version: 66.03
glider: 137
mission: 2
dive: 4
start: 10 14 108 22 7 28
data:
$ID,137
$MISSION,2
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1010
$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,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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51514
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,20
$TGT_DEFAULT_LON,-159
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-14858.63
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3729
$C_PITCH,2614
$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,2325
$C_ROLL_CLIMB,2285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3850
$C_VBD,3332
$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,-21.948988
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$GPS1,220309,4806.272,-12222.121,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-59.5
$GPS2,220702,4806.233,-12222.082,10,1.3,15,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,148.5,443,-22.9,-10.000
$D_GRID,108
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.64,-88.2,0.0,0.0,0,130,0.00,0.00,-107.72,0.000,2,0.000,0.000,428,2334,3270
$GC,133,-1.69,-134.9,3.3,-6.4,20,168,9.65,2.45,-16.20,0.000,4,0.130,0.056,2238,3711,3852
$GC,406,-1.70,-139.6,28.1,-9.6,83,413,0.00,2.35,0.00,0.000,6,0.000,0.036,2238,2309,3852
$GC,477,-1.72,-157.4,34.7,-8.6,99,484,0.00,2.47,0.00,0.000,4,0.000,0.046,2238,3720,3852
$GC,607,-1.72,-157.4,48.8,-10.7,128,613,0.00,2.35,0.00,0.000,6,0.000,0.033,2238,2319,3852
$GC,752,-1.72,-160.3,62.3,-9.8,159,758,0.00,2.45,0.00,0.000,4,0.000,0.048,2238,3718,3852
$GC,799,-1.72,-160.3,67.6,-10.9,169,805,0.00,2.35,0.00,0.000,6,0.000,0.034,2238,2329,3852
$GC,944,-1.72,-160.3,82.4,-10.8,200,950,0.00,2.45,0.00,0.000,4,0.000,0.043,2238,3725,3852
$GC,1018,-1.72,-160.3,90.3,-11.0,215,1024,0.00,2.38,0.00,0.000,6,0.000,0.026,2238,2316,3852
$GC,1164,-1.72,-160.3,105.2,-10.4,246,1170,0.00,2.47,0.00,0.000,4,0.000,0.044,2238,3723,3852
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1188,begin apogee
$GC,1196,-0.33,0.0,108.0,11.1,251,1301,1.42,0.00,100.50,0.771,6,0.083,0.000,2533,2289,3332
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1304,1.72,160.3,110.8,0.0,271,1442,2.08,2.55,125.68,0.748,4,0.051,0.043,2992,884,2678
$GC,1458,1.72,160.3,89.4,20.6,300,1465,0.00,2.40,0.00,0.000,6,0.000,0.035,2992,2273,2676
$GC,1603,1.72,160.3,59.6,20.7,331,1609,0.00,2.50,0.00,0.000,4,0.000,0.051,2992,3693,2673
$GC,1638,1.72,160.3,51.4,22.3,338,1644,0.00,2.42,0.00,0.000,6,0.000,0.028,2992,2279,2671
$GC,1776,1.72,160.3,22.9,20.2,369,1783,0.00,2.45,0.00,0.000,4,0.000,0.041,2992,874,2671
$GC,1806,1.72,160.3,16.5,21.0,375,1812,0.00,2.42,0.00,0.000,6,0.000,0.041,2992,2283,2671
$GC,1877,1.72,160.3,4.5,12.6,391,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2283,2671
$STATE,1919,end climb,SURFACE_DEPTH_REACHED
$STATE,1919,begin surface coast
$FINISH,0.5,1.013491
$STATE,2028,end surface coast,CONTROL_FINISHED_OK
$STATE,2028,begin surface
$SM_CCo,2049,110.93,0.670,0,0,1781,380.21
$SM_GC,1.41,0.00,0.00,110.93,0.000,0.000,0.670,429,2345,1781,-10.05,0.57,380.21
$IRIDIUM_FIX,4751.72,-12340.51,080198,222229
$TT8_MAMPS,0.028379
$HUMID,2054
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.60
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,100.4,33.0
$24V_AH,23.3,0.614
$10V_AH,10.1,0.285
$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,24.625,39.000,226.175,110.925,0.000,0.000,0.000,0.000,6.000,0.000,0.000,16.695,621.310,335.512,417.551,794.589,71.135,0.000,829.146,0.000,776.298,0.000,17.368
$DEVICE_MAMPS,129.623,98.176,770.835,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.273,531.021,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19059,427
$CAP_FILE_SIZE,58191,0
$CFSIZE,260165632,255614976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141008,224415,4806.025,-12222.018,9,1.5,9,18.3