version: 66.04
glider: 152
mission: 2
dive: 19
start: 9 18 109 13 5 6
data:
$ID,152
$MISSION,2
$DIVE,19
$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,-13812.661
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,125438,4807.299,-12222.965,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.66
$_SM_ANGLEo,-70.5
$GPS2,130414,4807.327,-12223.015,12,1.9,12,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.022,0.259
$KALMAN_X,-1280.4,-348.2,82.2,238.9,-60.4
$KALMAN_Y,-684.6,1079.4,222.7,1474.8,-928.9
$MHEAD_RNG_PITCHd_Wd,336.8,1743,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.09,-194.6,0.0,0.0,0,32,0.00,0.00,-6.25,0.000,2,0.000,0.000,439,1941,1694
$GC,38,-1.09,-194.6,3.5,-0.0,1,160,12.27,2.35,-101.25,0.000,4,0.163,0.052,2681,3346,3952
$GC,342,-1.09,-194.6,21.7,-7.0,60,349,0.00,2.33,0.00,0.000,6,0.000,0.034,2682,1960,3953
$GC,420,-1.09,-194.6,27.9,-8.2,73,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1960,3953
$GC,495,-1.09,-194.6,34.4,-9.1,86,502,0.00,2.53,0.00,0.000,4,0.000,0.071,2681,553,3953
$GC,568,-1.09,-194.6,41.1,-9.3,101,574,0.00,2.28,0.00,0.000,6,0.000,0.030,2682,1961,3953
$GC,711,-1.09,-194.6,53.2,-8.2,126,718,0.00,2.53,0.00,0.000,4,0.000,0.071,2681,560,3953
$GC,751,-1.09,-194.6,56.6,-8.5,133,757,0.00,2.25,0.00,0.000,6,0.000,0.031,2681,1950,3953
$GC,892,-1.09,-194.6,68.5,-8.3,158,899,0.00,2.53,0.00,0.000,4,0.000,0.074,2681,554,3953
$GC,926,-1.09,-194.6,71.3,-8.2,164,933,0.00,2.30,0.00,0.000,6,0.000,0.031,2681,1955,3953
$GC,1071,-1.09,-194.6,83.1,-8.1,189,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1956,3953
$STATE,1096,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1096,begin apogee
$GC,1108,-0.42,0.0,85.2,8.1,193,1257,0.65,0.00,143.98,0.811,6,0.076,0.000,2825,1956,3210
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1264,1.09,194.6,89.7,0.0,218,1429,1.45,2.47,155.68,0.778,4,0.060,0.045,3153,3387,2416
$GC,1487,1.09,194.6,73.3,9.5,256,1494,0.00,2.38,0.00,0.000,6,0.000,0.038,3152,2001,2412
$GC,1634,1.09,194.6,59.7,9.2,281,1640,0.00,2.53,0.00,0.000,4,0.000,0.083,3152,600,2410
$GC,1678,1.09,194.6,55.3,10.9,289,1685,0.00,2.30,0.00,0.000,6,0.000,0.032,3153,2003,2410
$GC,1822,1.09,194.6,41.4,9.2,314,1830,0.00,2.38,0.00,0.000,4,0.000,0.044,3152,3390,2410
$GC,1861,1.09,194.6,37.7,10.2,321,1868,0.00,2.38,0.00,0.000,6,0.000,0.038,3153,2000,2410
$GC,1938,1.09,194.6,30.4,9.1,334,1945,0.00,2.53,0.00,0.000,4,0.000,0.074,3153,602,2410
$GC,1977,1.09,194.6,26.7,9.8,341,1984,0.00,2.33,0.00,0.000,6,0.000,0.031,3153,2004,2409
$GC,2052,1.09,194.6,19.9,8.7,354,2059,0.00,2.38,0.00,0.000,4,0.000,0.044,3153,3393,2409
$GC,2095,1.09,194.6,16.0,9.4,362,2102,0.00,2.38,0.00,0.000,6,0.000,0.038,3153,1999,2409
$GC,2172,1.09,194.6,9.5,8.0,375,2179,0.00,2.53,0.00,0.000,4,0.000,0.074,3153,598,2408
$GC,2190,1.09,194.6,8.4,7.5,377,2197,0.00,2.30,0.00,0.000,6,0.000,0.031,3153,1995,2408
$GC,2266,1.43,470.8,6.8,0.2,390,2380,0.30,0.00,110.28,0.759,2,0.039,0.000,3240,1997,1750
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2381,begin surface coast
$FINISH,2.0,1.000174
$STATE,2446,end surface coast,CONTROL_FINISHED_OK
$STATE,2446,begin surface
$SM_CCo,2477,18.05,0.706,0,0,1579,400.08
$SM_GC,2.67,0.00,0.00,18.05,0.000,0.000,0.706,441,1935,1579,-11.41,-0.42,400.08
$IRIDIUM_FIX,4748.51,-12221.84,131298,121207
$TT8_MAMPS,0.021476
$HUMID,2159
$INTERNAL_PRESSURE,9.38197
$TCM_TEMP,16.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,85.2,7.5
$24V_AH,23.5,2.953
$10V_AH,10.7,1.364
$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,26.625,48.000,409.925,18.050,0.000,24.080,25.149,323.921,2.000,0.000,0.000,13.763,594.643,360.417,429.282,991.676,702.860,33.315,935.116,0.000,994.366,0.000,7.297,0.000
$DEVICE_MAMPS,163.371,85.904,811.486,705.640,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,285.249,219.553,753.814,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22266,418
$CAP_FILE_SIZE,48607,0
$CFSIZE,260165632,237305856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,134744,4807.579,-12223.082,12,1.3,12,18.3