version: 66.04
glider: 151
mission: 3
dive: 18
start: 9 17 109 14 57 28
data:
$ID,151
$MISSION,3
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$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,0
$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,5
$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,400
$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,-18672.09
$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,160
$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,17
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$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,90
$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
$GPS1,144919,4804.615,-12221.349,5,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.4
$GPS2,145708,4804.591,-12221.352,14,1.7,15,18.3
$SPEED_LIMITS,0.260,0.293
$TGT_NAME,HEADING
$TGT_LATLONG,4815.349,-12219.938
$TGT_RADIUS,1852.000
$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,346.7,20000,-24.7,-15.000
$D_GRID,180
$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,-1.94,-146.0,0.0,0.0,0,89,0.00,0.00,-67.88,0.000,2,0.000,0.000,426,2207,3331
$GC,95,-1.94,-146.0,3.2,-4.3,11,123,10.38,0.00,-14.12,0.000,6,0.216,0.000,2119,2207,3958
$GC,192,-1.94,-146.0,17.1,-12.8,30,199,0.00,2.45,0.00,0.000,4,0.000,0.071,2119,3610,3958
$GC,280,-1.94,-146.0,30.0,-16.1,49,286,0.00,2.40,0.00,0.000,6,0.000,0.047,2119,2195,3958
$GC,357,-1.94,-146.0,41.3,-15.1,65,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2195,3958
$GC,434,-1.94,-146.0,53.1,-15.8,81,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2195,3959
$GC,511,-1.94,-146.0,64.9,-15.9,97,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2195,3959
$GC,588,-1.94,-146.0,76.9,-16.3,113,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2195,3958
$GC,665,-1.94,-146.0,89.3,-16.5,129,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2195,3959
$STATE,680,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,680,begin apogee
$GC,694,-0.36,0.0,92.6,15.7,131,816,1.75,0.00,113.43,0.744,6,0.142,0.000,2468,2088,3362
$STATE,817,end apogee,CONTROL_FINISHED_OK
$STATE,817,begin climb
$GC,823,1.94,146.0,97.7,0.0,152,941,2.20,0.00,112.75,0.721,6,0.064,0.000,2971,2088,2767
$GC,1020,1.94,146.0,69.8,20.7,187,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2087,2766
$GC,1097,1.94,146.0,53.3,21.0,203,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2087,2765
$GC,1173,1.94,146.0,37.6,19.5,219,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2087,2765
$GC,1250,1.94,146.0,22.4,19.1,235,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2087,2765
$GC,1324,1.94,146.0,8.2,17.5,251,1332,0.00,2.53,0.00,0.000,4,0.000,0.070,2971,3503,2765
$GC,1351,1.94,146.0,4.3,15.1,255,1358,0.00,2.40,0.00,0.000,6,0.000,0.058,2971,2114,2765
$STATE,1362,end climb,SURFACE_DEPTH_REACHED
$STATE,1362,begin surface coast
$FINISH,3.3,1.019558
$STATE,1417,end surface coast,CONTROL_FINISHED_OK
$STATE,1418,begin surface
$SM_CCo,1450,199.93,0.665,2,0,1732,400.08
$SM_GC,1.53,0.00,0.00,199.93,0.000,0.000,0.665,430,2210,1732,-9.75,0.28,400.08
$IRIDIUM_FIX,4745.30,-12220.12,121298,141405
$TT8_MAMPS,0.028379
$HUMID,2071
$INTERNAL_PRESSURE,9.50038
$TCM_TEMP,15.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.8,10.5
$24V_AH,23.5,3.163
$10V_AH,10.8,1.095
$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,25.475,10.100,226.175,199.925,0.000,30.052,31.970,185.699,1.750,0.000,0.000,17.205,404.953,107.286,475.819,613.087,538.356,0.000,793.866,0.000,608.541,0.000,5.460,0.000
$DEVICE_MAMPS,215.527,72.865,743.990,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,181.552,139.395,438.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12805,270
$CAP_FILE_SIZE,33423,0
$CFSIZE,260165632,255963136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170909,152634,4804.718,-12221.310,12,99.0,32,18.3