version: 66.04
glider: 131
mission: 3
dive: 3
start: 6 17 109 19 42 17
data:
$ID,131
$MISSION,3
$DIVE,3
$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,-82317.562
$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,20
$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
$GPS1,193443,4807.004,-12222.894,10,2.0,11,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-64.0
$GPS2,194104,4807.058,-12222.933,11,2.1,30,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.173
$KALMAN_X,-218.5,-158.0,-149.3,247.4,-128.5
$KALMAN_Y,203.7,154.7,147.2,-448.1,124.8
$MHEAD_RNG_PITCHd_Wd,125.2,2274,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.57,-97.3,0.0,0.0,0,110,0.00,0.00,-93.65,0.000,2,0.000,0.000,406,2308,2869
$GC,112,-1.57,-97.3,3.0,-4.8,16,160,9.30,2.55,-32.30,0.000,4,0.142,0.065,2130,892,3874
$GC,217,-1.57,-97.3,8.2,-7.7,34,223,0.00,2.50,0.00,0.000,6,0.000,0.041,2130,2316,3875
$GC,292,-1.57,-97.3,13.2,-6.2,47,298,0.00,2.50,0.00,0.000,4,0.000,0.056,2130,3716,3875
$GC,366,-1.57,-97.3,19.5,-9.1,60,372,0.00,2.42,0.00,0.000,6,0.000,0.031,2130,2301,3876
$GC,440,-1.57,-97.3,26.4,-9.9,73,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,3876
$GC,514,-1.57,-97.3,33.8,-10.0,86,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,3876
$GC,586,-1.57,-97.3,41.6,-10.6,99,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,3875
$GC,726,-1.57,-97.3,57.5,-11.0,124,732,0.00,2.53,0.00,0.000,4,0.000,0.059,2130,909,3876
$GC,737,-1.57,-97.3,58.9,-11.6,126,744,0.00,2.53,0.00,0.000,6,0.000,0.047,2130,2310,3875
$GC,878,-1.57,-97.3,74.1,-10.7,151,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2311,3875
$GC,1019,-1.57,-97.3,89.3,-10.7,176,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2311,3875
$GC,1159,-1.57,-97.3,104.4,-10.3,201,1165,0.00,2.58,0.00,0.000,4,0.000,0.063,2130,913,3874
$STATE,1169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1175,-0.33,0.0,105.6,10.5,203,1259,1.30,0.00,77.75,0.588,6,0.087,0.000,2400,2318,3478
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1261,1.57,97.3,108.5,0.0,218,1346,1.85,0.00,77.68,0.571,6,0.046,0.000,2822,2318,3081
$GC,1480,1.57,97.3,89.7,10.4,257,1486,0.00,2.62,0.00,0.000,4,0.000,0.067,2822,916,3081
$GC,1570,1.57,97.3,80.0,10.4,273,1576,0.00,2.55,0.00,0.000,6,0.000,0.054,2822,2313,3080
$GC,1711,1.57,98.8,65.9,9.9,298,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2314,3080
$GC,1851,1.58,105.0,52.4,9.6,323,1864,0.00,2.65,7.70,0.508,4,0.000,0.071,2822,906,3049
$GC,1909,1.58,106.3,46.9,9.9,333,1915,0.00,2.55,0.00,0.000,6,0.000,0.060,2822,2311,3048
$GC,2051,1.62,134.8,34.4,8.0,358,2081,0.00,0.00,24.70,0.553,6,0.000,0.000,2822,2310,2928
$GC,2148,1.62,136.0,25.1,9.9,375,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2311,2927
$GC,2221,1.62,136.0,17.9,10.2,388,2228,0.00,2.60,0.00,0.000,4,0.000,0.064,2822,909,2927
$GC,2266,1.62,136.0,13.1,10.5,396,2273,0.00,2.53,0.00,0.000,6,0.000,0.052,2822,2312,2926
$GC,2340,1.64,153.0,6.1,8.8,409,2365,0.00,2.65,15.73,0.534,4,0.000,0.067,2822,3714,2854
$STATE,2386,end climb,SURFACE_DEPTH_REACHED
$STATE,2386,begin surface coast
$FINISH,4.1,1.020019
$STATE,2527,end surface coast,CONTROL_FINISHED_OK
$STATE,2527,begin surface
$SM_CCo,2529,495.33,0.509,5,0,400,755.02
$SM_GC,0.75,10.70,0.00,0.00,0.033,0.000,0.000,401,2312,392,-9.49,0.06,756.74
$IRIDIUM_FIX,4751.72,-12340.51,110998,181853
$TT8_MAMPS,0.027612
$HUMID,2009
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,100.3,23.5
$24V_AH,23.7,0.466
$10V_AH,10.7,0.195
$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,23.150,40.850,203.550,495.325,0.000,23.870,30.534,235.172,2.500,0.000,0.000,32.969,670.543,883.847,840.172,832.309,350.060,31.415,1269.945,0.000,804.098,0.000,11.751,0.000
$DEVICE_MAMPS,141.895,71.331,588.289,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.835,547.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19102,442
$CAP_FILE_SIZE,53003,0
$CFSIZE,259952640,259080192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,170609,203538,4806.906,-12222.886,10,1.3,10,18.3