version: 66.04
glider: 131
mission: 3
dive: 2
start: 6 17 109 18 40 13
data:
$ID,131
$MISSION,3
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,65
$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,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,51765
$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,28
$TGT_DEFAULT_LON,126
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-82283.969
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,407
$PITCH_MAX,3732
$C_PITCH,2477
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,186
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2310
$C_ROLL_CLIMB,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3960
$C_VBD,3478
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.927258
$PRESSURE_SLOPE,0.0001160188
$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
$XPDR_VALID,4
$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,0.0043429052
$SEABIRD_T_H,0.0006347372
$SEABIRD_T_I,2.4341456e-05
$SEABIRD_T_J,2.6243206e-06
$SEABIRD_C_G,-9.9295921
$SEABIRD_C_H,1.1083623
$SEABIRD_C_I,-0.00075993547
$SEABIRD_C_J,0.00015708983
$GPS1,183531,4807.109,-12222.890,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.3
$GPS2,183901,4807.133,-12222.906,9,1.2,14,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,-0.176
$KALMAN_X,-80.3,-80.3,-80.3,0.5,-165.7
$KALMAN_Y,91.2,91.2,91.2,-84.9,188.3
$MHEAD_RNG_PITCHd_Wd,126.3,2379,-21.7,-10.000
$D_GRID,105
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.57,-97.3,0.0,0.0,0,114,0.00,0.00,-98.40,0.000,2,0.000,0.000,403,2318,3046
$GC,116,-1.57,-97.3,3.1,-4.7,17,159,9.40,2.55,-25.25,0.000,4,0.143,0.064,2133,901,3876
$GC,193,-1.57,-97.3,6.8,-8.2,30,199,0.00,2.47,0.00,0.000,6,0.000,0.041,2132,2323,3876
$GC,267,-1.57,-97.3,11.8,-6.0,43,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2323,3877
$GC,340,-1.57,-97.3,15.9,-6.2,56,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2323,3877
$GC,413,-1.57,-97.3,21.3,-7.9,69,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2323,3877
$GC,487,-1.57,-97.3,28.0,-9.2,82,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2323,3877
$GC,561,-1.57,-97.3,35.6,-10.5,95,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2323,3876
$GC,633,-1.57,-97.3,43.6,-10.6,108,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2323,3876
$GC,774,-1.57,-97.3,59.3,-11.2,133,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2323,3876
$GC,913,-1.57,-97.3,74.5,-10.5,158,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2323,3876
$GC,1054,-1.57,-97.3,89.4,-10.7,183,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2324,3874
$GC,1195,-1.57,-97.3,104.1,-10.4,208,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2324,3874
$STATE,1204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1207,-0.33,0.0,105.2,10.1,210,1291,1.27,0.00,77.25,0.587,6,0.084,0.000,2401,2324,3478
$STATE,1292,end apogee,CONTROL_FINISHED_OK
$STATE,1292,begin climb
$GC,1293,1.57,97.3,107.2,0.0,225,1379,1.80,2.75,77.25,0.568,4,0.043,0.067,2826,901,3081
$GC,1418,1.57,97.3,98.6,10.3,247,1424,0.00,2.58,0.00,0.000,6,0.000,0.054,2826,2312,3081
$GC,1558,1.57,97.3,83.6,10.1,272,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2311,3080
$GC,1699,1.57,100.8,69.4,9.8,297,1711,0.00,2.67,4.30,0.410,4,0.000,0.067,2826,907,3067
$GC,1733,1.58,102.5,66.0,9.9,303,1739,0.00,2.58,0.00,0.000,6,0.000,0.061,2826,2320,3067
$GC,1874,1.59,117.7,52.7,9.0,328,1892,0.00,0.00,14.88,0.545,6,0.000,0.000,2826,2320,2998
$GC,2026,1.59,117.7,37.6,10.5,355,2032,0.00,2.62,0.00,0.000,4,0.000,0.067,2826,908,2997
$GC,2066,1.61,129.3,33.8,9.2,362,2085,0.00,2.55,10.85,0.525,6,0.000,0.054,2826,2322,2950
$GC,2152,1.61,129.3,25.4,10.0,377,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2321,2950
$GC,2225,1.61,129.3,17.9,10.0,390,2231,0.00,2.62,0.00,0.000,4,0.000,0.067,2826,907,2949
$GC,2248,1.61,129.3,15.4,10.9,394,2254,0.00,2.53,0.00,0.000,6,0.000,0.054,2826,2309,2949
$GC,2322,1.61,132.0,8.0,9.8,407,2334,0.00,2.65,3.62,0.370,4,0.000,0.069,2826,3719,2939
$STATE,2575,end climb,NO_VERTICAL_VELOCITY
$STATE,2575,begin surface
$SM_CCo,2577,510.42,0.506,6,0,400,755.02
$SM_GC,0.77,10.68,0.00,0.00,0.033,0.000,0.000,405,2308,394,-9.48,-0.08,756.49
$IRIDIUM_FIX,4751.72,-12340.51,110998,181857
$TT8_MAMPS,0.028379
$HUMID,1961
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,18.10
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,90.5,32.0
$24V_AH,23.7,0.346
$10V_AH,10.8,0.147
$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,23.150,31.125,188.150,510.425,0.000,0.000,0.000,0.000,5.000,0.000,0.000,15.856,682.938,907.396,850.594,834.544,43.467,30.182,1284.581,0.000,823.347,0.000,9.933,0.000
$DEVICE_MAMPS,143.429,69.030,586.755,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.954,566.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19052,452
$CAP_FILE_SIZE,64257,0
$CFSIZE,259952640,259088384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,170609,193443,4807.004,-12222.894,10,2.0,11,18.3