version: 66.03
glider: 138
mission: 2
dive: 18
start: 9 18 108 9 19 54
data:
$ID,138
$MISSION,2
$DIVE,18
$D_SURF,5
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$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,40
$T_MISSION,50
$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,1.0275
$MASS,52060
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,20
$TGT_DEFAULT_LON,-157
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5825.9751
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3761
$C_PITCH,2830
$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,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3422
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-3.4718134
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$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,0.0001615315
$GPS1,091545,4807.157,-12223.415,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-68.2
$GPS2,091933,4807.146,-12223.396,12,1.8,12,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$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,316.4,1750,-14.9,-10.000
$D_GRID,120
$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,20,-1.17,-194.6,0.0,0.0,0,87,0.00,0.00,-65.07,0.000,2,0.000,0.000,429,2262,3540
$GC,90,-1.17,-194.6,3.9,-11.6,12,114,12.43,2.53,-6.62,0.000,4,0.163,0.057,2566,3643,3897
$GC,253,-1.17,-194.6,27.4,-10.5,49,259,0.00,2.40,0.00,0.000,6,0.000,0.029,2566,2246,3898
$GC,327,-1.17,-194.6,34.9,-9.9,62,333,0.00,2.53,0.00,0.000,4,0.000,0.047,2566,839,3899
$GC,361,-1.17,-194.6,38.1,-9.9,69,368,0.00,2.45,0.00,0.000,6,0.000,0.031,2566,2245,3899
$GC,435,-1.17,-194.6,45.1,-9.7,82,442,0.00,2.50,0.00,0.000,4,0.000,0.045,2566,3662,3899
$GC,480,-1.17,-194.6,49.5,-10.4,91,486,0.00,2.45,0.00,0.000,6,0.000,0.029,2566,2239,3898
$GC,621,-1.17,-194.6,63.2,-9.9,116,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2239,3899
$GC,762,-1.17,-194.6,76.5,-9.4,141,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2239,3899
$GC,901,-1.17,-194.6,89.4,-9.0,166,908,0.00,2.47,0.00,0.000,4,0.000,0.046,2566,839,3899
$GC,956,-1.17,-194.6,94.2,-9.2,177,962,0.00,2.45,0.00,0.000,6,0.000,0.031,2566,2253,3898
$GC,1097,-1.17,-194.6,106.9,-8.4,202,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2254,3898
$GC,1239,-1.17,-194.6,114.7,0.2,227,1245,0.00,2.47,0.00,0.000,4,0.000,0.046,2566,3652,3899
$GC,1502,-1.17,-194.6,114.8,-0.1,285,1509,0.00,2.42,0.00,0.000,6,0.000,0.028,2566,2235,3899
$STATE,1513,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1513,begin apogee
$GC,1518,-0.31,0.0,114.7,-0.1,287,1614,0.88,0.00,91.00,0.755,6,0.056,0.000,2760,1994,3423
$STATE,1615,end apogee,CONTROL_FINISHED_OK
$STATE,1615,begin climb
$GC,1617,1.17,194.6,114.7,0.0,305,1781,1.48,2.60,151.25,0.732,4,0.053,0.051,3081,609,2626
$GC,1828,1.17,195.3,103.7,10.0,346,1834,0.00,2.42,0.00,0.000,6,0.000,0.031,3081,2005,2623
$GC,1970,1.19,208.2,90.6,9.6,371,1987,0.00,2.55,11.80,0.649,4,0.000,0.041,3081,3401,2573
$GC,2011,1.21,225.2,86.6,9.4,379,2034,0.00,2.45,15.10,0.665,6,0.000,0.031,3081,2002,2504
$GC,2171,1.23,243.6,71.5,9.4,407,2192,0.00,0.00,15.90,0.668,6,0.000,0.000,3081,2002,2428
$GC,2328,1.24,248.8,56.0,9.8,435,2339,0.00,0.00,5.93,0.555,6,0.000,0.000,3081,2002,2406
$GC,2475,1.27,272.2,41.7,9.2,461,2502,0.10,0.00,20.48,0.669,6,0.057,0.000,3116,2002,2312
$GC,2570,1.27,272.2,31.0,10.7,478,2576,0.00,2.55,0.00,0.000,4,0.000,0.054,3115,598,2309
$GC,2599,1.27,272.2,27.5,12.5,484,2605,0.00,2.45,0.00,0.000,6,0.000,0.032,3116,2013,2309
$GC,2673,1.27,272.2,19.1,11.3,497,2679,0.00,2.45,0.00,0.000,4,0.000,0.043,3115,3405,2309
$GC,2714,1.27,272.2,14.4,10.9,506,2720,0.00,2.45,0.00,0.000,6,0.000,0.032,3115,1996,2309
$GC,2788,1.27,272.2,6.4,10.4,519,2794,0.00,2.53,0.00,0.000,4,0.000,0.051,3116,594,2308
$STATE,2802,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,0.4,1.020042
$STATE,2854,end surface coast,CONTROL_FINISHED_OK
$STATE,2854,begin surface
$SM_CCo,2877,70.22,0.646,1,0,1791,400.08
$SM_GC,-0.11,0.00,0.00,70.22,0.000,0.000,0.646,433,2257,1791,-11.03,0.20,400.08
$IRIDIUM_FIX,4751.72,-12340.51,131297,080810
$TT8_MAMPS,0.026845
$HUMID,1940
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.4,1.783
$10V_AH,10.1,0.847
$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,26.825,50.475,311.450,70.225,0.000,22.235,30.989,94.597,2.250,0.000,0.000,14.236,779.685,784.116,430.874,958.340,243.264,0.000,936.676,0.000,950.080,0.000,18.555
$DEVICE_MAMPS,162.604,56.758,754.728,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.650,584.162,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25372,534
$CAP_FILE_SIZE,54102,0
$CFSIZE,260165632,256749568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180908,101008,4807.452,-12223.663,9,1.4,26,18.3