version: 66.04
glider: 152
mission: 2
dive: 11
start: 9 18 109 6 46 43
data:
$ID,152
$MISSION,2
$DIVE,11
$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,70
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$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,-13621.417
$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,34
$R_STBD_OVSHOOT,55
$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,10
$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,5
$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
$GPS1,063251,4807.649,-12223.704,8,6.2,27,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,3.98
$_SM_ANGLEo,-67.4
$GPS2,064552,4807.626,-12223.688,14,3.5,33,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.168,-0.198
$KALMAN_X,-647.4,-120.3,-75.3,-1294.5,-154.5
$KALMAN_Y,-89.3,-92.9,-18.5,2845.3,79.3
$MHEAD_RNG_PITCHd_Wd,121.3,1439,-10.2,-7.143
$D_GRID,150
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-0.87,-194.6,0.0,0.0,0,31,0.00,0.00,-6.28,0.000,2,0.000,0.000,437,1937,1697
$GC,37,-0.87,-194.6,3.8,-0.0,1,172,12.50,0.00,-117.07,0.000,6,0.161,0.000,2725,1938,3951
$GC,250,-0.87,-194.6,12.0,-13.8,33,257,0.00,2.45,0.00,0.000,4,0.000,0.065,2726,561,3952
$GC,415,-0.87,-194.6,20.2,-2.8,69,422,0.00,2.25,0.00,0.000,6,0.000,0.029,2726,1944,3952
$GC,494,-0.87,-194.6,24.2,-5.2,82,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1944,3952
$GC,569,-0.87,-194.6,29.5,-7.3,95,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1944,3953
$GC,646,-0.87,-194.6,35.6,-8.3,108,653,0.00,2.47,0.00,0.000,4,0.000,0.069,2725,562,3953
$GC,680,-0.87,-194.6,38.5,-8.2,114,687,0.00,2.28,0.00,0.000,6,0.000,0.031,2725,1952,3953
$GC,761,-0.87,-194.6,44.7,-7.7,127,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1951,3953
$GC,903,-0.87,-194.6,54.1,-6.4,152,911,0.00,2.50,0.00,0.000,4,0.000,0.071,2725,561,3953
$GC,962,-0.87,-194.6,57.9,-7.1,163,968,0.00,2.25,0.00,0.000,6,0.000,0.031,2725,1951,3953
$GC,1105,-0.87,-194.6,67.7,-6.7,188,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1954,3953
$GC,1250,-0.87,-194.6,77.3,-6.5,213,1256,0.00,2.47,0.00,0.000,4,0.000,0.072,2725,561,3953
$GC,1294,-0.87,-194.6,80.0,-6.2,221,1306,0.00,2.25,0.00,0.000,6,0.000,0.032,2725,1953,3953
$STATE,1311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1311,begin apogee
$GC,1323,-0.31,0.0,81.6,6.6,223,1474,0.55,0.00,142.98,0.815,6,0.072,0.000,2850,1953,3210
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1480,0.87,194.6,86.3,0.0,248,1644,1.12,2.53,155.45,0.778,4,0.058,0.044,3107,3387,2415
$GC,1676,0.87,194.6,75.7,8.0,280,1683,0.00,2.35,0.00,0.000,6,0.000,0.038,3107,2017,2414
$GC,1824,0.87,194.6,65.1,7.5,305,1830,0.00,2.55,0.00,0.000,4,0.000,0.078,3107,601,2411
$GC,1870,0.87,194.6,61.3,8.1,314,1876,0.00,2.30,0.00,0.000,6,0.000,0.032,3107,1986,2410
$GC,2015,0.89,209.3,51.2,6.8,339,2034,0.00,2.40,12.90,0.726,4,0.000,0.043,3107,3394,2355
$GC,2053,0.89,209.3,48.3,7.5,345,2060,0.00,2.35,0.00,0.000,6,0.000,0.038,3107,2002,2355
$GC,2197,0.89,209.3,37.3,7.5,370,2204,0.00,2.53,0.00,0.000,4,0.000,0.074,3107,605,2352
$GC,2239,0.89,209.3,34.0,8.2,378,2246,0.00,2.30,0.00,0.000,6,0.000,0.031,3107,1994,2352
$GC,2319,0.97,269.5,29.1,5.6,391,2380,0.10,2.42,50.50,0.770,4,0.061,0.044,3143,3387,2110
$GC,2399,0.97,269.5,23.0,8.8,403,2405,0.00,2.38,0.00,0.000,6,0.000,0.039,3142,2004,2109
$GC,2476,0.97,269.5,16.9,7.9,416,2483,0.00,2.53,0.00,0.000,4,0.000,0.073,3143,606,2106
$GC,2531,0.97,269.5,10.3,13.5,427,2538,0.00,2.30,0.00,0.000,6,0.000,0.031,3143,1996,2105
$GC,2607,1.08,362.1,5.1,4.8,440,2674,0.00,2.42,57.53,0.749,4,0.000,0.041,3143,3393,1731
$STATE,2679,end climb,SURFACE_DEPTH_REACHED
$STATE,2680,begin surface coast
$FINISH,1.9,1.017755
$STATE,2685,end surface coast,CONTROL_FINISHED_OK
$STATE,2685,begin surface
$SM_CCo,2719,17.45,0.708,0,0,1579,400.08
$SM_GC,3.09,0.00,0.00,17.45,0.000,0.000,0.708,438,1945,1579,-11.42,-0.14,400.08
$IRIDIUM_FIX,4748.51,-12221.84,131298,060635
$TT8_MAMPS,0.022243
$HUMID,2184
$INTERNAL_PRESSURE,9.38197
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.9,7.7
$24V_AH,23.5,2.079
$10V_AH,10.7,0.958
$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,25.850,52.775,419.350,17.450,0.000,65.045,110.536,282.730,0.750,0.000,0.000,36.272,646.929,484.969,461.200,1088.846,837.121,33.331,1008.198,0.000,1067.936,0.000,5.767,0.000
$DEVICE_MAMPS,161.070,78.234,814.554,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,307.773,234.604,800.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25333,452
$CAP_FILE_SIZE,54404,0
$CFSIZE,260165632,237518848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,073336,4807.409,-12223.390,10,1.3,26,18.3