version: 66.03
glider: 145
mission: 1
dive: 18
start: 2 12 108 14 25 1
data:
$ID,145
$MISSION,1
$DIVE,18
$D_SURF,3
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$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,-2581.0239
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,429
$PITCH_MAX,3741
$C_PITCH,2925
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2234
$C_ROLL_CLIMB,2234
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3982
$C_VBD,3475
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-14.969851
$PRESSURE_SLOPE,0.0001163609
$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,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0043682093
$SEABIRD_T_H,0.00063645886
$SEABIRD_T_I,2.5728024e-05
$SEABIRD_T_J,2.8812779e-06
$SEABIRD_C_G,-10.192017
$SEABIRD_C_H,1.154353
$SEABIRD_C_I,-0.0017179218
$SEABIRD_C_J,0.00021944837
$GPS1,141334,4806.060,-12222.110,6,2.2,25,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.6
$GPS2,142403,4806.096,-12222.161,11,1.2,11,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.132
$KALMAN_X,-2347.1,-211.4,-32.9,5175.8,-46.1
$KALMAN_Y,2853.8,247.3,-35.0,-6786.2,109.3
$MHEAD_RNG_PITCHd_Wd,121.3,267,-27.1,-10.000
$D_GRID,107
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.77,-63.6,0.0,0.0,0,142,0.00,0.00,-120.70,0.000,2,0.000,0.000,428,2232,2808
$GC,144,-1.85,-127.7,3.3,-3.2,16,198,11.77,2.47,-36.25,0.000,4,0.179,0.076,2517,3638,3982
$GC,374,-1.85,-127.7,29.6,-12.4,55,383,0.00,2.45,0.00,0.000,6,0.000,0.048,2517,2230,3982
$GC,448,-1.85,-127.7,38.3,-11.3,68,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2229,3982
$GC,590,-1.85,-127.7,55.8,-13.0,93,596,0.00,2.47,0.00,0.000,4,0.000,0.058,2517,3640,3982
$GC,606,-1.85,-127.7,58.3,-12.9,96,615,0.00,2.45,0.00,0.000,6,0.000,0.047,2517,2231,3982
$GC,749,-1.85,-127.7,76.5,-12.9,121,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2231,3982
$GC,886,-1.85,-127.7,93.8,-12.1,146,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2231,3982
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,1000,-0.31,0.0,107.3,11.6,166,1101,1.67,0.00,96.82,0.654,6,0.120,0.000,2852,2231,3475
$STATE,1102,end apogee,CONTROL_FINISHED_OK
$STATE,1102,begin climb
$GC,1104,1.85,127.7,109.3,0.0,182,1212,2.10,0.00,99.47,0.624,6,0.063,0.000,3323,2230,2953
$GC,1347,1.85,127.7,75.3,17.7,223,1353,0.00,2.47,0.00,0.000,4,0.000,0.056,3323,3644,2952
$GC,1385,1.85,127.7,68.1,17.7,230,1392,0.00,2.42,0.00,0.000,6,0.000,0.077,3323,2238,2952
$GC,1526,1.85,127.7,44.0,17.2,255,1532,0.00,2.45,0.00,0.000,4,0.000,0.087,3323,3640,2952
$GC,1617,1.85,127.7,28.1,17.2,271,1625,0.00,2.42,0.00,0.000,6,0.000,0.045,3323,2237,2952
$GC,1692,1.85,127.7,15.7,16.2,284,1700,0.00,2.47,0.00,0.000,4,0.000,0.055,3323,3640,2952
$GC,1751,1.85,127.7,7.7,12.1,294,1760,0.00,2.42,0.00,0.000,6,0.000,0.044,3323,2233,2952
$GC,1827,1.97,227.0,5.3,-0.5,307,1912,0.12,2.50,77.75,0.566,4,0.066,0.063,3357,3640,2549
$STATE,2049,end climb,NO_VERTICAL_VELOCITY
$STATE,2049,begin surface
$SM_CCo,2051,349.95,0.542,2,1,744,669.67
$SM_CCo,2414,50.00,0.512,1,0,500,729.77
$SM_GC,1.18,12.85,0.00,0.00,0.045,0.000,0.000,427,2224,496,-11.44,-0.28,730.75
$IRIDIUM_FIX,4748.51,-12226.29,080597,141435
$TT8_MAMPS,0.026078
$HUMID,1139
$INTERNAL_PRESSURE,10.8077
$TCM_TEMP,12.00
$XPDR_PINGS,236
$24V_AH,23.7,2.596
$10V_AH,10.1,1.784
$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,28.525,29.500,274.050,399.950,0.000,58.780,68.516,355.327,59.750,0.000,0.000,13.404,514.888,372.396,708.555,1070.608,564.129,33.324,1177.063,0.000,1083.357,0.000,5.543
$DEVICE_MAMPS,178.711,87.438,654.251,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,235.068,170.446,241.698,407.887,858.431,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28717,343
$CAP_FILE_SIZE,43514,8
$CFSIZE,260165632,257245184
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,2,3,0
$GPS,120208,150844,4806.007,-12222.015,9,1.3,9,18.3