version: 66.03
glider: 137
mission: 2
dive: 3
start: 6 4 108 23 52 5
data:
$ID,137
$MISSION,2
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,80
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51666
$NAV_MODE,1
$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,48.150002
$TGT_DEFAULT_LON,-122.36
$TGT_AUTO_DEFAULT,0
$SM_CC,750
$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,-10569.373
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3729
$C_PITCH,2741
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3918
$ROLL_DEG,40
$C_ROLL_DIVE,2069
$C_ROLL_CLIMB,2069
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3850
$C_VBD,3508
$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,-21.608009
$PRESSURE_SLOPE,0.0001161082
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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,0.0043829796
$SEABIRD_T_H,0.00064033607
$SEABIRD_T_I,2.6896696e-05
$SEABIRD_T_J,3.076357e-06
$SEABIRD_C_G,-9.991785
$SEABIRD_C_H,1.1193115
$SEABIRD_C_I,-0.00069633877
$SEABIRD_C_J,0.0001443676
$GPS1,234732,4806.984,-12223.417,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.5
$GPS2,235109,4806.981,-12223.435,10,1.8,10,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.190,-0.178
$KALMAN_X,-454.7,-242.8,-237.4,113.1,-122.0
$KALMAN_Y,323.6,191.8,187.8,-187.6,109.9
$MHEAD_RNG_PITCHd_Wd,114.8,2540,-17.5,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.35,-146.6,0.0,0.0,0,88,0.00,0.00,-64.47,0.000,2,0.000,0.000,431,2079,2283
$GC,91,-1.35,-146.6,3.1,-2.8,12,153,11.05,0.00,-45.20,0.000,6,0.141,0.000,2443,2079,3851
$GC,216,-1.35,-146.6,8.0,-3.7,38,223,0.00,2.42,0.00,0.000,4,0.000,0.038,2443,3481,3852
$GC,272,-1.35,-146.6,9.9,-4.3,50,278,0.00,2.40,0.00,0.000,6,0.000,0.028,2443,2070,3852
$GC,344,-1.35,-146.6,12.7,-3.4,66,350,0.00,2.45,0.00,0.000,4,0.000,0.043,2442,663,3852
$GC,370,-1.35,-146.6,14.0,-4.1,71,377,0.00,2.40,0.00,0.000,6,0.000,0.031,2443,2076,3852
$GC,440,-1.35,-146.6,17.2,-5.1,87,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2076,3852
$GC,510,-1.35,-146.6,20.5,-4.3,103,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2076,3852
$GC,581,-1.35,-146.6,23.9,-5.3,119,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2076,3852
$GC,652,-1.35,-146.6,27.4,-5.4,135,658,0.00,2.42,0.00,0.000,4,0.000,0.039,2444,3471,3852
$GC,702,-1.35,-146.6,30.1,-5.4,146,708,0.00,2.42,0.00,0.000,6,0.000,0.035,2443,2070,3853
$GC,773,-1.35,-146.6,33.7,-5.0,162,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2070,3853
$GC,843,-1.35,-146.6,37.0,-4.7,178,849,0.00,2.45,0.00,0.000,4,0.000,0.041,2443,3467,3853
$GC,885,-1.35,-146.6,39.1,-5.6,187,891,0.00,2.38,0.00,0.000,6,0.000,0.029,2443,2072,3853
$STATE,904,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,904,begin apogee
$GC,909,-0.33,0.0,40.2,4.7,191,983,1.02,0.00,66.62,0.724,6,0.069,0.000,2661,2072,3508
$STATE,984,end apogee,CONTROL_FINISHED_OK
$STATE,984,begin climb
$GC,986,1.35,146.6,41.6,0.0,205,1109,1.65,2.55,112.22,0.707,4,0.038,0.044,3043,671,2909
$GC,1160,1.35,146.6,26.9,17.1,239,1166,0.00,2.42,0.00,0.000,6,0.000,0.033,3044,2076,2907
$GC,1230,1.35,146.6,16.3,14.6,255,1236,0.00,2.50,0.00,0.000,4,0.000,0.047,3044,666,2906
$GC,1263,1.35,146.6,11.9,14.1,262,1270,0.00,2.40,0.00,0.000,6,0.000,0.041,3044,2069,2906
$GC,1333,1.47,246.4,6.2,5.4,278,1417,0.00,2.55,77.93,0.687,4,0.000,0.041,3044,3475,2502
$STATE,1624,end climb,NO_VERTICAL_VELOCITY
$STATE,1624,begin surface
$SM_CCo,1627,379.55,0.672,1,0,424,756.26
$SM_GC,1.49,11.77,0.00,0.00,0.037,0.000,0.000,431,2069,419,-10.56,0.00,757.73
$IRIDIUM_FIX,4751.72,-12340.51,290897,232355
$TT8_MAMPS,0.028379
$HUMID,1917
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,18.30
$XPDR_PINGS,13
$24V_AH,23.4,73.385
$10V_AH,10.1,50.413
$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,25.500,34.275,256.775,379.550,0.000,0.000,0.000,0.000,3.250,0.000,0.000,11.744,499.839,261.712,702.358,665.145,69.704,31.413,1079.122,0.000,669.085,0.000,0.923
$DEVICE_MAMPS,141.128,46.787,724.048,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.097,566.069,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15895,343
$CAP_FILE_SIZE,53700,0
$CFSIZE,260165632,255070208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050608,002837,4806.989,-12223.434,15,1.1,31,18.3