version: 66.04
glider: 151
mission: 3
dive: 15
start: 9 17 109 12 16 32
data:
$ID,151
$MISSION,3
$DIVE,15
$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,-18603.57
$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,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,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
$GPS1,114528,4804.879,-12221.806,8,99.0,27,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-59.5
$GPS2,121537,4804.654,-12221.655,42,1.1,43,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,SEVENA
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$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,331.2,4651,-21.3,-12.500
$D_GRID,96
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.70,-146.0,0.0,0.0,0,139,0.00,0.00,-111.65,0.000,2,0.000,0.000,424,2206,3187
$GC,146,-1.70,-146.0,3.1,-5.6,18,180,10.60,2.45,-17.60,0.000,4,0.212,0.077,2174,3605,3957
$GC,249,-1.70,-146.0,17.4,-11.6,38,256,0.00,2.38,0.00,0.000,6,0.000,0.052,2174,2193,3958
$GC,324,-1.70,-146.0,25.9,-11.5,54,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2193,3958
$GC,399,-1.70,-146.0,34.8,-11.9,70,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2193,3958
$GC,475,-1.70,-146.0,44.3,-12.0,86,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2193,3958
$GC,553,-1.70,-146.0,54.3,-12.9,102,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2193,3958
$GC,633,-1.70,-146.0,64.5,-13.2,118,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2193,3958
$GC,712,-1.70,-146.0,74.8,-13.7,134,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2193,3958
$GC,794,-1.70,-146.0,85.4,-13.7,150,801,0.00,2.45,0.00,0.000,4,0.000,0.064,2174,3598,3958
$GC,829,-1.70,-146.0,90.1,-14.2,156,836,0.00,2.38,0.00,0.000,6,0.000,0.050,2174,2200,3958
$STATE,868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,869,begin apogee
$GC,882,-0.36,0.0,96.3,12.9,164,1000,1.42,0.00,112.72,0.746,6,0.136,0.000,2463,2092,3363
$STATE,1001,end apogee,CONTROL_FINISHED_OK
$STATE,1001,begin climb
$GC,1007,1.70,146.0,101.1,0.0,184,1126,1.98,0.00,112.85,0.722,6,0.062,0.000,2915,2092,2767
$GC,1202,1.70,146.0,77.0,18.6,219,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2092,2766
$GC,1279,1.70,146.0,62.9,17.8,235,1285,0.00,2.47,0.00,0.000,4,0.000,0.076,2915,3501,2766
$GC,1304,1.70,146.0,58.2,18.5,239,1310,0.00,2.40,0.00,0.000,6,0.000,0.058,2915,2105,2766
$GC,1382,1.70,146.0,44.0,17.3,255,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2105,2765
$GC,1457,1.70,146.0,31.0,17.7,271,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2105,2765
$GC,1532,1.70,146.0,18.8,15.7,287,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2105,2764
$GC,1606,1.70,146.0,7.6,12.9,303,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2105,2764
$GC,1681,1.97,369.3,5.6,-0.3,319,1759,0.25,0.00,75.35,0.683,2,0.058,0.000,2980,2105,2378
$STATE,1760,end climb,SURFACE_DEPTH_REACHED
$STATE,1760,begin surface coast
$FINISH,0.6,1.019194
$STATE,1866,end surface coast,CONTROL_FINISHED_OK
$STATE,1866,begin surface
$SM_CCo,1898,364.58,0.653,2,0,525,696.16
$SM_GC,1.28,0.00,0.00,364.58,0.000,0.000,0.653,427,2201,525,-9.77,0.03,696.16
$IRIDIUM_FIX,4748.51,-12224.57,121298,121255
$TT8_MAMPS,0.027612
$HUMID,2030
$INTERNAL_PRESSURE,9.44179
$TCM_TEMP,17.20
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,95.4,31.2
$24V_AH,23.5,2.735
$10V_AH,10.8,0.951
$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,25.200,14.825,300.925,364.575,0.000,133.879,195.689,969.195,4.750,0.000,0.000,44.289,511.945,363.607,727.271,843.551,1650.890,33.320,1147.339,0.000,807.541,0.000,19.185,0.000
$DEVICE_MAMPS,212.459,79.001,746.291,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,240.818,186.270,599.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19137,355
$CAP_FILE_SIZE,51416,0
$CFSIZE,260165632,256008192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,170909,125551,4804.747,-12221.658,7,99.0,26,18.3