version: 66.03
glider: 137
mission: 2
dive: 4
start: 6 5 108 0 57 48
data:
$ID,137
$MISSION,2
$DIVE,4
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,80
$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,-10646.279
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3729
$C_PITCH,2670
$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,30
$R_STBD_OVSHOOT,37
$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
$GPS1,005308,4807.216,-12223.486,8,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.7
$GPS2,005651,4807.261,-12223.486,14,1.1,14,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.173,-0.194
$KALMAN_X,-573.1,-300.4,-276.9,261.7,-98.0
$KALMAN_Y,581.7,357.5,323.7,-241.2,73.8
$MHEAD_RNG_PITCHd_Wd,120.0,2972,-17.5,-10.000
$D_GRID,101
$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,-146.6,0.0,0.0,0,104,0.00,0.00,-80.82,0.000,2,0.000,0.000,431,2064,2646
$GC,107,-1.35,-146.6,3.1,-2.9,15,164,10.50,2.47,-36.72,0.000,4,0.136,0.050,2371,3462,3853
$GC,244,-1.35,-146.6,9.6,-6.7,43,250,0.00,2.38,0.00,0.000,6,0.000,0.027,2371,2066,3854
$GC,316,-1.35,-146.6,13.4,-4.7,59,322,0.00,2.42,0.00,0.000,4,0.000,0.050,2371,668,3854
$GC,391,-1.35,-146.6,17.3,-6.1,76,398,0.00,2.38,0.00,0.000,6,0.000,0.041,2371,2068,3854
$GC,462,-1.35,-146.6,22.1,-7.0,92,468,0.00,2.42,0.00,0.000,4,0.000,0.041,2371,3468,3854
$GC,582,-1.35,-146.6,31.3,-8.1,120,588,0.00,2.38,0.00,0.000,6,0.000,0.034,2371,2069,3854
$GC,652,-1.35,-146.6,36.5,-7.0,136,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2069,3854
$GC,722,-1.35,-146.6,41.5,-7.0,152,728,0.00,2.45,0.00,0.000,4,0.000,0.041,2370,3472,3854
$GC,784,-1.35,-146.6,46.0,-7.8,165,790,0.00,2.40,0.00,0.000,6,0.000,0.038,2371,2069,3854
$GC,929,-1.35,-146.6,55.9,-7.1,196,935,0.00,2.47,0.00,0.000,4,0.000,0.044,2371,3476,3854
$GC,1010,-1.35,-146.6,61.8,-7.1,213,1016,0.00,2.42,0.00,0.000,6,0.000,0.029,2371,2067,3854
$GC,1154,-1.35,-146.6,70.9,-6.6,244,1160,0.00,2.47,0.00,0.000,4,0.000,0.041,2371,3476,3854
$GC,1208,-1.35,-146.6,74.7,-7.1,255,1214,0.00,2.40,0.00,0.000,6,0.000,0.028,2370,2069,3854
$GC,1355,-1.35,-146.6,84.1,-6.3,286,1361,0.00,2.45,0.00,0.000,4,0.000,0.041,2371,3466,3854
$GC,1436,-1.35,-146.6,89.7,-7.1,303,1443,0.00,2.40,0.00,0.000,6,0.000,0.040,2371,2069,3854
$GC,1580,-1.35,-146.6,99.0,-6.5,334,1587,0.00,2.45,0.00,0.000,4,0.000,0.041,2371,3467,3854
$STATE,1606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1606,begin apogee
$GC,1614,-0.33,0.0,101.0,7.0,339,1688,1.05,0.00,67.55,0.786,6,0.078,0.000,2589,2069,3507
$STATE,1689,end apogee,CONTROL_FINISHED_OK
$STATE,1689,begin climb
$GC,1691,1.35,146.6,102.7,0.0,353,1813,1.65,2.53,113.25,0.762,4,0.044,0.044,2964,664,2909
$GC,1846,1.35,146.6,90.7,14.1,383,1852,0.00,2.45,0.00,0.000,6,0.000,0.031,2964,2073,2907
$GC,1992,1.35,146.6,70.9,13.9,414,1998,0.00,2.45,0.00,0.000,4,0.000,0.041,2964,3469,2905
$GC,2012,1.35,146.6,67.4,14.5,418,2019,0.00,2.42,0.00,0.000,6,0.000,0.029,2965,2068,2905
$GC,2157,1.35,146.6,48.0,13.2,449,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2068,2905
$GC,2293,1.35,146.6,31.0,11.7,480,2299,0.00,2.47,0.00,0.000,4,0.000,0.050,2964,3469,2905
$GC,2328,1.35,146.6,26.8,12.4,487,2335,0.00,2.42,0.00,0.000,6,0.000,0.032,2964,2069,2905
$GC,2400,1.35,146.6,19.0,10.7,503,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2069,2904
$GC,2470,1.35,149.1,11.9,9.9,519,2476,0.00,2.47,0.00,0.000,4,0.000,0.048,2964,3469,2904
$GC,2502,1.35,151.3,8.9,9.9,525,2514,0.00,2.40,4.32,0.522,6,0.000,0.029,2964,2068,2891
$GC,2578,1.53,299.7,5.3,3.2,542,2592,0.15,0.00,10.77,0.675,2,0.060,0.000,3003,2068,2843
$STATE,2592,end climb,SURFACE_DEPTH_REACHED
$STATE,2593,begin surface coast
$FINISH,5.8,1.020234
$STATE,2801,end surface coast,CONTROL_FINISHED_OK
$STATE,2801,begin surface
$SM_CCo,2804,383.70,0.685,3,0,425,756.26
$SM_GC,1.88,11.55,0.00,0.00,0.035,0.000,0.000,431,2062,420,-10.23,-0.20,757.49
$IRIDIUM_FIX,4751.72,-12340.51,300897,000035
$TT8_MAMPS,0.028379
$HUMID,1958
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,17.70
$XPDR_PINGS,15
$24V_AH,23.3,73.547
$10V_AH,10.1,50.483
$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,24.900,58.425,195.900,383.700,0.000,0.000,0.000,0.000,5.000,0.000,0.000,15.441,896.473,585.221,711.872,1095.495,102.130,32.335,1246.833,0.000,1083.766,0.000,11.251
$DEVICE_MAMPS,135.759,49.855,786.175,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.088,753.640,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28561,594
$CAP_FILE_SIZE,76726,0
$CFSIZE,260165632,255004672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,050608,015351,4807.173,-12223.342,12,1.9,13,18.3