version: 66.04
glider: 152
mission: 2
dive: 4
start: 9 18 109 0 40 38
data:
$ID,152
$MISSION,2
$DIVE,4
$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,60
$T_MISSION,70
$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,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,-13487.415
$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,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,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,0
$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,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
$GPS1,002801,4806.668,-12222.706,40,1.2,41,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,-69.1
$GPS2,003944,4806.722,-12222.732,13,1.2,13,18.3
$SPEED_LIMITS,0.144,0.276
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.198
$KALMAN_X,-15.4,5.8,15.4,-960.8,-8.1
$KALMAN_Y,-26.3,-63.9,-53.3,1118.1,15.3
$MHEAD_RNG_PITCHd_Wd,308.6,611,-15.3,-8.333
$D_GRID,105
$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,-1.12,-135.9,0.0,0.0,0,27,0.00,0.00,-6.28,0.000,2,0.000,0.000,437,2006,1693
$GC,33,-1.20,-194.6,3.8,-0.0,1,156,12.00,2.38,-103.45,0.000,4,0.157,0.076,2659,646,3951
$GC,408,-1.20,-194.6,29.3,-9.5,76,416,0.00,2.30,0.00,0.000,6,0.000,0.030,2659,2051,3952
$GC,486,-1.20,-194.6,37.0,-9.1,89,493,0.00,2.50,0.00,0.000,4,0.000,0.072,2659,650,3952
$GC,627,-1.20,-194.6,50.9,-10.2,120,634,0.00,2.30,0.00,0.000,6,0.000,0.032,2659,2049,3952
$GC,774,-1.20,-194.6,64.4,-9.2,145,780,0.00,2.47,0.00,0.000,4,0.000,0.075,2659,650,3953
$GC,838,-1.20,-194.6,71.0,-10.4,158,845,0.00,2.30,0.00,0.000,6,0.000,0.034,2659,2047,3953
$GC,982,-1.20,-194.6,83.9,-8.8,183,988,0.00,2.47,0.00,0.000,4,0.000,0.075,2659,650,3952
$GC,1072,-1.20,-194.6,92.2,-9.8,201,1078,0.00,2.28,0.00,0.000,6,0.000,0.034,2659,2049,3952
$STATE,1211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1211,begin apogee
$GC,1224,-0.31,0.0,105.4,8.8,226,1375,0.85,0.00,142.90,0.825,6,0.076,0.000,2848,1981,3209
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1381,1.20,194.6,109.0,0.0,251,1544,1.45,2.53,155.12,0.788,4,0.055,0.048,3179,3399,2415
$GC,1641,1.20,194.6,86.0,11.1,298,1648,0.00,2.38,0.00,0.000,6,0.000,0.040,3180,2019,2413
$GC,1787,1.20,194.6,69.7,10.8,323,1793,0.00,2.58,0.00,0.000,4,0.000,0.084,3180,599,2410
$GC,1825,1.20,194.6,64.9,13.0,330,1832,0.00,2.33,0.00,0.000,6,0.000,0.033,3181,1994,2408
$GC,1969,1.20,194.6,49.3,10.3,355,1975,0.00,2.40,0.00,0.000,4,0.000,0.051,3180,3406,2408
$GC,2006,1.20,194.6,45.0,11.4,362,2013,0.00,2.40,0.00,0.000,6,0.000,0.040,3180,2003,2408
$GC,2150,1.20,194.6,30.3,10.6,387,2157,0.00,2.55,0.00,0.000,4,0.000,0.078,3180,603,2407
$GC,2180,1.20,194.6,26.7,11.7,392,2187,0.00,2.33,0.00,0.000,6,0.000,0.035,3180,2004,2407
$GC,2258,1.20,194.6,18.5,9.9,405,2265,0.00,2.38,0.00,0.000,4,0.000,0.047,3180,3386,2407
$GC,2313,1.20,194.6,12.8,10.3,416,2320,0.00,2.38,0.00,0.000,6,0.000,0.043,3180,1995,2407
$GC,2389,1.24,228.1,6.5,6.9,429,2423,0.00,2.40,27.52,0.761,4,0.000,0.048,3180,3394,2279
$GC,2531,1.45,404.7,3.0,1.0,457,2560,0.20,2.38,23.00,0.726,2,0.042,0.038,3238,1997,2071
$STATE,2561,end climb,SURFACE_DEPTH_REACHED
$STATE,2561,begin surface coast
$FINISH,2.4,1.012897
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2655,begin surface
$SM_CCo,2686,53.97,0.739,0,0,1578,400.08
$SM_GC,2.75,0.00,0.00,53.97,0.000,0.000,0.739,439,2070,1578,-11.41,0.57,400.08
$IRIDIUM_FIX,4751.72,-12223.57,121298,232328
$TT8_MAMPS,0.022243
$HUMID,2271
$INTERNAL_PRESSURE,9.4308
$TCM_TEMP,16.20
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,90.0,14.5
$24V_AH,23.5,1.295
$10V_AH,10.8,0.566
$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,26.425,48.150,348.550,53.975,0.000,22.229,32.182,339.308,7.750,0.000,0.000,15.226,703.749,377.383,422.152,1129.465,818.149,32.327,936.591,0.000,1130.961,0.000,8.566,0.000
$DEVICE_MAMPS,157.235,84.370,825.292,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,328.311,246.616,839.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25435,482
$CAP_FILE_SIZE,53539,0
$CFSIZE,260165632,237731840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,012719,4806.877,-12223.099,10,1.8,10,18.3