version: 66.04
glider: 151
mission: 3
dive: 14
start: 9 17 109 11 7 19
data:
$ID,151
$MISSION,3
$DIVE,14
$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,-18558.652
$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,19
$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,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
$GPS1,103101,4805.098,-12221.982,39,1.7,39,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-59.4
$GPS2,110625,4804.839,-12221.715,15,1.1,32,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,SEVENA
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.260
$KALMAN_X,1134.8,843.5,507.0,86.1,-18.9
$KALMAN_Y,-1505.2,-1128.1,-651.4,351.9,36.7
$MHEAD_RNG_PITCHd_Wd,320.6,4305,-21.3,-12.500
$D_GRID,94
$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,13,begin dive
$GC,19,-1.70,-146.0,0.0,0.0,0,133,0.00,0.00,-111.57,0.000,2,0.000,0.000,426,2201,3200
$GC,140,-1.70,-146.0,3.3,-6.2,18,174,10.60,0.00,-16.77,0.000,6,0.211,0.000,2174,2201,3955
$GC,242,-1.70,-146.0,15.8,-10.3,38,249,0.00,2.42,0.00,0.000,4,0.000,0.067,2174,3598,3956
$GC,322,-1.70,-146.0,25.4,-12.9,55,330,0.00,2.38,0.00,0.000,6,0.000,0.050,2174,2193,3956
$GC,399,-1.70,-146.0,34.8,-12.6,71,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2193,3956
$GC,476,-1.70,-146.0,44.5,-12.2,87,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2193,3956
$GC,554,-1.70,-146.0,54.8,-13.4,103,561,0.00,2.47,0.00,0.000,4,0.000,0.085,2174,793,3956
$GC,600,-1.70,-146.0,60.8,-13.7,111,606,0.00,2.38,0.00,0.000,6,0.000,0.058,2173,2206,3956
$GC,680,-1.70,-146.0,71.7,-13.0,127,686,0.00,2.40,0.00,0.000,4,0.000,0.069,2173,3606,3955
$GC,724,-1.70,-146.0,77.7,-13.8,135,730,0.00,2.35,0.00,0.000,6,0.000,0.056,2173,2202,3956
$GC,802,-1.70,-146.0,88.2,-13.2,151,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2202,3956
$STATE,841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,841,begin apogee
$GC,855,-0.36,0.0,94.1,13.0,159,973,1.42,0.00,112.32,0.742,6,0.128,0.000,2464,2094,3363
$STATE,974,end apogee,CONTROL_FINISHED_OK
$STATE,974,begin climb
$GC,980,1.70,146.0,98.9,0.0,179,1098,1.95,0.00,112.88,0.716,6,0.071,0.000,2920,2094,2767
$GC,1173,1.70,146.0,74.6,19.3,214,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2094,2766
$GC,1249,1.70,146.0,60.3,18.7,230,1256,0.00,2.50,0.00,0.000,4,0.000,0.069,2920,3496,2765
$GC,1272,1.70,146.0,56.3,18.5,233,1278,0.00,2.38,0.00,0.000,6,0.000,0.060,2919,2110,2765
$GC,1349,1.70,146.0,42.0,18.3,249,1355,0.00,2.58,0.00,0.000,4,0.000,0.096,2920,696,2764
$GC,1382,1.70,146.0,35.8,18.7,255,1389,0.00,2.42,0.00,0.000,6,0.000,0.054,2920,2100,2764
$GC,1457,1.70,146.0,23.0,17.1,271,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2100,2764
$GC,1532,1.70,146.0,10.5,16.5,287,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2100,2764
$GC,1607,1.96,354.2,6.2,0.5,303,1711,0.20,0.00,100.35,0.677,2,0.060,0.000,2974,2100,2246
$STATE,1711,end climb,SURFACE_DEPTH_REACHED
$STATE,1711,begin surface coast
$FINISH,0.6,1.019096
$STATE,1826,end surface coast,CONTROL_FINISHED_OK
$STATE,1826,begin surface
$SM_CCo,1858,339.35,0.650,2,0,525,696.16
$SM_GC,1.26,0.00,0.00,339.35,0.000,0.000,0.650,424,2206,525,-9.78,0.17,696.16
$IRIDIUM_FIX,4745.30,-12222.84,121298,111145
$TT8_MAMPS,0.028379
$HUMID,2019
$INTERNAL_PRESSURE,9.45155
$TCM_TEMP,16.70
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,90.3,13.4
$24V_AH,23.5,2.535
$10V_AH,10.8,0.885
$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,25.050,24.600,325.550,339.350,0.000,131.428,142.588,1345.511,5.500,0.000,0.000,33.467,495.389,358.712,710.816,810.436,1965.776,33.317,1126.908,0.000,784.422,0.000,17.592,0.000
$DEVICE_MAMPS,210.925,95.875,742.456,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,234.616,180.967,586.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19117,345
$CAP_FILE_SIZE,53886,0
$CFSIZE,260165632,256036864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170909,114528,4804.879,-12221.806,8,99.0,27,18.3