version: 66.04
glider: 152
mission: 2
dive: 16
start: 9 18 109 10 50 30
data:
$ID,152
$MISSION,2
$DIVE,16
$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,-13734.562
$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,37
$R_STBD_OVSHOOT,48
$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
$GPS1,104043,4806.695,-12222.850,7,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-70.2
$GPS2,104938,4806.723,-12222.877,13,1.7,13,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,0.123
$KALMAN_X,-1194.7,-254.5,-55.5,367.1,-154.5
$KALMAN_Y,929.0,382.0,384.5,-719.4,475.5
$MHEAD_RNG_PITCHd_Wd,347.3,535,-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,-6.25,0.000,2,0.000,0.000,438,1933,1697
$GC,38,-2.34,-95.0,3.5,-0.0,1,139,10.90,2.35,-83.20,0.000,4,0.167,0.055,2404,3336,3598
$GC,389,-2.34,-95.0,42.9,-13.8,73,395,0.00,2.28,0.00,0.000,6,0.000,0.032,2404,1953,3599
$GC,532,-2.34,-95.0,63.6,-14.7,98,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1953,3599
$STATE,643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,643,begin apogee
$GC,655,-0.42,0.0,80.6,15.7,117,740,2.05,0.00,76.43,0.792,6,0.120,0.000,2823,1953,3209
$STATE,740,end apogee,CONTROL_FINISHED_OK
$STATE,741,begin climb
$GC,746,2.34,95.0,85.0,0.0,131,832,2.65,2.47,76.18,0.770,4,0.057,0.045,3433,3384,2822
$GC,902,2.34,95.0,63.0,19.7,159,909,0.00,2.33,0.00,0.000,6,0.000,0.039,3433,2008,2821
$GC,1047,2.34,95.0,36.0,17.4,184,1054,0.00,2.38,0.00,0.000,4,0.000,0.044,3433,3387,2820
$GC,1106,2.34,95.0,25.3,17.6,196,1113,0.00,2.38,0.00,0.000,6,0.000,0.039,3433,2001,2820
$GC,1183,2.34,95.0,12.4,16.7,209,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2001,2820
$GC,1260,2.41,148.8,7.4,0.4,222,1314,0.00,2.42,43.65,0.743,4,0.000,0.043,3433,3388,2603
$GC,1387,2.49,213.7,6.1,-1.0,246,1448,0.08,2.38,53.12,0.738,6,0.058,0.037,3459,1996,2338
$GC,1524,2.54,251.9,3.6,2.3,267,1546,0.00,2.60,16.85,0.683,4,0.000,0.075,3459,597,2182
$STATE,1551,end climb,SURFACE_DEPTH_REACHED
$STATE,1551,begin surface coast
$FINISH,2.2,1.019148
$STATE,1658,end surface coast,CONTROL_FINISHED_OK
$STATE,1658,begin surface
$SM_CCo,1692,68.25,0.720,0,0,1579,400.08
$SM_GC,2.58,0.00,0.00,68.25,0.000,0.000,0.720,436,1966,1579,-11.43,0.45,400.08
$IRIDIUM_FIX,4748.51,-12221.84,131298,101050
$TT8_MAMPS,0.020709
$HUMID,2161
$INTERNAL_PRESSURE,9.4308
$TCM_TEMP,16.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.6,7.5
$24V_AH,23.5,2.615
$10V_AH,10.8,1.204
$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,28.700,23.825,266.225,68.250,0.000,28.431,30.826,285.172,1.250,0.000,0.000,14.677,440.802,184.814,347.214,729.058,602.885,33.310,697.399,0.000,734.558,0.000,5.744,0.000
$DEVICE_MAMPS,167.206,75.166,792.311,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,202.300,167.857,582.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15986,295
$CAP_FILE_SIZE,34177,0
$CFSIZE,260165632,237404160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,112050,4806.857,-12222.860,9,1.9,9,18.3