version: 66.04
glider: 152
mission: 2
dive: 9
start: 9 18 109 4 42 28
data:
$ID,152
$MISSION,2
$DIVE,9
$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,-13566.847
$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,31
$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,3
$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
$GPS1,043344,4807.696,-12223.799,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-70.0
$GPS2,044132,4807.713,-12223.809,10,1.6,10,18.3
$SPEED_LIMITS,0.217,0.318
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.300
$KALMAN_X,-319.6,-72.7,-57.1,-1838.6,-31.6
$KALMAN_Y,-211.9,-106.7,-5.8,3135.8,-30.3
$MHEAD_RNG_PITCHd_Wd,322.0,581,-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,-6.25,0.000,2,0.000,0.000,441,1935,1695
$GC,32,-1.38,-194.6,3.8,-0.0,1,154,11.98,2.47,-99.82,0.000,4,0.166,0.081,2614,560,3952
$GC,406,-1.38,-194.6,37.2,-13.2,76,413,0.00,2.28,0.00,0.000,6,0.000,0.031,2614,1947,3953
$GC,486,-1.38,-194.6,46.8,-11.1,89,492,0.00,2.47,0.00,0.000,4,0.000,0.073,2615,557,3953
$GC,600,-1.38,-194.6,61.5,-13.4,113,606,0.00,2.25,0.00,0.000,6,0.000,0.031,2615,1949,3953
$GC,745,-1.38,-194.6,78.2,-11.3,138,752,0.00,2.50,0.00,0.000,4,0.000,0.074,2615,565,3953
$GC,811,-1.38,-194.6,86.2,-12.5,151,817,0.00,2.25,0.00,0.000,6,0.000,0.032,2614,1950,3953
$STATE,950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$GC,962,-0.31,0.0,103.4,11.8,176,1112,1.08,0.00,143.52,0.824,6,0.084,0.000,2847,1953,3209
$STATE,1113,end apogee,CONTROL_FINISHED_OK
$STATE,1113,begin climb
$GC,1118,1.38,194.6,107.4,0.0,201,1287,1.62,2.53,155.57,0.786,4,0.055,0.049,3217,3388,2415
$GC,1359,1.39,198.0,83.4,12.4,243,1373,0.00,2.35,3.58,0.449,6,0.000,0.038,3217,1999,2403
$GC,1518,1.39,202.1,63.7,12.3,269,1531,0.00,2.58,5.20,0.580,4,0.000,0.080,3217,607,2385
$GC,1549,1.39,202.1,58.3,15.2,274,1557,0.00,2.33,0.00,0.000,6,0.000,0.032,3217,2001,2384
$GC,1696,1.40,210.1,39.6,12.2,299,1710,0.00,2.38,8.23,0.672,4,0.000,0.048,3217,3394,2353
$GC,1751,1.40,210.1,32.6,12.5,309,1757,0.00,2.40,0.00,0.000,6,0.000,0.039,3217,1997,2352
$GC,1829,1.42,226.3,22.8,11.8,322,1849,0.00,0.00,14.80,0.726,6,0.000,0.000,3217,1997,2287
$GC,1920,1.45,247.2,11.8,11.6,337,1941,0.00,0.00,18.60,0.729,6,0.000,0.000,3217,1997,2202
$GC,2012,1.69,447.0,4.5,3.9,352,2046,0.28,0.00,31.75,0.731,2,0.075,0.000,3294,1997,1992
$STATE,2047,end climb,SURFACE_DEPTH_REACHED
$STATE,2047,begin surface coast
$FINISH,2.3,1.008679
$STATE,2112,end surface coast,CONTROL_FINISHED_OK
$STATE,2112,begin surface
$SM_CCo,2143,48.50,0.730,0,0,1579,400.08
$SM_GC,3.46,0.00,0.00,48.50,0.000,0.000,0.730,440,1934,1579,-11.41,-0.45,400.08
$IRIDIUM_FIX,4748.51,-12224.57,131298,030348
$TT8_MAMPS,0.021476
$HUMID,2199
$INTERNAL_PRESSURE,9.40151
$TCM_TEMP,16.10
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,80.3,44.7
$24V_AH,23.5,1.847
$10V_AH,10.8,0.814
$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,27.150,28.850,381.250,48.500,0.000,30.159,27.394,205.607,4.000,0.000,0.000,11.498,523.940,317.545,418.304,859.269,553.177,33.335,859.177,0.000,863.365,0.000,5.846,0.000
$DEVICE_MAMPS,165.672,85.904,823.758,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,250.046,184.677,632.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19126,369
$CAP_FILE_SIZE,40700,0
$CFSIZE,260165632,237608960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,052031,4807.898,-12224.055,40,1.3,40,18.3