version: 66.04
glider: 152
mission: 2
dive: 15
start: 9 18 109 10 10 58
data:
$ID,152
$MISSION,2
$DIVE,15
$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,-13719.255
$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,36
$R_STBD_OVSHOOT,57
$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
$GPS1,100046,4806.804,-12222.809,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-69.7
$GPS2,101007,4806.791,-12222.837,28,1.3,28,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.001,-0.124
$KALMAN_X,-1177.3,-225.9,-69.7,383.8,-199.9
$KALMAN_Y,791.8,227.9,300.8,-215.1,509.6
$MHEAD_RNG_PITCHd_Wd,161.4,436,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-2.27,-38.1,0.0,0.0,0,32,0.00,0.00,-6.28,0.000,2,0.000,0.000,441,1933,1698
$GC,38,-2.34,-95.0,3.7,-0.0,1,147,10.85,2.45,-91.95,0.000,4,0.166,0.071,2406,553,3600
$GC,304,-2.34,-95.0,30.9,-13.7,52,311,0.00,2.25,0.00,0.000,6,0.000,0.029,2405,1940,3601
$GC,382,-2.34,-95.0,41.3,-13.4,65,388,0.00,2.42,0.00,0.000,4,0.000,0.067,2405,556,3600
$GC,426,-2.34,-95.0,47.5,-14.9,73,432,0.00,2.25,0.00,0.000,6,0.000,0.029,2405,1956,3601
$GC,571,-2.34,-95.0,71.2,-16.7,98,578,0.00,2.47,0.00,0.000,4,0.000,0.067,2405,569,3601
$GC,610,-2.34,-95.0,77.9,-17.4,105,617,0.00,2.22,0.00,0.000,6,0.000,0.031,2405,1946,3601
$STATE,626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,626,begin apogee
$GC,638,-0.42,0.0,80.9,17.8,107,723,2.05,0.00,76.57,0.788,6,0.119,0.000,2825,1949,3210
$STATE,724,end apogee,CONTROL_FINISHED_OK
$STATE,724,begin climb
$GC,730,2.34,95.0,86.5,0.0,121,815,2.65,2.55,76.22,0.768,4,0.056,0.047,3437,3387,2821
$GC,842,2.34,95.0,73.9,17.8,140,849,0.00,2.35,0.00,0.000,6,0.000,0.038,3437,2018,2820
$GC,991,2.34,95.0,46.5,18.6,165,997,0.00,2.33,0.00,0.000,4,0.000,0.044,3437,3388,2820
$GC,1067,2.34,95.0,32.2,17.4,181,1074,0.00,2.38,0.00,0.000,6,0.000,0.040,3437,2001,2820
$GC,1144,2.34,95.0,19.0,16.5,194,1151,0.00,2.38,0.00,0.000,4,0.000,0.044,3437,3381,2819
$GC,1203,2.34,95.0,9.3,16.0,206,1210,0.00,2.35,0.00,0.000,6,0.000,0.038,3437,2002,2819
$GC,1279,2.46,186.5,9.1,-4.4,219,1360,0.00,2.55,73.75,0.747,4,0.000,0.076,3437,598,2447
$GC,1395,2.46,186.5,4.6,8.0,238,1402,0.00,2.33,0.00,0.000,6,0.000,0.031,3437,2008,2444
$GC,1472,2.55,259.7,4.1,-2.1,251,1526,0.15,0.00,49.80,0.729,6,0.052,0.000,3479,2008,2150
$STATE,1548,end climb,SURFACE_DEPTH_REACHED
$STATE,1548,begin surface coast
$FINISH,2.1,1.013636
$STATE,1628,end surface coast,CONTROL_FINISHED_OK
$STATE,1628,begin surface
$SM_CCo,1660,62.80,0.716,0,0,1579,400.08
$SM_GC,2.44,0.00,0.00,62.80,0.000,0.000,0.716,438,1932,1579,-11.42,-0.51,400.08
$IRIDIUM_FIX,4751.72,-12219.12,131298,090950
$TT8_MAMPS,0.021476
$HUMID,2168
$INTERNAL_PRESSURE,9.4308
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.9,8.6
$24V_AH,23.5,2.524
$10V_AH,10.7,1.159
$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,28.750,33.375,276.350,62.800,0.000,31.156,24.438,288.578,1.000,0.000,0.000,29.859,416.734,196.224,359.745,698.918,619.543,33.309,715.461,0.000,684.166,0.000,5.745,0.000
$DEVICE_MAMPS,165.672,75.933,787.709,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,188.786,155.805,544.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15989,276
$CAP_FILE_SIZE,36571,0
$CFSIZE,260165632,237428736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,104043,4806.695,-12222.850,7,1.7,12,18.3