version: 66.04
glider: 152
mission: 2
dive: 22
start: 9 18 109 16 1 48
data:
$ID,152
$MISSION,2
$DIVE,22
$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,-13882.16
$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,34
$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,3
$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
$GPS1,155155,4808.071,-12223.709,8,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,-70.3
$GPS2,160052,4808.095,-12223.744,14,2.1,33,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,0.049
$KALMAN_X,-1039.4,-469.3,54.1,-757.6,80.3
$KALMAN_Y,-634.7,491.1,-837.3,4496.2,-345.9
$MHEAD_RNG_PITCHd_Wd,275.2,362,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-2.27,-38.1,0.0,0.0,0,26,0.00,0.00,-6.28,0.000,2,0.000,0.000,440,1940,1696
$GC,33,-2.34,-95.0,3.7,-0.0,1,142,10.93,2.47,-91.80,0.000,4,0.170,0.074,2403,553,3599
$GC,390,-2.34,-95.0,42.7,-14.3,74,397,0.00,2.28,0.00,0.000,6,0.000,0.030,2403,1953,3600
$GC,537,-2.34,-95.0,64.9,-15.1,99,543,0.00,2.45,0.00,0.000,4,0.000,0.067,2403,562,3600
$GC,808,-2.34,-95.0,111.1,-16.9,157,814,0.00,2.25,0.00,0.000,6,0.000,0.034,2404,1950,3601
$STATE,835,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,835,begin apogee
$GC,846,-0.42,0.0,116.3,15.5,162,932,2.08,0.00,77.00,0.826,6,0.120,0.000,2821,1953,3209
$STATE,933,end apogee,CONTROL_FINISHED_OK
$STATE,933,begin climb
$GC,938,2.34,95.0,119.1,0.0,176,1023,2.67,0.00,76.47,0.803,6,0.056,0.000,3430,1953,2821
$GC,1163,2.34,95.0,85.4,20.0,214,1170,0.00,2.47,0.00,0.000,4,0.000,0.049,3430,3383,2821
$GC,1367,2.34,95.0,45.3,18.9,258,1374,0.00,2.35,0.00,0.000,6,0.000,0.040,3430,2010,2821
$GC,1510,2.34,95.0,20.3,16.7,283,1517,0.00,2.38,0.00,0.000,4,0.000,0.044,3430,3387,2820
$GC,1585,2.34,95.0,8.7,15.2,299,1592,0.00,2.35,0.00,0.000,6,0.000,0.038,3430,2006,2820
$GC,1662,2.44,173.4,8.3,-2.7,312,1735,0.00,2.60,63.55,0.758,4,0.000,0.074,3430,600,2501
$GC,1986,2.51,226.4,4.8,0.5,380,2021,0.10,2.30,29.38,0.734,6,0.042,0.029,3469,2010,2286
$STATE,2054,end climb,SURFACE_DEPTH_REACHED
$STATE,2054,begin surface coast
$FINISH,2.6,1.018969
$STATE,2140,end surface coast,CONTROL_FINISHED_OK
$STATE,2140,begin surface
$SM_CCo,2173,77.50,0.722,0,0,1578,400.08
$SM_GC,3.02,0.00,0.00,77.50,0.000,0.000,0.722,438,1934,1578,-11.42,-0.45,400.08
$IRIDIUM_FIX,4748.51,-12240.63,131298,151556
$TT8_MAMPS,0.021476
$HUMID,2196
$INTERNAL_PRESSURE,9.4308
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.6,45.2
$24V_AH,23.5,3.272
$10V_AH,10.7,1.552
$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,28.975,24.000,246.400,77.500,0.000,22.511,25.075,239.953,0.750,0.000,0.000,35.552,604.222,254.931,346.623,999.781,590.260,33.314,761.818,0.000,981.253,0.000,5.543,0.000
$DEVICE_MAMPS,170.274,74.399,826.059,721.747,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,277.254,218.535,756.699,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22318,406
$CAP_FILE_SIZE,40203,0
$CFSIZE,260165632,237211648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,164020,4808.066,-12223.938,11,1.7,11,18.3