version: 66.04
glider: 152
mission: 2
dive: 14
start: 9 18 109 9 28 7
data:
$ID,152
$MISSION,2
$DIVE,14
$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,-13688.764
$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,35
$R_STBD_OVSHOOT,47
$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
$GPS1,091250,4806.968,-12222.854,12,1.4,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.83
$_SM_ANGLEo,-69.6
$GPS2,092716,4806.928,-12222.856,15,2.9,34,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,-0.121
$KALMAN_X,-1179.2,-181.0,-58.1,305.0,-272.1
$KALMAN_Y,896.9,54.4,147.2,258.7,635.9
$MHEAD_RNG_PITCHd_Wd,150.8,221,-26.7,-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,-2.27,-38.1,0.0,0.0,0,31,0.00,0.00,-6.25,0.000,2,0.000,0.000,439,1936,1697
$GC,37,-2.34,-95.0,3.8,-0.0,1,153,10.93,2.40,-97.30,0.000,4,0.169,0.076,2406,557,3598
$GC,167,-2.34,-95.0,7.7,-12.0,20,175,0.00,2.28,0.00,0.000,6,0.000,0.028,2406,1960,3598
$GC,245,-2.34,-95.0,23.2,-14.0,33,252,0.00,2.47,0.00,0.000,4,0.000,0.063,2406,561,3599
$GC,313,-2.34,-95.0,31.6,-13.0,47,320,0.00,2.25,0.00,0.000,6,0.000,0.029,2406,1946,3598
$GC,388,-2.34,-95.0,42.1,-14.1,60,395,0.00,2.45,0.00,0.000,4,0.000,0.065,2406,567,3599
$GC,455,-2.34,-95.0,52.0,-16.8,73,461,0.00,2.22,0.00,0.000,6,0.000,0.030,2406,1953,3599
$GC,599,-2.34,-95.0,75.7,-16.2,98,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1954,3599
$STATE,631,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,631,begin apogee
$GC,643,-0.42,0.0,80.9,15.7,103,728,2.05,0.00,76.28,0.790,6,0.120,0.000,2824,1955,3209
$STATE,729,end apogee,CONTROL_FINISHED_OK
$STATE,729,begin climb
$GC,735,2.34,95.0,85.6,0.0,117,820,2.65,2.47,76.20,0.768,4,0.057,0.046,3434,3387,2821
$GC,909,2.34,95.0,61.8,18.6,149,915,0.00,2.33,0.00,0.000,6,0.000,0.038,3434,2011,2820
$GC,1052,2.34,95.0,36.6,18.0,174,1059,0.00,2.35,0.00,0.000,4,0.000,0.044,3434,3376,2820
$GC,1095,2.34,95.0,29.3,17.4,182,1102,0.00,2.35,0.00,0.000,6,0.000,0.041,3434,2005,2820
$GC,1173,2.34,95.0,15.9,16.6,195,1180,0.00,2.38,0.00,0.000,4,0.000,0.043,3434,3385,2819
$GC,1211,2.34,95.0,9.0,18.4,202,1218,0.00,2.35,0.00,0.000,6,0.000,0.036,3434,1999,2819
$GC,1287,2.44,175.6,7.9,-3.0,215,1360,0.00,2.58,64.75,0.746,4,0.000,0.075,3434,604,2492
$GC,1610,2.52,239.8,5.5,-0.9,283,1665,0.10,2.28,46.55,0.738,6,0.043,0.029,3473,2004,2231
$STATE,1698,end climb,SURFACE_DEPTH_REACHED
$STATE,1698,begin surface coast
$FINISH,2.2,1.019109
$STATE,1769,end surface coast,CONTROL_FINISHED_OK
$STATE,1769,begin surface
$SM_CCo,1801,75.45,0.717,0,0,1579,400.08
$SM_GC,2.96,0.00,0.00,75.45,0.000,0.000,0.717,442,1933,1579,-11.40,-0.48,400.08
$IRIDIUM_FIX,4748.51,-12221.84,131298,090957
$TT8_MAMPS,0.021476
$HUMID,2187
$INTERNAL_PRESSURE,9.44057
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.9,7.5
$24V_AH,23.5,2.432
$10V_AH,10.7,1.114
$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,28.725,33.250,263.775,75.450,0.000,58.476,57.663,461.856,0.750,0.000,0.000,36.587,461.101,263.932,370.395,789.435,865.358,33.319,750.226,0.000,770.525,0.000,6.045,0.000
$DEVICE_MAMPS,168.740,75.933,790.010,717.145,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,210.986,177.490,617.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16000,309
$CAP_FILE_SIZE,40863,0
$CFSIZE,260165632,237453312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,100046,4806.804,-12222.809,12,99.0,31,18.3