version: 66.04
glider: 152
mission: 2
dive: 8
start: 9 18 109 3 55 21
data:
$ID,152
$MISSION,2
$DIVE,8
$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,-13554.72
$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,30
$R_STBD_OVSHOOT,41
$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,3
$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
$GPS1,034644,4807.465,-12223.534,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.80
$_SM_ANGLEo,-69.9
$GPS2,035425,4807.507,-12223.539,10,1.5,15,18.3
$SPEED_LIMITS,0.217,0.318
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.157,0.277
$KALMAN_X,-281.7,-59.0,-40.8,-1573.7,-36.8
$KALMAN_Y,-153.8,-102.0,-9.9,2694.2,17.2
$MHEAD_RNG_PITCHd_Wd,312.1,1077,-18.3,-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,-1.38,-194.6,0.0,0.0,0,26,0.00,0.00,-6.25,0.000,2,0.000,0.000,440,1931,1694
$GC,32,-1.38,-194.6,3.7,-0.0,1,154,11.98,2.47,-99.00,0.000,4,0.165,0.083,2618,557,3952
$GC,407,-1.38,-194.6,35.6,-11.9,76,414,0.00,2.30,0.00,0.000,6,0.000,0.031,2618,1957,3953
$GC,485,-1.38,-194.6,45.1,-11.7,89,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1958,3953
$GC,628,-1.38,-194.6,61.3,-11.3,114,636,0.00,2.53,0.00,0.000,4,0.000,0.073,2618,559,3953
$GC,681,-1.38,-194.6,67.3,-11.6,124,688,0.00,2.28,0.00,0.000,6,0.000,0.032,2618,1942,3953
$GC,827,-1.38,-194.6,83.7,-11.4,149,833,0.00,2.47,0.00,0.000,4,0.000,0.073,2618,557,3953
$GC,884,-1.38,-194.6,90.1,-11.8,159,890,0.00,2.28,0.00,0.000,6,0.000,0.034,2618,1953,3953
$STATE,994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,994,begin apogee
$GC,1006,-0.31,0.0,103.2,10.6,179,1155,1.05,0.00,143.35,0.825,6,0.084,0.000,2845,1956,3210
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1156,begin climb
$GC,1161,1.38,194.6,107.2,0.0,204,1326,1.65,2.55,155.57,0.785,4,0.055,0.047,3219,3395,2415
$GC,1373,1.38,194.6,87.2,13.5,239,1379,0.00,2.38,0.00,0.000,6,0.000,0.038,3219,1998,2413
$GC,1518,1.38,194.6,67.9,12.7,264,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1998,2411
$GC,1663,1.38,194.6,48.4,13.2,289,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1998,2411
$GC,1806,1.38,194.6,29.8,13.1,314,1813,0.00,2.40,0.00,0.000,4,0.000,0.048,3219,3385,2410
$GC,1853,1.39,197.7,23.8,12.4,323,1860,0.00,2.38,0.00,0.000,6,0.000,0.038,3220,1996,2411
$GC,1931,1.40,208.2,14.3,12.0,336,1945,0.00,0.00,11.60,0.713,6,0.000,0.000,3219,1996,2361
$GC,2016,1.56,336.4,5.6,7.0,350,2083,0.17,0.00,64.03,0.741,2,0.048,0.000,3269,1996,1904
$STATE,2084,end climb,SURFACE_DEPTH_REACHED
$STATE,2084,begin surface coast
$FINISH,2.3,1.002829
$STATE,2174,end surface coast,CONTROL_FINISHED_OK
$STATE,2175,begin surface
$SM_CCo,2206,35.38,0.724,0,0,1578,400.08
$SM_GC,3.83,0.00,0.00,35.38,0.000,0.000,0.724,441,1935,1578,-11.40,-0.42,400.08
$IRIDIUM_FIX,4751.72,-12219.12,131298,030313
$TT8_MAMPS,0.021476
$HUMID,2228
$INTERNAL_PRESSURE,9.40151
$TCM_TEMP,16.00
$XPDR_PINGS,10
$24V_AH,23.5,1.738
$10V_AH,10.8,0.764
$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,26.950,24.100,374.550,35.375,0.000,31.608,28.039,193.576,4.250,0.000,0.000,16.689,531.542,355.571,397.798,887.007,542.641,33.326,836.028,0.000,881.340,0.000,14.708,0.000
$DEVICE_MAMPS,164.905,88.972,825.292,724.048,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,254.715,189.813,649.162,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19120,375
$CAP_FILE_SIZE,40183,0
$CFSIZE,260165632,237637632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,043344,4807.696,-12223.799,11,1.7,11,18.3