version: 66.03
glider: 138
mission: 1
dive: 1
start: 6 4 108 21 56 16
data:
$ID,138
$MISSION,1
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,80
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,48.150002
$TGT_DEFAULT_LON,-122.18
$TGT_AUTO_DEFAULT,0
$SM_CC,720
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-218.46474
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3761
$C_PITCH,2597
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,397
$ROLL_MAX,3942
$ROLL_DEG,40
$C_ROLL_DIVE,2094
$C_ROLL_CLIMB,2094
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3353
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.687695
$PRESSURE_SLOPE,0.0001161078
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043603531
$SEABIRD_T_H,0.00063485908
$SEABIRD_T_I,2.482086e-05
$SEABIRD_T_J,2.6554371e-06
$SEABIRD_C_G,-9.9022598
$SEABIRD_C_H,1.1162066
$SEABIRD_C_I,-0.00084430829
$SEABIRD_C_J,0.00011615315
$GPS1,214908,4806.726,-12222.788,10,1.5,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-68.4
$GPS2,215521,4806.746,-12222.837,12,1.5,12,18.3
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.192
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,124.9,1726,-19.3,-10.000
$D_GRID,103
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.36,-122.2,0.0,0.0,0,84,0.00,0.00,-62.70,0.000,2,0.000,0.000,429,2082,2285
$GC,86,-1.36,-122.2,3.4,-6.3,9,152,11.02,2.53,-44.08,0.000,4,0.169,0.068,2296,700,3854
$GC,175,-1.36,-122.2,6.4,-6.2,22,183,0.00,2.40,0.00,0.000,6,0.000,0.030,2297,2087,3854
$GC,264,-1.36,-122.2,8.0,-1.7,38,272,0.00,2.45,0.00,0.000,4,0.000,0.040,2296,3495,3856
$GC,567,-1.36,-122.2,26.7,-7.9,96,575,0.00,2.42,0.00,0.000,6,0.000,0.033,2296,2097,3856
$GC,656,-1.36,-122.2,34.0,-7.7,112,663,0.00,2.47,0.00,0.000,4,0.000,0.041,2297,3494,3856
$GC,737,-1.36,-122.2,40.8,-8.6,127,743,0.00,2.42,0.00,0.000,6,0.000,0.033,2296,2088,3856
$STATE,759,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,759,begin apogee
$GC,763,-0.31,0.0,42.9,8.6,131,865,1.12,0.00,94.93,0.666,6,0.107,0.000,2519,2087,3352
$STATE,866,end apogee,CONTROL_FINISHED_OK
$STATE,866,begin climb
$GC,868,1.36,122.2,45.5,0.0,148,973,1.75,2.55,94.07,0.640,4,0.074,0.042,2885,3489,2853
$GC,991,1.41,164.0,37.8,7.7,168,1035,0.00,2.47,33.70,0.624,6,0.000,0.033,2886,2090,2682
$GC,1114,1.45,197.7,27.7,8.1,189,1144,0.12,0.00,27.50,0.617,6,0.052,0.000,2920,2090,2546
$GC,1226,1.47,216.6,17.6,9.0,208,1248,0.00,0.00,16.05,0.601,6,0.000,0.000,2921,2089,2468
$GC,1329,1.52,256.3,9.0,7.8,226,1373,0.00,2.55,32.53,0.618,4,0.000,0.042,2921,3499,2308
$STATE,1441,end climb,SURFACE_DEPTH_REACHED
$STATE,1441,begin surface coast
$FINISH,3.5,1.015721
$STATE,1511,end surface coast,CONTROL_FINISHED_OK
$STATE,1511,begin surface
$SM_CCo,1532,362.02,0.526,43,0,417,720.20
$SM_GC,0.88,0.00,0.00,362.02,0.000,0.000,0.526,429,2090,417,-9.98,-0.11,720.20
$IRIDIUM_FIX,4751.72,-12340.51,290897,222241
$TT8_MAMPS,0.027612
$HUMID,1765
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,17.30
$XPDR_PINGS,2
$24V_AH,23.6,0.187
$10V_AH,10.1,0.101
$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
$DEVICE_SECS,25.000,24.775,298.775,362.025,0.000,0.000,0.000,0.000,0.500,0.000,0.000,13.506,383.785,10.406,848.785,894.527,49.522,29.237,1235.881,0.000,506.004,0.000,0.929
$DEVICE_MAMPS,168.740,68.263,665.756,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,169.672,848.685,413.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12751,258
$CAP_FILE_SIZE,52473,1
$CFSIZE,260165632,258097152
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,2,43,0
$GPS,040608,223214,4806.784,-12222.902,6,1.9,12,18.3