version: 66.04
glider: 152
mission: 2
dive: 20
start: 9 18 109 13 58 17
data:
$ID,152
$MISSION,2
$DIVE,20
$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,-13829.289
$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,37
$R_STBD_OVSHOOT,44
$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,3
$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
$GPS1,134744,4807.579,-12223.082,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.76
$_SM_ANGLEo,-70.6
$GPS2,135720,4807.598,-12223.124,14,1.2,14,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.071,0.250
$KALMAN_X,-1433.7,-302.3,148.4,145.5,-103.1
$KALMAN_Y,-632.7,934.3,-256.5,2546.9,-772.1
$MHEAD_RNG_PITCHd_Wd,325.9,1315,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-1.09,-194.6,0.0,0.0,0,27,0.00,0.00,-6.25,0.000,2,0.000,0.000,440,1935,1695
$GC,33,-1.09,-194.6,3.6,-0.0,1,154,12.27,2.40,-101.05,0.000,4,0.163,0.075,2683,564,3951
$GC,407,-1.09,-194.6,29.7,-8.9,76,414,0.00,2.28,0.00,0.000,6,0.000,0.030,2683,1954,3952
$GC,484,-1.09,-194.6,36.4,-8.1,89,491,0.00,2.50,0.00,0.000,4,0.000,0.069,2683,561,3952
$GC,650,-1.09,-194.6,51.1,-8.8,124,657,0.00,2.28,0.00,0.000,6,0.000,0.031,2683,1949,3952
$GC,798,-1.09,-194.6,63.2,-8.2,149,804,0.00,2.47,0.00,0.000,4,0.000,0.075,2683,561,3952
$GC,835,-1.09,-194.6,66.5,-8.3,156,842,0.00,2.28,0.00,0.000,6,0.000,0.031,2683,1950,3952
$GC,982,-1.09,-194.6,78.6,-8.5,181,988,0.00,2.47,0.00,0.000,4,0.000,0.073,2683,563,3952
$GC,1029,-1.09,-194.6,82.5,-8.8,189,1035,0.00,2.25,0.00,0.000,6,0.000,0.032,2683,1950,3952
$GC,1173,-1.09,-194.6,94.8,-8.2,214,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1954,3952
$GC,1317,-1.09,-194.6,106.2,-8.0,239,1323,0.00,2.47,0.00,0.000,4,0.000,0.074,2683,566,3952
$GC,1372,-1.09,-194.6,110.8,-8.3,250,1379,0.00,2.28,0.00,0.000,6,0.000,0.033,2683,1951,3952
$STATE,1424,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1425,begin apogee
$GC,1437,-0.42,0.0,115.2,7.8,259,1587,0.62,0.00,144.07,0.841,6,0.075,0.000,2822,1952,3210
$STATE,1588,end apogee,CONTROL_FINISHED_OK
$STATE,1588,begin climb
$GC,1594,1.09,194.6,119.5,0.0,284,1758,1.48,2.55,155.90,0.803,4,0.062,0.045,3153,3394,2415
$GC,1796,1.09,194.6,104.6,10.7,317,1802,0.00,2.35,0.00,0.000,6,0.000,0.037,3153,2005,2414
$GC,1940,1.09,194.6,89.9,10.2,342,1947,0.00,2.58,0.00,0.000,4,0.000,0.079,3153,598,2410
$GC,1972,1.09,194.6,86.7,10.8,347,1978,0.00,2.30,0.00,0.000,6,0.000,0.031,3153,2003,2410
$GC,2116,1.09,194.6,71.8,9.6,372,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2007,2410
$GC,2261,1.09,194.6,58.0,9.6,397,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2007,2410
$GC,2404,1.09,194.6,44.7,9.1,422,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2007,2410
$GC,2549,1.09,194.6,31.2,9.3,447,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2007,2410
$GC,2624,1.09,194.6,24.1,9.0,460,2631,0.00,2.53,0.00,0.000,4,0.000,0.070,3153,600,2409
$GC,2654,1.09,194.6,21.2,9.7,465,2662,0.00,2.30,0.00,0.000,6,0.000,0.031,3152,1992,2409
$GC,2732,1.09,194.6,14.0,8.8,478,2739,0.00,2.38,0.00,0.000,4,0.000,0.044,3153,3388,2409
$GC,2778,1.09,194.6,9.8,9.5,487,2785,0.00,2.35,0.00,0.000,6,0.000,0.035,3153,1997,2409
$GC,2856,1.27,344.8,6.2,3.4,500,2962,0.17,2.42,96.72,0.763,4,0.049,0.041,3208,3399,1802
$STATE,2967,end climb,SURFACE_DEPTH_REACHED
$STATE,2967,begin surface coast
$FINISH,1.9,1.019006
$STATE,2978,end surface coast,CONTROL_FINISHED_OK
$STATE,2978,begin surface
$SM_CCo,3011,25.25,0.718,0,0,1579,400.08
$SM_GC,2.85,0.00,0.00,25.25,0.000,0.000,0.718,442,1948,1579,-11.40,-0.06,400.08
$IRIDIUM_FIX,4748.51,-12221.84,131298,131336
$TT8_MAMPS,0.021476
$HUMID,2154
$INTERNAL_PRESSURE,9.37221
$TCM_TEMP,15.90
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,80.1,44.9
$24V_AH,23.5,3.071
$10V_AH,10.7,1.430
$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,26.400,47.925,396.700,25.250,0.000,24.573,24.446,323.320,4.750,0.000,0.000,16.000,747.469,530.245,437.659,1188.941,720.436,33.329,1003.552,0.000,1191.047,0.000,5.542,0.000
$DEVICE_MAMPS,162.604,79.001,840.632,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,354.062,250.787,856.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28619,518
$CAP_FILE_SIZE,53604,0
$CFSIZE,260165632,237264896
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180909,145025,4807.813,-12223.363,41,0.9,41,18.3