version: 66.04
glider: 138
mission: 2
dive: 29
start: 8 27 109 9 23 0
data:
$ID,138
$MISSION,2
$DIVE,29
$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,-1593985.5
$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,53
$R_STBD_OVSHOOT,32
$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,0.37
$_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,-0.168,-0.041
$KALMAN_X,-510.1,63.5,-31.0,854.3,-13.2
$KALMAN_Y,1847.8,-421.5,284.8,-3570.0,3.2
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,141,0.00,0.00,-123.65,0.000,2,0.000,0.000,427,2312,3507
$GC,145,-1.48,-97.3,3.4,-8.3,21,171,10.40,2.55,-5.68,0.000,4,0.167,0.059,2220,931,3779
$GC,410,-1.48,-97.3,35.5,-10.3,82,416,0.00,2.35,0.00,0.000,6,0.000,0.031,2220,2308,3779
$GC,482,-1.48,-97.3,40.8,-1.4,98,488,0.00,2.40,0.00,0.000,4,0.000,0.038,2221,921,3780
$GC,748,-1.48,-97.3,40.8,0.1,156,754,0.00,2.35,0.00,0.000,6,0.000,0.031,2221,2309,3780
$STATE,785,end dive,NO_VERTICAL_VELOCITY
$STATE,785,begin apogee
$GC,792,-0.31,0.0,40.9,0.0,164,872,1.17,0.00,75.60,0.618,6,0.066,0.000,2475,2464,3380
$STATE,872,end apogee,CONTROL_FINISHED_OK
$STATE,872,begin climb
$GC,875,1.48,97.3,40.7,0.0,178,958,1.85,2.55,75.25,0.604,4,0.069,0.045,2864,3860,2983
$GC,1196,1.48,97.3,7.3,11.5,249,1203,0.00,2.35,0.00,0.000,6,0.000,0.023,2864,2442,2980
$GC,1268,1.65,232.9,5.1,0.6,265,1354,0.17,0.00,82.80,0.572,2,0.039,0.000,2920,2442,2556
$STATE,1355,end climb,SURFACE_DEPTH_REACHED
$STATE,1355,begin surface coast
$FINISH,-0.3,1.019861
$STATE,1522,end surface coast,CONTROL_FINISHED_OK
$STATE,1522,begin surface
$SM_CCo,1544,271.70,0.556,0,0,399,730.99
$SM_GC,0.28,0.00,0.00,271.70,0.000,0.000,0.556,424,2310,399,-9.77,0.00,730.99
$IRIDIUM_FIX,4751.72,-12340.51,211198,090916
$TT8_MAMPS,0.026845
$HUMID,1975
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,23.5,3.101
$10V_AH,10.8,3.094
$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,24.625,14.975,233.650,271.700,0.000,147.527,446.502,0.000,0.000,0.000,0.000,904.938,460.201,433.439,552.364,1522.773,682.397,33.313,884.482,0.000,639.024,0.000,0.999,0.000
$DEVICE_MAMPS,167.206,59.059,618.202,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.185,507.420,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12800,319
$CAP_FILE_SIZE,30665,0
$CFSIZE,260165632,256073728
$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