version: 66.04
glider: 152
mission: 2
dive: 21
start: 9 18 109 15 0 10
data:
$ID,152
$MISSION,2
$DIVE,21
$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,-13845.981
$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,25
$R_STBD_OVSHOOT,39
$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
$GPS1,145025,4807.813,-12223.363,41,0.9,41,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-70.6
$GPS2,145913,4807.842,-12223.414,9,1.1,14,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.142,0.217
$KALMAN_X,-1567.4,-256.5,175.7,-153.1,-123.6
$KALMAN_Y,-690.8,761.1,-613.2,3588.6,-619.0
$MHEAD_RNG_PITCHd_Wd,308.5,781,-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,-6.28,0.000,2,0.000,0.000,441,1948,1694
$GC,33,-1.09,-194.6,3.7,-0.0,1,155,12.27,2.35,-101.15,0.000,4,0.163,0.050,2679,3349,3950
$GC,403,-1.09,-194.6,29.4,-8.9,76,410,0.00,2.35,0.00,0.000,6,0.000,0.034,2679,1948,3951
$GC,480,-1.09,-194.6,35.9,-8.0,89,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1948,3951
$GC,555,-1.09,-194.6,42.0,-8.1,102,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1949,3951
$GC,702,-1.09,-194.6,53.6,-8.2,127,708,0.00,2.47,0.00,0.000,4,0.000,0.076,2679,554,3952
$GC,739,-1.09,-194.6,57.0,-8.3,134,746,0.00,2.30,0.00,0.000,6,0.000,0.031,2679,1957,3952
$GC,888,-1.09,-194.6,69.2,-8.6,159,894,0.00,2.50,0.00,0.000,4,0.000,0.072,2680,553,3951
$GC,934,-1.09,-194.6,73.6,-9.1,168,941,0.00,2.30,0.00,0.000,6,0.000,0.031,2679,1953,3951
$GC,1081,-1.09,-194.6,85.7,-7.8,193,1087,0.00,2.50,0.00,0.000,4,0.000,0.072,2679,549,3951
$GC,1125,-1.09,-194.6,89.4,-7.9,201,1131,0.00,2.28,0.00,0.000,6,0.000,0.032,2679,1951,3952
$GC,1268,-1.09,-194.6,100.9,-7.9,226,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1955,3951
$GC,1414,-1.09,-194.6,111.9,-7.9,251,1420,0.00,2.50,0.00,0.000,4,0.000,0.073,2679,550,3951
$STATE,1425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1425,begin apogee
$GC,1440,-0.42,0.0,113.3,7.6,253,1590,0.65,0.00,143.35,0.841,6,0.077,0.000,2823,2007,3210
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1597,1.09,194.6,117.5,0.0,278,1760,1.48,2.45,155.75,0.802,4,0.062,0.045,3153,3393,2415
$GC,1836,1.09,194.6,98.7,10.0,320,1843,0.00,2.38,0.00,0.000,6,0.000,0.038,3153,2006,2412
$GC,1981,1.09,194.6,84.0,10.2,345,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2005,2412
$GC,2124,1.09,194.6,69.3,10.5,370,2131,0.00,2.55,0.00,0.000,4,0.000,0.077,3153,604,2410
$GC,2164,1.09,194.6,65.1,11.2,377,2170,0.00,2.28,0.00,0.000,6,0.000,0.031,3153,1997,2410
$GC,2307,1.09,194.6,50.4,9.7,402,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2000,2409
$GC,2451,1.09,194.6,36.9,9.5,427,2458,0.00,2.38,0.00,0.000,4,0.000,0.044,3153,3393,2409
$GC,2489,1.09,194.6,33.1,10.2,434,2496,0.00,2.38,0.00,0.000,6,0.000,0.038,3153,1995,2409
$GC,2566,1.09,194.6,25.9,9.2,447,2573,0.00,2.53,0.00,0.000,4,0.000,0.076,3153,600,2409
$GC,2600,1.09,194.6,22.4,9.7,453,2607,0.00,2.30,0.00,0.000,6,0.000,0.031,3153,1993,2409
$GC,2677,1.09,194.6,15.8,8.0,466,2684,0.00,2.38,0.00,0.000,4,0.000,0.043,3153,3390,2409
$GC,2728,1.09,194.6,11.2,9.0,476,2735,0.00,2.35,0.00,0.000,6,0.000,0.037,3153,2004,2409
$GC,2805,1.28,352.2,7.2,3.2,489,2913,0.20,0.00,102.47,0.762,6,0.045,0.000,3212,2004,1771
$STATE,2918,end climb,SURFACE_DEPTH_REACHED
$STATE,2918,begin surface coast
$FINISH,2.1,1.000070
$STATE,2988,end surface coast,CONTROL_FINISHED_OK
$STATE,2988,begin surface
$SM_CCo,3019,21.23,0.716,0,0,1579,400.08
$SM_GC,2.88,0.00,0.00,21.23,0.000,0.000,0.716,440,1940,1579,-11.41,-0.31,400.08
$IRIDIUM_FIX,4748.51,-12221.84,131298,141443
$TT8_MAMPS,0.021476
$HUMID,2193
$INTERNAL_PRESSURE,9.38197
$TCM_TEMP,15.40
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,80.0,42.7
$24V_AH,23.5,3.184
$10V_AH,10.7,1.496
$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,26.425,47.975,401.575,21.225,0.000,27.637,31.027,240.896,6.250,0.000,0.000,16.063,746.478,534.968,437.286,1193.424,667.279,33.319,1006.914,0.000,1195.658,0.000,5.539,0.000
$DEVICE_MAMPS,163.371,91.273,841.399,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,351.119,257.449,870.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28632,518
$CAP_FILE_SIZE,53992,0
$CFSIZE,260165632,237228032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,155155,4808.071,-12223.709,8,2.0,13,18.3