version: 66.04
glider: 152
mission: 2
dive: 5
start: 9 18 109 1 37 3
data:
$ID,152
$MISSION,2
$DIVE,5
$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,40
$T_MISSION,50
$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,-13502.33
$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,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,50
$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,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
$GPS1,012719,4806.877,-12223.099,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.90
$_SM_ANGLEo,-69.7
$GPS2,013602,4806.913,-12223.130,12,1.3,12,18.3
$SPEED_LIMITS,0.217,0.318
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,0.118
$KALMAN_X,-123.0,-22.4,12.6,-1313.5,-37.9
$KALMAN_Y,-113.0,-105.4,-40.3,1589.3,30.9
$MHEAD_RNG_PITCHd_Wd,38.8,227,-27.5,-12.500
$D_GRID,103
$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,-1.83,-87.9,0.0,0.0,0,26,0.00,0.00,-6.25,0.000,2,0.000,0.000,440,2070,1693
$GC,32,-1.96,-194.6,3.7,-0.0,1,147,11.25,2.10,-95.60,0.000,4,0.163,0.056,2490,3335,3952
$GC,353,-1.96,-194.6,41.0,-16.4,65,359,0.00,2.28,0.00,0.000,6,0.000,0.034,2490,1947,3952
$GC,497,-1.96,-194.6,66.4,-18.3,90,504,0.00,2.50,0.00,0.000,4,0.000,0.077,2490,554,3952
$GC,544,-1.96,-194.6,75.5,-20.0,99,550,0.00,2.25,0.00,0.000,6,0.000,0.033,2490,1942,3953
$GC,696,-1.96,-194.6,102.7,-18.4,124,703,0.00,2.50,0.00,0.000,4,0.000,0.074,2491,561,3952
$STATE,706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,707,begin apogee
$GC,720,-0.31,0.0,106.6,18.5,126,870,1.67,0.00,143.23,0.817,6,0.100,0.000,2842,2001,3210
$STATE,871,end apogee,CONTROL_FINISHED_OK
$STATE,871,begin climb
$GC,877,1.96,194.6,112.7,0.0,151,1045,2.17,2.47,155.00,0.785,4,0.053,0.053,3349,3401,2416
$GC,1111,1.96,194.6,77.9,21.7,192,1118,0.00,2.40,0.00,0.000,6,0.000,0.041,3349,2008,2413
$GC,1259,1.96,194.6,47.7,20.1,217,1265,0.00,2.40,0.00,0.000,4,0.000,0.046,3349,3409,2412
$GC,1322,1.96,194.6,34.3,20.7,230,1329,0.00,2.42,0.00,0.000,6,0.000,0.041,3349,2001,2412
$GC,1400,1.96,194.6,18.8,19.3,243,1407,0.00,2.42,0.00,0.000,4,0.000,0.046,3349,3401,2411
$STATE,1503,end climb,SURFACE_DEPTH_REACHED
$STATE,1503,begin surface coast
$FINISH,4.6,1.018868
$STATE,1601,end surface coast,CONTROL_FINISHED_OK
$STATE,1602,begin surface
$SM_CCo,1608,225.12,0.711,2,0,539,654.95
$SM_GC,3.17,12.43,0.00,0.00,0.034,0.000,0.000,439,1944,536,-11.33,-0.17,655.93
$IRIDIUM_FIX,4751.72,-12219.12,131298,000050
$TT8_MAMPS,0.021476
$HUMID,2232
$INTERNAL_PRESSURE,9.35268
$TCM_TEMP,16.30
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,85.1,38.4
$24V_AH,23.5,1.425
$10V_AH,10.8,0.610
$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,27.525,28.650,298.225,225.125,0.000,31.058,28.647,239.706,3.500,0.000,0.000,14.286,414.653,271.336,545.179,690.416,579.706,33.342,896.498,0.000,689.193,0.000,7.073,0.000
$DEVICE_MAMPS,163.371,76.700,816.855,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,193.706,148.862,510.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15971,289
$CAP_FILE_SIZE,34808,0
$CFSIZE,260165632,237727744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,180909,021044,4807.044,-12222.917,7,1.8,7,18.3