version: 66.04
glider: 152
mission: 2
dive: 7
start: 9 18 109 3 8 34
data:
$ID,152
$MISSION,2
$DIVE,7
$D_SURF,3
$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,50
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0276
$MASS,51523
$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,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,-13537.402
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3210
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.183395
$PRESSURE_SLOPE,0.0001162351
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$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,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,030006,4807.244,-12223.257,29,0.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.82
$_SM_ANGLEo,-68.2
$GPS2,030738,4807.290,-12223.274,11,1.2,11,18.3
$SPEED_LIMITS,0.217,0.318
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,0.273
$KALMAN_X,-246.0,-53.2,-24.8,-1302.5,-47.0
$KALMAN_Y,-118.3,-94.1,-15.1,2253.8,12.2
$MHEAD_RNG_PITCHd_Wd,310.8,1592,-18.3,-12.500
$D_GRID,103
$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,-1.38,-194.6,0.0,0.0,0,26,0.00,0.00,-6.25,0.000,2,0.000,0.000,439,1936,1693
$GC,32,-1.38,-194.6,3.6,-0.0,1,154,11.85,2.45,-101.75,0.000,4,0.160,0.082,2616,556,3951
$GC,407,-1.38,-194.6,35.2,-11.9,76,414,0.00,2.30,0.00,0.000,6,0.000,0.031,2616,1953,3952
$GC,486,-1.38,-194.6,44.8,-11.2,89,492,0.00,2.50,0.00,0.000,4,0.000,0.075,2617,556,3952
$GC,540,-1.38,-194.6,51.3,-12.2,100,547,0.00,2.30,0.00,0.000,6,0.000,0.031,2617,1953,3952
$GC,687,-1.38,-194.6,67.6,-11.3,125,693,0.00,2.50,0.00,0.000,4,0.000,0.077,2616,556,3953
$GC,740,-1.38,-194.6,74.0,-12.2,135,746,0.00,2.28,0.00,0.000,6,0.000,0.038,2616,1952,3952
$GC,888,-1.38,-194.6,90.3,-11.0,160,895,0.00,2.53,0.00,0.000,4,0.000,0.074,2616,560,3952
$GC,942,-1.38,-194.6,96.7,-11.9,169,948,0.00,2.28,0.00,0.000,6,0.000,0.039,2616,1952,3953
$STATE,990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,990,begin apogee
$GC,1002,-0.31,0.0,103.2,10.9,178,1152,1.05,0.00,143.07,0.824,6,0.084,0.000,2844,1955,3210
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1159,1.38,194.6,107.2,0.0,203,1327,1.65,2.53,155.40,0.787,4,0.055,0.048,3229,3390,2415
$GC,1374,1.38,194.6,86.3,13.6,239,1380,0.00,2.35,0.00,0.000,6,0.000,0.038,3229,2004,2414
$GC,1519,1.38,194.6,66.3,13.3,264,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2004,2411
$GC,1662,1.38,194.6,46.6,13.1,289,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2003,2411
$GC,1805,1.38,194.6,27.8,12.6,314,1812,0.00,2.40,0.00,0.000,4,0.000,0.047,3229,3391,2410
$GC,1843,1.38,194.6,22.7,13.1,321,1850,0.00,2.38,0.00,0.000,6,0.000,0.039,3229,2002,2410
$GC,1922,1.39,203.0,13.0,12.1,334,1935,0.00,0.00,7.20,0.657,6,0.000,0.000,3229,2002,2383
$GC,2007,1.65,408.5,5.0,3.6,348,2061,0.20,0.00,51.12,0.744,2,0.047,0.000,3289,2001,2017
$STATE,2062,end climb,SURFACE_DEPTH_REACHED
$STATE,2062,begin surface coast
$FINISH,2.4,1.009091
$STATE,2150,end surface coast,CONTROL_FINISHED_OK
$STATE,2150,begin surface
$SM_CCo,2181,47.90,0.736,0,0,1578,400.08
$SM_GC,3.08,0.00,0.00,47.90,0.000,0.000,0.736,440,1931,1578,-11.41,-0.54,400.08
$IRIDIUM_FIX,4745.30,-12320.87,131298,020232
$TT8_MAMPS,0.021476
$HUMID,2233
$INTERNAL_PRESSURE,9.40151
$TCM_TEMP,16.10
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,95.3,27.7
$24V_AH,23.5,1.633
$10V_AH,10.8,0.714
$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,26.950,28.875,356.800,47.900,0.000,28.598,29.576,186.708,6.000,0.000,0.000,13.290,529.581,334.270,408.498,874.692,546.557,33.317,844.851,0.000,876.262,0.000,10.141,0.000
$DEVICE_MAMPS,160.303,82.069,823.758,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,251.531,188.503,641.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19128,371
$CAP_FILE_SIZE,40804,0
$CFSIZE,260165632,237666304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,034644,4807.465,-12223.534,10,1.4,10,18.3