version: 66.04
glider: 152
mission: 2
dive: 12
start: 9 18 109 7 49 6
data:
$ID,152
$MISSION,2
$DIVE,12
$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,-13637.496
$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,12
$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,25
$R_STBD_OVSHOOT,40
$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
$GPS1,073336,4807.409,-12223.390,10,1.3,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.92
$_SM_ANGLEo,-68.7
$GPS2,074814,4807.396,-12223.331,14,1.7,14,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.222
$KALMAN_X,-899.2,-134.6,-65.9,-596.5,-205.2
$KALMAN_Y,274.5,-79.1,-15.9,2038.3,287.3
$MHEAD_RNG_PITCHd_Wd,130.5,841,-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,-1.09,-194.6,0.0,0.0,0,31,0.00,0.00,-6.28,0.000,2,0.000,0.000,438,1945,1697
$GC,38,-1.09,-194.6,3.8,-0.0,1,167,12.25,2.38,-106.57,0.000,4,0.163,0.052,2679,3338,3952
$GC,224,-1.09,-194.6,13.5,-13.9,31,231,0.00,2.33,0.00,0.000,6,0.000,0.034,2679,1952,3952
$GC,299,-1.09,-194.6,20.4,-8.7,44,306,0.00,2.50,0.00,0.000,4,0.000,0.069,2679,553,3952
$GC,375,-1.09,-194.6,26.9,-8.8,60,383,0.00,2.30,0.00,0.000,6,0.000,0.029,2679,1964,3953
$GC,452,-1.09,-194.6,33.0,-8.3,73,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1964,3953
$GC,527,-1.09,-194.6,39.5,-8.4,86,534,0.00,2.53,0.00,0.000,4,0.000,0.070,2679,556,3953
$GC,550,-1.09,-194.6,41.3,-8.5,89,556,0.00,2.25,0.00,0.000,6,0.000,0.031,2679,1949,3953
$GC,693,-1.09,-194.6,54.0,-8.7,114,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1951,3953
$GC,838,-1.09,-194.6,65.8,-8.4,139,845,0.00,2.50,0.00,0.000,4,0.000,0.073,2679,549,3953
$GC,909,-1.09,-194.6,72.2,-9.3,153,915,0.00,2.28,0.00,0.000,6,0.000,0.031,2679,1953,3953
$STATE,1001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1001,begin apogee
$GC,1013,-0.42,0.0,80.2,8.4,169,1162,0.65,0.00,143.20,0.802,6,0.079,0.000,2822,1956,3210
$STATE,1163,end apogee,CONTROL_FINISHED_OK
$STATE,1163,begin climb
$GC,1169,1.09,194.6,85.1,0.0,194,1332,1.48,2.55,154.75,0.771,4,0.060,0.045,3155,3398,2416
$GC,1371,1.09,194.6,70.7,10.3,228,1379,0.00,2.38,0.00,0.000,6,0.000,0.037,3155,2012,2414
$GC,1519,1.09,194.6,56.9,9.5,253,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2012,2412
$GC,1661,1.09,194.6,42.9,9.5,278,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2012,2411
$GC,1801,1.09,194.6,30.6,8.4,303,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2011,2411
$GC,1879,1.09,194.6,23.9,8.5,316,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2012,2411
$GC,1956,1.09,194.6,16.6,9.7,329,1963,0.00,2.55,0.00,0.000,4,0.000,0.076,3155,604,2410
$GC,1987,1.09,194.6,13.5,10.6,334,1994,0.00,2.30,0.00,0.000,6,0.000,0.031,3155,1995,2409
$GC,2063,1.30,366.2,8.6,2.8,347,2209,0.17,2.45,139.20,0.752,4,0.047,0.041,3211,3401,1716
$STATE,2219,end climb,SURFACE_DEPTH_REACHED
$STATE,2219,begin surface coast
$FINISH,1.8,1.018960
$STATE,2245,end surface coast,CONTROL_FINISHED_OK
$STATE,2245,begin surface
$SM_CCo,2279,14.80,0.687,0,0,1578,400.08
$SM_GC,3.08,0.00,0.00,14.80,0.000,0.000,0.687,436,1944,1578,-11.43,-0.17,400.08
$IRIDIUM_FIX,4748.51,-12224.57,131298,070748
$TT8_MAMPS,0.021476
$HUMID,2146
$INTERNAL_PRESSURE,9.39174
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,7.5
$24V_AH,23.5,2.212
$10V_AH,10.7,1.015
$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,26.400,33.775,437.150,14.800,0.000,50.300,49.391,500.738,0.750,0.000,0.000,15.449,517.129,409.069,438.112,893.593,920.209,33.339,915.425,0.000,892.766,0.000,6.045,0.000
$DEVICE_MAMPS,162.604,75.933,801.515,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,256.844,196.313,677.255,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19064,376
$CAP_FILE_SIZE,46337,0
$CFSIZE,260165632,237498368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180909,082836,4807.178,-12223.086,10,1.8,26,18.3