version: 66.04
glider: 138
mission: 2
dive: 18
start: 8 26 109 19 55 59
data:
$ID,138
$MISSION,2
$DIVE,18
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1574067.8
$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,55
$R_STBD_OVSHOOT,33
$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
$GPS1,004935,4808.226,-12223.172,251,99.0,271,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-56.2
$GPS2,004935,4808.226,-12223.172,251,99.0,271,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,-0.168
$KALMAN_X,-304.3,-52.7,32.1,362.1,-9.1
$KALMAN_Y,1227.6,165.3,-266.1,-2937.9,40.0
$MHEAD_RNG_PITCHd_Wd,156.3,2281,-21.7,-10.000
$D_GRID,99
$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,-97.3,0.0,0.0,0,158,0.00,0.00,-137.25,0.000,6,0.000,0.000,414,2304,3777
$GC,161,-1.48,-97.3,1.3,-0.3,24,175,10.25,0.00,0.00,0.000,6,0.159,0.000,2221,2304,3777
$GC,239,-1.48,-97.3,1.8,-0.3,41,245,0.00,2.40,0.00,0.000,4,0.000,0.040,2221,923,3779
$GC,483,-1.48,-97.3,1.9,0.2,99,489,0.00,2.35,0.00,0.000,6,0.000,0.031,2221,2309,3779
$GC,554,-1.48,-97.3,1.9,-0.1,115,560,0.00,2.40,0.00,0.000,4,0.000,0.041,2221,935,3778
$GC,799,-1.48,-97.3,1.8,0.2,173,805,0.00,2.35,0.00,0.000,6,0.000,0.031,2221,2319,3778
$GC,871,-1.48,-97.3,1.9,-0.0,189,877,0.00,2.42,0.00,0.000,4,0.000,0.041,2221,926,3779
$GC,1116,-1.48,-97.3,1.8,-0.1,247,1122,0.00,2.35,0.00,0.000,6,0.000,0.031,2221,2316,3778
$GC,1188,-1.48,-97.3,1.9,-0.3,263,1194,0.00,2.40,0.00,0.000,4,0.000,0.039,2221,929,3778
$GC,1433,-1.48,-97.3,1.8,0.0,321,1439,0.00,2.35,0.00,0.000,6,0.000,0.031,2221,2319,3778
$GC,1505,-1.48,-97.3,1.9,0.0,337,1511,0.00,2.40,0.00,0.000,4,0.000,0.039,2221,934,3778
$GC,1751,-1.48,-97.3,1.8,-0.0,395,1757,0.00,2.33,0.00,0.000,6,0.000,0.031,2221,2311,3778
$GC,1822,-1.48,-97.3,1.9,-0.1,411,1828,0.00,2.40,0.00,0.000,4,0.000,0.041,2221,928,3778
$GC,2068,-1.48,-97.3,1.8,-0.0,469,2074,0.00,2.35,0.00,0.000,6,0.000,0.031,2221,2316,3778
$STATE,2108,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2108,begin apogee
$GC,2114,-0.31,0.0,1.7,-0.3,478,2123,1.17,0.00,4.65,0.416,2,0.070,0.000,2474,2458,3737
$STATE,2123,end apogee,SURFACE_DEPTH_REACHED
$STATE,2123,begin surface coast
$FINISH,1.8,1.020565
$STATE,2332,end surface coast,CONTROL_FINISHED_OK
$STATE,2332,begin surface
$SM_CCo,2351,405.95,0.548,0,0,400,730.99
$SM_GC,0.34,0.00,0.00,405.95,0.000,0.000,0.548,412,2315,400,-9.82,0.14,730.99
$IRIDIUM_FIX,4751.72,-12340.51,201198,181840
$TT8_MAMPS,0.026845
$HUMID,1916
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,24.0,2.116
$10V_AH,10.9,2.164
$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,20.275,28.925,4.650,405.950,0.000,165.030,205.697,0.000,0.000,0.000,0.000,904.946,823.421,543.212,555.100,1957.934,488.922,33.326,978.137,0.000,1080.194,0.000,0.999,0.000
$DEVICE_MAMPS,158.769,46.787,415.714,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.406,979.580,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22194,529
$CAP_FILE_SIZE,44396,0
$CFSIZE,260165632,256409600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,004935,4808.226,-12223.172,251,99.0,271,18.3