version: 66.04
glider: 152
mission: 2
dive: 1
start: 9 17 109 20 56 54
data:
$ID,152
$MISSION,2
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,150
$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,620
$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,-13250.905
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2860
$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,2350
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3092
$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,1
$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
$GPS1,204404,4806.239,-12221.972,12,99.0,31,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.9
$GPS2,205558,4806.196,-12221.958,11,2.4,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.196
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,300.8,1968,-17.5,-10.000
$D_GRID,108
$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,-1.27,-146.0,0.0,0.0,0,136,0.00,0.00,-114.68,0.000,2,0.000,0.000,444,2375,3483
$GC,142,-1.27,-146.0,3.5,-6.2,18,164,11.88,2.25,-4.05,0.000,4,0.173,0.056,2576,3727,3689
$GC,412,-1.27,-146.0,28.6,-8.7,78,419,0.00,2.25,0.00,0.000,6,0.000,0.031,2576,2348,3689
$GC,490,-1.27,-146.0,35.8,-9.2,91,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2348,3689
$GC,568,-1.27,-146.0,43.3,-9.5,104,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2347,3689
$STATE,578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,578,begin apogee
$GC,591,-0.31,0.0,45.0,10.2,106,710,0.98,0.00,112.90,0.709,6,0.092,0.000,2787,2234,3091
$STATE,711,end apogee,CONTROL_FINISHED_OK
$STATE,712,begin climb
$GC,717,1.27,146.0,48.8,0.0,126,842,1.52,2.53,114.80,0.690,4,0.065,0.084,3132,874,2495
$GC,879,1.31,172.9,38.1,8.8,153,907,0.00,2.25,22.45,0.659,6,0.000,0.039,3132,2229,2387
$GC,976,1.36,217.9,30.2,7.9,169,1018,0.10,2.50,36.70,0.677,4,0.058,0.078,3171,870,2202
$GC,1066,1.36,217.9,20.4,11.8,185,1073,0.00,2.28,0.00,0.000,6,0.000,0.034,3171,2240,2199
$GC,1145,1.37,223.6,12.3,9.7,198,1159,0.00,2.47,5.62,0.528,4,0.000,0.073,3171,871,2179
$GC,1177,1.37,223.6,8.8,12.0,203,1184,0.00,2.30,0.00,0.000,6,0.000,0.034,3171,2255,2178
$GC,1255,1.50,332.3,3.8,5.0,216,1276,0.00,0.00,19.20,0.667,2,0.000,0.000,3171,2255,2057
$STATE,1277,end climb,SURFACE_DEPTH_REACHED
$STATE,1277,begin surface coast
$FINISH,0.8,1.002395
$STATE,1365,end surface coast,CONTROL_FINISHED_OK
$STATE,1365,begin surface
$SM_CCo,1396,169.62,0.682,0,0,564,620.12
$SM_GC,1.06,0.00,0.00,169.62,0.000,0.000,0.682,439,2377,564,-11.14,0.76,620.12
$IRIDIUM_FIX,4748.51,-12224.57,121298,202013
$TT8_MAMPS,0.022243
$HUMID,1938
$INTERNAL_PRESSURE,9.44057
$TCM_TEMP,17.90
$XPDR_PINGS,36
$24V_AH,23.7,0.856
$10V_AH,11.0,0.343
$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,25.950,19.100,311.675,169.625,0.000,0.000,0.000,0.000,9.000,0.000,0.000,32.393,331.854,100.775,488.120,622.043,126.873,29.237,818.238,0.000,608.382,0.000,1.010,0.000
$DEVICE_MAMPS,172.575,83.603,709.475,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,158.716,149.133,511.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12832,235
$CAP_FILE_SIZE,45084,0
$CFSIZE,260165632,237854720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170909,212422,4806.270,-12222.065,11,2.9,30,18.3