version: 66.04
glider: 152
mission: 2
dive: 6
start: 9 18 109 2 19 1
data:
$ID,152
$MISSION,2
$DIVE,6
$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,-13523.482
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,021044,4807.044,-12222.917,7,1.8,7,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-64.7
$GPS2,021802,4807.073,-12222.945,14,1.1,14,18.3
$SPEED_LIMITS,0.217,0.318
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,0.275
$KALMAN_X,-176.0,-27.7,3.8,-1020.6,-56.2
$KALMAN_Y,-102.0,-70.7,-0.5,1795.8,-33.4
$MHEAD_RNG_PITCHd_Wd,311.5,2156,-18.3,-12.500
$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,-1.38,-194.6,0.0,0.0,0,27,0.00,0.00,-6.25,0.000,2,0.000,0.000,439,1944,696
$GC,33,-1.38,-194.6,3.6,-0.0,1,200,11.60,2.47,-146.55,0.000,4,0.151,0.079,2616,557,3952
$GC,454,-1.38,-194.6,36.9,-11.6,83,461,0.00,2.30,0.00,0.000,6,0.000,0.031,2616,1961,3952
$GC,531,-1.38,-194.6,46.1,-11.3,96,538,0.00,2.53,0.00,0.000,4,0.000,0.074,2616,557,3952
$GC,588,-1.38,-194.6,52.8,-12.1,107,594,0.00,2.28,0.00,0.000,6,0.000,0.035,2616,1958,3952
$GC,733,-1.38,-194.6,69.8,-11.7,132,740,0.00,2.55,0.00,0.000,4,0.000,0.076,2616,551,3952
$GC,783,-1.38,-194.6,75.4,-11.7,141,789,0.00,2.28,0.00,0.000,6,0.000,0.033,2616,1950,3952
$GC,935,-1.38,-194.6,92.6,-11.3,166,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1953,3952
$STATE,1041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1041,begin apogee
$GC,1053,-0.31,0.0,105.2,10.8,185,1202,1.08,0.00,142.85,0.818,6,0.084,0.000,2849,1953,3210
$STATE,1203,end apogee,CONTROL_FINISHED_OK
$STATE,1203,begin climb
$GC,1208,1.38,194.6,109.3,0.0,210,1372,1.62,2.47,154.90,0.770,4,0.055,0.051,3220,3391,2415
$GC,1472,1.38,194.6,82.6,13.8,257,1478,0.00,2.38,0.00,0.000,6,0.000,0.041,3220,1992,2413
$GC,1617,1.38,194.6,63.7,12.7,282,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1992,2410
$GC,1761,1.38,194.6,44.8,12.6,307,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1992,2410
$GC,1903,1.41,212.7,26.7,11.7,332,1924,0.00,0.00,15.50,0.734,6,0.000,0.000,3220,1992,2341
$GC,1994,1.41,216.5,15.7,12.3,347,2009,0.00,2.45,4.38,0.532,4,0.000,0.045,3220,3395,2327
$GC,2040,1.44,239.6,9.9,11.5,355,2067,0.00,2.40,20.40,0.738,6,0.000,0.041,3221,1998,2232
$GC,2139,1.73,475.1,3.5,2.3,371,2160,0.30,0.00,18.90,0.719,2,0.041,0.000,3303,1998,2091
$STATE,2161,end climb,SURFACE_DEPTH_REACHED
$STATE,2161,begin surface coast
$FINISH,2.4,1.006375
$STATE,2297,end surface coast,CONTROL_FINISHED_OK
$STATE,2298,begin surface
$SM_CCo,2329,55.83,0.739,0,0,1579,400.08
$SM_GC,2.93,0.00,0.00,55.83,0.000,0.000,0.739,439,1936,1579,-11.41,-0.40,400.08
$IRIDIUM_FIX,4748.51,-12226.29,131298,010146
$TT8_MAMPS,0.021476
$HUMID,2244
$INTERNAL_PRESSURE,9.41127
$TCM_TEMP,16.10
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,85.4,42.2
$24V_AH,23.5,1.529
$10V_AH,10.8,0.663
$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,26.875,24.175,356.925,55.825,0.000,27.689,39.889,180.003,6.000,0.000,0.000,20.525,559.816,372.582,436.647,940.206,530.906,33.323,902.367,0.000,939.020,0.000,7.084,0.000
$DEVICE_MAMPS,151.099,86.671,818.389,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,269.351,201.112,695.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22370,398
$CAP_FILE_SIZE,41059,0
$CFSIZE,260165632,237686784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,030006,4807.244,-12223.257,29,0.9,29,18.3