version: 66.04
glider: 151
mission: 3
dive: 21
start: 9 17 109 16 54 53
data:
$ID,151
$MISSION,3
$DIVE,21
$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,-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,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,-18729.619
$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,24
$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
$GPS1,164631,4805.039,-12221.464,7,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.4
$GPS2,165432,4805.026,-12221.472,12,1.4,13,18.3
$SPEED_LIMITS,0.260,0.293
$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,314.4,4115,-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,-146.0,0.0,0.0,0,82,0.00,0.00,-61.67,0.000,2,0.000,0.000,428,2213,3202
$GC,89,-1.94,-146.0,3.0,-3.1,10,129,10.43,2.45,-19.70,0.000,4,0.218,0.077,2119,3603,3956
$GC,236,-1.94,-146.0,24.6,-18.0,39,243,0.00,2.40,0.00,0.000,6,0.000,0.048,2119,2192,3956
$GC,311,-1.94,-146.0,37.2,-16.5,55,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2192,3956
$GC,389,-1.94,-146.0,49.9,-16.8,71,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2192,3956
$GC,466,-1.94,-146.0,62.2,-15.7,87,472,0.00,2.45,0.00,0.000,4,0.000,0.064,2119,3610,3956
$GC,492,-1.94,-146.0,66.5,-16.7,91,498,0.00,2.38,0.00,0.000,6,0.000,0.051,2119,2194,3956
$GC,569,-1.94,-146.0,78.6,-15.7,107,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2194,3956
$GC,648,-1.94,-146.0,90.6,-15.2,123,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2194,3956
$GC,729,-1.94,-146.0,103.3,-15.8,139,735,0.00,2.45,0.00,0.000,4,0.000,0.071,2119,3611,3956
$GC,762,-1.94,-146.0,108.5,-16.5,144,768,0.00,2.40,0.00,0.000,6,0.000,0.049,2119,2201,3956
$STATE,788,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,788,begin apogee
$GC,802,-0.36,0.0,113.3,16.7,149,920,1.75,0.00,113.50,0.766,6,0.145,0.000,2469,2094,3363
$STATE,921,end apogee,CONTROL_FINISHED_OK
$STATE,921,begin climb
$GC,927,1.94,146.0,118.3,0.0,169,1046,2.20,0.00,113.35,0.742,6,0.063,0.000,2977,2094,2766
$GC,1120,1.94,146.0,88.8,23.6,204,1127,0.00,2.50,0.00,0.000,4,0.000,0.068,2977,3495,2765
$GC,1160,1.94,146.0,79.6,22.7,211,1166,0.00,2.38,0.00,0.000,6,0.000,0.056,2977,2110,2765
$GC,1238,1.94,146.0,61.6,22.1,227,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2111,2766
$GC,1314,1.94,146.0,45.0,22.0,243,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2111,2765
$GC,1390,1.94,146.0,29.6,19.8,259,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2110,2765
$GC,1465,1.94,146.0,14.9,18.6,275,1472,0.00,2.47,0.00,0.000,4,0.000,0.070,2977,3502,2764
$GC,1484,1.94,146.0,11.5,19.2,277,1491,0.00,2.45,0.00,0.000,6,0.000,0.058,2977,2089,2765
$STATE,1521,end climb,SURFACE_DEPTH_REACHED
$STATE,1521,begin surface coast
$FINISH,1.1,1.019136
$STATE,1547,end surface coast,CONTROL_FINISHED_OK
$STATE,1547,begin surface
$SM_CCo,1580,202.15,0.667,3,0,1731,400.08
$SM_GC,1.54,0.00,0.00,202.15,0.000,0.000,0.667,429,2204,1731,-9.76,0.14,400.08
$IRIDIUM_FIX,4748.51,-12220.12,121298,161656
$TT8_MAMPS,0.028379
$HUMID,2024
$INTERNAL_PRESSURE,9.49062
$TCM_TEMP,17.30
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,105.9,16.8
$24V_AH,23.5,3.464
$10V_AH,10.8,1.219
$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,25.500,24.675,226.850,202.150,0.000,24.196,38.387,199.812,4.500,0.000,0.000,15.057,444.619,126.158,490.825,650.394,576.864,0.000,826.135,0.000,640.169,0.000,15.772,0.000
$DEVICE_MAMPS,217.828,76.700,766.233,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,196.732,142.355,445.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16008,291
$CAP_FILE_SIZE,37530,0
$CFSIZE,260165632,255881216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170909,172550,4805.201,-12221.663,6,1.5,7,18.3