.591,-12222.715,12,1.5,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-58.8
$GPS2,084244,4805.257,-12222.297,13,1.6,13,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,SEVENA
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.102,0.259
$KALMAN_X,690.1,481.2,446.2,224.3,76.4
$KALMAN_Y,-876.9,-608.5,-559.9,-107.9,-122.1
$MHEAD_RNG_PITCHd_Wd,320.2,3343,-21.3,-12.500
$D_GRID,83
$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,-1.70,-146.0,0.0,0.0,0,133,0.00,0.00,-111.72,0.000,2,0.000,0.000,425,2202,3195
$GC,140,-1.70,-146.0,3.4,-6.2,18,173,10.60,0.00,-16.45,0.000,6,0.212,0.000,2173,2204,3956
$GC,244,-1.70,-146.0,14.8,-8.9,38,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2204,3956
$GC,318,-1.70,-146.0,23.3,-12.2,54,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2203,3956
$GC,392,-1.70,-146.0,32.4,-13.3,70,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2204,3956
$GC,466,-1.70,-146.0,41.8,-12.5,86,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2204,3956
$GC,545,-1.70,-146.0,52.0,-13.1,102,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2204,3956
$GC,622,-1.70,-146.0,62.3,-12.8,118,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2204,3956
$GC,698,-1.70,-146.0,72.3,-13.0,134,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2204,3956
$GC,779,-1.70,-146.0,82.7,-13.1,150,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2204,3956
$STATE,789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,789,begin apogee
$GC,803,-0.36,0.0,84.6,12.3,152,921,1.45,0.00,112.60,0.735,6,0.127,0.000,2466,2099,3363
$STATE,921,end apogee,CONTROL_FINISHED_OK
$STATE,922,begin climb
$GC,928,1.70,146.0,88.9,0.0,172,1051,1.95,0.00,113.10,0.706,6,0.061,0.000,2915,2099,2767
$GC,1125,1.70,146.0,64.7,18.0,208,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2099,2765
$GC,1202,1.70,146.0,51.0,18.6,224,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2099,2766
$GC,1281,1.70,146.0,37.7,17.1,240,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2099,2765
$GC,1357,1.70,146.0,24.8,15.9,256,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2099,2765
$GC,1431,1.70,146.0,12.6,16.4,272,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2099,2764
$STATE,1481,end climb,SURFACE_DEPTH_REACHED
$STATE,1481,begin surface coast
$FINISH,2.6,1.019197
$STATE,1512,end surface coast,CONTROL_FINISHED_OK
$STATE,1512,begin surface
$SM_CCo,1544,450.10,0.644,9,0,525,696.16
$SM_GC,1.22,0.00,0.00,450.10,0.000,0.000,0.644,429,2202,525,-9.76,0.06,696.16
$IRIDIUM_FIX,4751.72,-12226.29,121298,080810
$TT8_MAMPS,0.029146
$HUMID,2011
$INTERNAL_PRESSURE,9.44179
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.6,33.1
$24V_AH,23.5,2.105
$10V_AH,10.8,0.749
$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,24.750,0.325,225.700,450.100,0.000,141.031,143.318,1292.029,2.750,0.000,0.000,15.279,426.277,343.765,782.163,661.771,1864.696,33.328,1136.584,0.000,655.718,0.000,14.604,0.000
$DEVICE_MAMPS,212.459,72.098,734.786,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,196.404,151.638,481.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,290
$CAP_FILE_SIZE,45853,0
$CFSIZE,260165632,256110592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,9,0
$GPS,170909,091844,4805.325,-12222.300,11,1.4,11,18.3