version: 66.04
glider: 152
mission: 2
dive: 18
start: 9 18 109 12 12 57
data:
$ID,152
$MISSION,2
$DIVE,18
$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,70
$T_MISSION,100
$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,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,-13798.268
$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,12
$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,24
$R_STBD_OVSHOOT,53
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$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
$GPS1,120322,4806.988,-12222.849,7,99.0,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.50
$_SM_ANGLEo,-66.1
$GPS2,121206,4807.020,-12222.859,15,1.2,25,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.043,0.256
$KALMAN_X,-1255.1,-317.0,27.5,428.7,-121.3
$KALMAN_Y,-387.6,1014.6,482.7,416.5,-687.7
$MHEAD_RNG_PITCHd_Wd,332.2,2298,-10.2,-7.143
$D_GRID,150
$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,-1.09,-194.6,0.0,0.0,0,32,0.00,0.00,-6.25,0.000,2,0.000,0.000,440,1940,695
$GC,38,-1.09,-194.6,3.5,-0.0,1,207,11.95,2.35,-147.18,0.000,4,0.151,0.051,2683,3326,3951
$GC,267,-1.09,-194.6,12.5,-9.3,38,274,0.00,2.30,0.00,0.000,6,0.000,0.035,2683,1949,3952
$GC,347,-1.09,-194.6,18.9,-8.2,51,354,0.00,2.50,0.00,0.000,4,0.000,0.070,2683,553,3952
$GC,381,-1.09,-194.6,21.8,-8.4,57,388,0.00,2.28,0.00,0.000,6,0.000,0.029,2683,1949,3952
$GC,458,-1.09,-194.6,28.1,-8.2,70,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1950,3952
$GC,535,-1.09,-194.6,34.2,-8.2,83,542,0.00,2.50,0.00,0.000,4,0.000,0.071,2683,559,3952
$GC,578,-1.09,-194.6,37.9,-8.5,91,586,0.00,2.28,0.00,0.000,6,0.000,0.030,2683,1951,3952
$GC,656,-1.09,-194.6,44.3,-8.2,104,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1951,3953
$GC,800,-1.09,-194.6,56.1,-8.3,129,806,0.00,2.50,0.00,0.000,4,0.000,0.074,2684,550,3953
$GC,852,-1.09,-194.6,60.6,-8.9,139,859,0.00,2.28,0.00,0.000,6,0.000,0.031,2683,1957,3953
$GC,996,-1.09,-194.6,73.3,-8.6,164,1004,0.00,2.55,0.00,0.000,4,0.000,0.074,2683,553,3953
$GC,1055,-1.09,-194.6,78.1,-9.0,175,1061,0.00,2.28,0.00,0.000,6,0.000,0.031,2683,1958,3953
$STATE,1073,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1073,begin apogee
$GC,1085,-0.42,0.0,80.1,8.7,178,1235,0.62,0.00,143.30,0.802,6,0.077,0.000,2821,1961,3210
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1242,1.09,194.6,84.7,0.0,203,1405,1.48,2.53,155.68,0.769,4,0.063,0.044,3152,3390,2416
$GC,1441,1.09,194.6,70.9,10.0,236,1448,0.00,2.38,0.00,0.000,6,0.000,0.038,3152,2006,2413
$GC,1588,1.09,194.6,57.1,9.6,261,1594,0.00,2.55,0.00,0.000,4,0.000,0.080,3151,597,2410
$GC,1632,1.09,194.6,52.7,10.4,269,1638,0.00,2.30,0.00,0.000,6,0.000,0.031,3152,2003,2409
$GC,1777,1.09,194.6,38.8,9.3,294,1784,0.00,2.38,0.00,0.000,4,0.000,0.044,3152,3390,2409
$GC,1811,1.09,194.6,35.5,9.8,300,1819,0.00,2.38,0.00,0.000,6,0.000,0.038,3152,2001,2409
$GC,1889,1.09,194.6,28.7,8.8,313,1895,0.00,2.53,0.00,0.000,4,0.000,0.074,3152,603,2408
$GC,1927,1.09,194.6,25.2,9.4,320,1934,0.00,2.30,0.00,0.000,6,0.000,0.031,3151,1994,2407
$GC,2005,1.09,194.6,18.1,8.8,333,2012,0.00,2.40,0.00,0.000,4,0.000,0.044,3152,3395,2407
$GC,2048,1.09,194.6,14.1,9.8,341,2055,0.00,2.38,0.00,0.000,6,0.000,0.038,3152,2000,2407
$GC,2126,1.11,216.8,8.2,6.6,354,2153,0.00,2.42,18.33,0.740,4,0.000,0.046,3152,3390,2326
$GC,2218,1.39,438.5,5.5,1.6,372,2308,0.25,2.35,83.43,0.749,2,0.042,0.035,3222,2002,1779
$STATE,2309,end climb,SURFACE_DEPTH_REACHED
$STATE,2309,begin surface coast
$FINISH,2.0,1.006701
$STATE,2387,end surface coast,CONTROL_FINISHED_OK
$STATE,2387,begin surface
$SM_CCo,2418,21.17,0.708,0,0,1578,400.08
$SM_GC,2.63,0.00,0.00,21.17,0.000,0.000,0.708,440,1941,1578,-11.41,-0.25,400.08
$IRIDIUM_FIX,4748.51,-12224.57,131298,111133
$TT8_MAMPS,0.021476
$HUMID,2170
$INTERNAL_PRESSURE,9.39174
$TCM_TEMP,16.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,7.5
$24V_AH,23.5,2.837
$10V_AH,10.7,1.306
$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,26.175,52.750,400.725,21.175,0.000,24.546,24.688,274.336,1.000,0.000,0.000,26.972,564.687,325.248,457.877,978.434,645.422,33.311,973.024,0.000,967.327,0.000,5.746,0.000
$DEVICE_MAMPS,151.099,90.506,802.282,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,271.354,216.484,738.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22260,402
$CAP_FILE_SIZE,47844,0
$CFSIZE,260165632,237334528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180909,125438,4807.299,-12222.965,12,1.2,12,18.3