version: 66.04
glider: 138
mission: 3
dive: 4
start: 10 7 109 19 51 50
data:
$ID,138
$MISSION,3
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1020
$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,50
$T_MISSION,60
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51965
$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,48.099998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-1607338.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3690
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3380
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-2.6782482
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043608202
$SEABIRD_T_H,0.00063602388
$SEABIRD_T_I,2.5671787e-05
$SEABIRD_T_J,2.8460815e-06
$SEABIRD_C_G,-9.9041576
$SEABIRD_C_H,1.1168371
$SEABIRD_C_I,-0.0010134744
$SEABIRD_C_J,0.00017098176
$GPS1,194449,4806.772,-12222.701,10,1.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-62.0
$GPS2,195058,4806.749,-12222.714,11,2.7,30,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,-0.167
$KALMAN_X,-249.3,-131.0,-97.1,1221.4,-108.7
$KALMAN_Y,-206.0,-205.2,-173.5,-479.4,-101.7
$MHEAD_RNG_PITCHd_Wd,117.2,1644,-19.8,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.53,0.000,6,0.000,0.000,424,2232,3857
$GC,101,-1.38,-116.8,3.8,-9.4,14,121,10.50,2.50,0.00,0.000,4,0.164,0.058,2238,874,3858
$GC,359,-1.38,-116.8,37.7,-10.4,74,365,0.00,2.40,0.00,0.000,6,0.000,0.039,2239,2253,3859
$GC,433,-1.38,-116.8,45.4,-10.1,90,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2253,3860
$GC,576,-1.38,-116.8,60.0,-10.6,121,582,0.00,2.53,0.00,0.000,4,0.000,0.061,2239,873,3860
$GC,615,-1.38,-116.8,64.1,-11.2,129,621,0.00,2.40,0.00,0.000,6,0.000,0.039,2238,2256,3860
$GC,756,-1.38,-116.8,79.2,-10.4,160,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2256,3860
$GC,904,-1.38,-116.8,94.2,-10.7,191,910,0.00,2.47,0.00,0.000,4,0.000,0.051,2238,3659,3860
$GC,925,-1.38,-116.8,96.6,-10.7,195,931,0.00,2.38,0.00,0.000,6,0.000,0.031,2238,2271,3860
$GC,1068,-1.38,-116.8,111.4,-10.4,226,1075,0.00,2.58,0.00,0.000,4,0.000,0.063,2238,850,3860
$STATE,1088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1088,begin apogee
$GC,1096,-0.31,0.0,113.8,10.5,230,1193,1.15,0.00,90.68,0.726,6,0.101,0.000,2470,2448,3380
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1197,1.38,116.8,116.9,0.0,247,1300,1.77,2.60,91.07,0.706,4,0.079,0.053,2843,3861,2903
$GC,1320,1.38,116.8,106.6,12.6,269,1326,0.00,2.42,0.00,0.000,6,0.000,0.028,2843,2431,2902
$GC,1465,1.38,116.8,87.7,13.5,300,1471,0.00,2.47,0.00,0.000,4,0.000,0.048,2843,1039,2898
$GC,1492,1.38,116.8,84.0,13.0,305,1498,0.00,2.47,0.00,0.000,6,0.000,0.038,2843,2454,2897
$GC,1638,1.38,116.8,65.5,13.0,336,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2454,2898
$GC,1781,1.38,116.8,46.8,12.9,367,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2454,2897
$GC,1917,1.38,116.8,29.6,12.7,398,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2454,2897
$GC,1987,1.38,116.8,20.6,12.4,414,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2454,2898
$GC,2058,1.38,116.8,12.2,12.3,430,2064,0.00,2.47,0.00,0.000,4,0.000,0.053,2843,3856,2898
$GC,2075,1.38,116.8,10.0,11.9,433,2082,0.00,2.35,0.00,0.000,6,0.000,0.029,2843,2448,2898
$STATE,2131,end climb,SURFACE_DEPTH_REACHED
$STATE,2131,begin surface coast
$FINISH,-0.3,1.021940
$STATE,2178,end surface coast,CONTROL_FINISHED_OK
$STATE,2178,begin surface
$SM_CCo,2199,122.60,0.627,0,0,1953,350.04
$SM_GC,0.06,0.00,0.00,122.60,0.000,0.000,0.627,422,2242,1953,-9.77,-0.23,350.04
$IRIDIUM_FIX,4751.72,-12340.51,010199,191915
$TT8_MAMPS,0.026845
$HUMID,1797
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,38.6
$24V_AH,23.5,4.207
$10V_AH,10.8,3.975
$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,24.075,35.225,181.750,122.600,0.000,25.963,26.308,183.999,1.000,0.000,0.000,32.681,690.471,381.249,384.516,880.334,368.043,32.337,805.064,0.000,859.184,0.000,9.960,0.000
$DEVICE_MAMPS,164.138,62.894,726.349,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.211,570.390,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19067,457
$CAP_FILE_SIZE,45655,0
$CFSIZE,260165632,257028096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,203137,4806.571,-12222.397,27,1.2,27,18.3