version: 66.04
glider: 138
mission: 2
dive: 4
start: 8 25 109 23 32 21
data:
$ID,138
$MISSION,2
$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,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51965
$NAV_MODE,0
$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,730.99396
$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,-1549358
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3690
$C_PITCH,2548
$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,2310
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,27
$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,-2.7222424
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$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
$GPS1,231046,4808.184,-12223.088,137,99.0,156,18.3
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,4
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-65.1
$GPS2,233128,4808.246,-12223.008,124,99.0,143,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.003,-0.215
$KALMAN_X,13.7,-5.3,-6.6,53.4,-3.6
$KALMAN_Y,331.7,252.9,242.3,-445.2,193.1
$MHEAD_RNG_PITCHd_Wd,161.5,2308,-21.7,-10.000
$D_GRID,97
$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,15,-1.48,-97.3,0.0,0.0,0,94,0.00,0.00,-76.18,0.000,2,0.000,0.000,431,2298,3681
$GC,97,-1.48,-97.3,3.5,-7.3,13,112,10.38,0.00,-1.90,0.000,6,0.164,0.000,2219,2298,3779
$GC,176,-1.48,-97.3,20.6,-12.6,30,182,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2298,3780
$GC,247,-1.48,-97.3,28.9,-10.9,46,253,0.00,2.50,0.00,0.000,4,0.000,0.045,2219,3723,3780
$GC,297,-1.48,-97.3,34.2,-10.1,57,304,0.00,2.38,0.00,0.000,6,0.000,0.026,2219,2306,3780
$GC,369,-1.48,-97.3,40.8,-9.2,73,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2303,3781
$GC,510,-1.48,-97.3,56.3,-11.7,104,516,0.00,2.50,0.00,0.000,4,0.000,0.046,2220,3724,3781
$GC,523,-1.48,-97.3,57.8,-11.7,106,529,0.00,2.38,0.00,0.000,6,0.000,0.028,2219,2313,3782
$GC,666,-1.48,-97.3,74.8,-11.9,137,672,0.00,2.50,0.00,0.000,4,0.000,0.047,2220,3720,3782
$GC,678,-1.48,-97.3,76.4,-11.8,139,684,0.00,2.40,0.00,0.000,6,0.000,0.028,2220,2306,3782
$GC,827,-1.48,-97.3,93.8,-11.1,170,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2299,3781
$STATE,855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,855,begin apogee
$GC,861,-0.31,0.0,97.1,10.7,176,941,1.25,0.00,75.88,0.680,6,0.094,0.000,2473,2459,3380
$STATE,942,end apogee,CONTROL_FINISHED_OK
$STATE,942,begin climb
$GC,945,1.48,97.3,99.7,0.0,190,1025,1.85,0.00,75.10,0.662,6,0.068,0.000,2866,2458,2984
$GC,1161,1.48,97.3,79.8,11.9,234,1167,0.00,2.47,0.00,0.000,4,0.000,0.051,2866,3855,2981
$GC,1205,1.48,97.3,74.1,13.6,243,1211,0.00,2.40,0.00,0.000,6,0.000,0.027,2866,2431,2981
$GC,1348,1.48,97.3,58.0,11.2,274,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2428,2980
$GC,1491,1.50,110.8,44.1,9.1,305,1509,0.00,2.58,11.80,0.605,4,0.000,0.049,2866,3859,2928
$GC,1555,1.50,110.8,36.9,12.0,318,1561,0.00,2.38,0.00,0.000,6,0.000,0.028,2865,2445,2927
$GC,1626,1.50,110.8,29.2,10.9,334,1632,0.00,2.42,0.00,0.000,4,0.000,0.039,2865,1049,2926
$GC,1657,1.50,110.8,26.0,11.2,340,1663,0.00,2.42,0.00,0.000,6,0.000,0.037,2865,2450,2926
$GC,1728,1.50,110.8,17.7,11.4,356,1735,0.00,2.50,0.00,0.000,4,0.000,0.051,2865,3868,2926
$GC,1816,1.50,110.8,7.0,11.9,376,1823,0.00,2.38,0.00,0.000,6,0.000,0.028,2865,2438,2926
$GC,1887,1.72,293.4,7.6,-2.6,392,2009,0.22,0.00,117.95,0.629,2,0.042,0.000,2930,2438,2316
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2010,begin surface coast
$FINISH,-0.4,1.019155
$STATE,2066,end surface coast,CONTROL_FINISHED_OK
$STATE,2066,begin surface
$SM_CCo,2088,245.90,0.594,0,0,400,730.99
$SM_GC,0.14,0.00,0.00,245.90,0.000,0.000,0.594,430,2298,400,-9.74,-0.34,730.99
$IRIDIUM_FIX,4751.72,-12340.51,191198,232347
$TT8_MAMPS,0.026845
$HUMID,2086
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,24.1
$24V_AH,23.5,0.709
$10V_AH,10.8,0.764
$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,24.850,34.675,280.725,245.900,0.000,120.363,207.662,317.262,1.500,0.000,0.000,146.284,631.554,557.661,562.867,947.547,891.743,31.409,989.418,0.000,809.028,0.000,16.010,0.000
$DEVICE_MAMPS,164.138,51.389,680.329,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.091,565.152,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19077,425
$CAP_FILE_SIZE,53971,0
$CFSIZE,260165632,256983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250809,233128,4808.246,-12223.008,124,99.0,143,18.3