version: 66.04
glider: 152
mission: 2
dive: 23
start: 9 18 109 16 49 42
data:
$ID,152
$MISSION,2
$DIVE,23
$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,-13897.541
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,164020,4808.066,-12223.938,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-70.4
$GPS2,164850,4808.081,-12223.977,13,1.5,13,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.238
$KALMAN_X,-722.6,-491.6,-42.9,-1240.6,276.1
$KALMAN_Y,-607.9,211.0,-811.2,4697.0,-167.2
$MHEAD_RNG_PITCHd_Wd,138.5,2338,-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,-6.25,0.000,2,0.000,0.000,438,1934,1697
$GC,33,-1.09,-194.6,3.7,-0.0,1,155,12.23,2.42,-100.68,0.000,4,0.161,0.074,2679,564,3949
$GC,217,-1.09,-194.6,12.7,-10.5,31,224,0.00,2.25,0.00,0.000,6,0.000,0.028,2679,1944,3950
$GC,294,-1.09,-194.6,19.4,-8.1,44,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1945,3950
$GC,371,-1.09,-194.6,25.4,-7.8,57,378,0.00,2.45,0.00,0.000,4,0.000,0.067,2679,571,3950
$GC,442,-1.09,-194.6,31.5,-9.2,72,450,0.00,2.25,0.00,0.000,6,0.000,0.028,2679,1954,3950
$GC,520,-1.09,-194.6,38.0,-8.5,85,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1954,3951
$GC,597,-1.09,-194.6,44.5,-8.4,98,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1954,3951
$GC,744,-1.09,-194.6,56.7,-8.5,123,750,0.00,2.47,0.00,0.000,4,0.000,0.077,2679,564,3950
$GC,822,-1.09,-194.6,63.6,-8.9,139,828,0.00,2.22,0.00,0.000,6,0.000,0.031,2679,1946,3951
$GC,966,-1.09,-194.6,75.8,-8.2,164,973,0.00,2.47,0.00,0.000,4,0.000,0.071,2679,568,3950
$GC,1005,-1.09,-194.6,79.0,-8.2,171,1011,0.00,2.25,0.00,0.000,6,0.000,0.031,2679,1954,3950
$GC,1153,-1.09,-194.6,91.0,-8.2,196,1160,0.00,2.50,0.00,0.000,4,0.000,0.071,2679,567,3951
$GC,1196,-1.09,-194.6,95.1,-8.8,204,1203,0.00,2.28,0.00,0.000,6,0.000,0.032,2679,1954,3950
$GC,1343,-1.09,-194.6,106.8,-8.2,229,1349,0.00,2.47,0.00,0.000,4,0.000,0.072,2679,561,3951
$GC,1381,-1.09,-194.6,110.0,-8.1,236,1388,0.00,2.28,0.00,0.000,6,0.000,0.033,2679,1948,3950
$STATE,1392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1392,begin apogee
$GC,1404,-0.42,0.0,111.5,8.6,238,1556,0.65,0.00,143.57,0.830,6,0.076,0.000,2823,1949,3209
$STATE,1556,end apogee,CONTROL_FINISHED_OK
$STATE,1556,begin climb
$GC,1562,1.09,194.6,115.3,0.0,263,1726,1.48,2.55,155.45,0.795,4,0.061,0.044,3155,3392,2416
$GC,1762,1.09,194.6,100.6,10.6,296,1769,0.00,2.35,0.00,0.000,6,0.000,0.038,3154,2022,2413
$GC,1908,1.09,194.6,86.3,10.2,321,1914,0.00,2.58,0.00,0.000,4,0.000,0.078,3155,595,2411
$GC,1933,1.09,194.6,83.6,10.0,325,1939,0.00,2.30,0.00,0.000,6,0.000,0.031,3154,2002,2410
$GC,2076,1.09,194.6,70.0,8.9,350,2083,0.00,2.38,0.00,0.000,4,0.000,0.044,3155,3390,2410
$GC,2098,1.09,194.6,68.0,9.1,353,2104,0.00,2.35,0.00,0.000,6,0.000,0.037,3154,1993,2410
$GC,2241,1.09,194.6,55.7,8.1,378,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1992,2410
$GC,2387,1.09,194.6,43.2,10.2,403,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1992,2410
$GC,2529,1.09,194.6,26.7,10.4,428,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1992,2410
$GC,2606,1.09,195.6,20.3,7.1,441,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1992,2411
$GC,2681,1.26,339.2,16.7,3.5,454,2808,0.17,2.40,118.90,0.766,4,0.048,0.046,3209,3392,1826
$GC,2861,1.38,434.6,9.5,4.8,483,2948,0.00,2.38,80.10,0.736,6,0.000,0.037,3208,2002,1437
$STATE,2953,end climb,SURFACE_DEPTH_REACHED
$STATE,2953,begin surface coast
$FINISH,1.7,1.000661
$STATE,2998,end surface coast,CONTROL_FINISHED_OK
$STATE,2998,begin surface
$SM_CCo,3089,0.00,0.000,0,0,1429,436.88
$SM_GC,3.13,11.80,0.00,0.00,0.033,0.000,0.000,442,1939,1429,-11.33,-0.31,436.88
$IRIDIUM_FIX,4748.51,-12221.84,131298,161616
$TT8_MAMPS,0.021476
$HUMID,2169
$INTERNAL_PRESSURE,9.37221
$TCM_TEMP,15.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,85.5,35.2
$24V_AH,23.5,3.400
$10V_AH,10.7,1.616
$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,26.325,47.675,498.025,0.000,0.000,22.704,45.032,236.321,2.250,0.000,0.000,14.752,705.390,594.102,477.296,1158.604,666.139,33.309,1075.921,0.000,1163.106,0.000,7.069,0.000
$DEVICE_MAMPS,161.070,91.273,829.894,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,342.960,246.177,839.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28520,504
$CAP_FILE_SIZE,53744,0
$CFSIZE,260165632,237162496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,174208,4807.737,-12223.678,12,1.7,12,18.3