version: 66.04
glider: 138
mission: 2
dive: 31
start: 8 27 109 12 4 36
data:
$ID,138
$MISSION,2
$DIVE,31
$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,-1597607
$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,51
$R_STBD_OVSHOOT,26
$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,0.32
$_SM_ANGLEo,-55.7
$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,-0.167,-0.047
$KALMAN_X,-547.5,76.1,-31.7,848.5,-11.5
$KALMAN_Y,1960.5,-454.4,201.7,-3548.9,-12.1
$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,-97.3,0.0,0.0,0,147,0.00,0.00,-128.80,0.000,2,0.000,0.000,428,2305,3656
$GC,151,-1.48,-97.3,3.7,-8.9,22,171,10.50,2.50,-2.40,0.000,4,0.171,0.053,2221,3719,3777
$GC,410,-1.48,-97.3,38.7,-10.4,82,417,0.00,2.35,0.00,0.000,6,0.000,0.025,2221,2313,3778
$GC,485,-1.48,-97.3,45.7,-9.7,98,492,0.00,2.47,0.00,0.000,4,0.000,0.044,2221,3727,3778
$GC,548,-1.48,-97.3,52.4,-10.8,111,554,0.00,2.40,0.00,0.000,6,0.000,0.025,2221,2306,3778
$GC,690,-1.48,-97.3,68.7,-10.9,142,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2303,3778
$GC,832,-1.48,-97.3,83.4,-11.7,173,838,0.00,2.45,0.00,0.000,4,0.000,0.047,2221,923,3778
$GC,880,-1.48,-97.3,88.6,-10.5,183,886,0.00,2.40,0.00,0.000,6,0.000,0.032,2221,2319,3779
$STATE,989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,989,begin apogee
$GC,996,-0.31,0.0,99.3,9.0,207,1077,1.25,0.00,75.93,0.675,6,0.100,0.000,2471,2462,3380
$STATE,1077,end apogee,CONTROL_FINISHED_OK
$STATE,1077,begin climb
$GC,1080,1.48,97.3,100.4,0.0,221,1166,1.92,2.50,75.97,0.659,4,0.084,0.046,2870,3855,2983
$GC,1283,1.48,97.3,76.0,14.8,262,1290,0.00,2.38,0.00,0.000,6,0.000,0.024,2869,2431,2981
$GC,1429,1.48,97.3,57.8,11.5,293,1435,0.00,2.40,0.00,0.000,4,0.000,0.035,2870,1062,2979
$GC,1517,1.48,97.3,47.1,11.8,312,1524,0.00,2.40,0.00,0.000,6,0.000,0.034,2870,2443,2979
$GC,1656,1.48,97.3,31.3,10.9,343,1663,0.00,2.50,0.00,0.000,4,0.000,0.048,2870,3864,2979
$GC,1706,1.48,97.3,25.1,11.2,354,1713,0.00,2.35,0.00,0.000,6,0.000,0.025,2870,2450,2979
$GC,1777,1.48,97.3,17.8,10.4,370,1783,0.00,2.50,0.00,0.000,4,0.000,0.047,2870,3869,2978
$GC,1810,1.48,97.3,14.0,11.8,377,1817,0.00,2.38,0.00,0.000,6,0.000,0.025,2870,2443,2979
$GC,1882,1.51,120.4,6.6,8.4,393,1907,0.00,0.00,19.05,0.583,6,0.000,0.000,2870,2443,2888
$STATE,1927,end climb,SURFACE_DEPTH_REACHED
$STATE,1927,begin surface coast
$FINISH,3.7,1.020397
$STATE,2012,end surface coast,CONTROL_FINISHED_OK
$STATE,2012,begin surface
$SM_CCo,2033,319.88,0.568,3,0,400,730.99
$SM_GC,0.14,0.00,0.00,319.88,0.000,0.000,0.568,428,2298,400,-9.75,-0.34,730.99
$IRIDIUM_FIX,4751.72,-12340.51,211198,101057
$TT8_MAMPS,0.026845
$HUMID,2006
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.5,3.303
$10V_AH,10.8,3.280
$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,24.725,34.400,170.950,319.875,0.000,165.032,202.402,0.000,1.000,0.000,0.000,904.987,635.126,566.729,606.812,1693.237,476.730,33.312,1009.050,0.000,805.136,0.000,7.192,0.000
$DEVICE_MAMPS,171.041,52.923,674.960,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,280.923,559.522,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19119,422
$CAP_FILE_SIZE,42021,0
$CFSIZE,260165632,255979520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,260809,004935,4808.226,-12223.172,251,99.0,271,18.3