version: 66.04
glider: 131
mission: 3
dive: 4
start: 6 17 109 20 44 46
data:
$ID,131
$MISSION,3
$DIVE,4
$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,-82335.047
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,203538,4806.906,-12222.886,10,1.3,10,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-62.6
$GPS2,204331,4806.946,-12222.919,11,1.9,15,18.3
$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,-341.0,-230.7,-189.3,499.5,-76.6
$KALMAN_Y,276.9,206.0,175.4,-807.4,64.1
$MHEAD_RNG_PITCHd_Wd,125.1,2089,-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,14,-1.57,-97.3,0.0,0.0,0,127,0.00,0.00,-110.53,0.000,2,0.000,0.000,401,2311,3296
$GC,129,-1.57,-97.3,3.2,-4.9,19,161,9.38,2.65,-17.30,0.000,4,0.143,0.069,2131,3728,3876
$GC,246,-1.57,-97.3,10.7,-7.9,39,252,0.00,2.47,0.00,0.000,6,0.000,0.031,2131,2296,3876
$GC,320,-1.57,-97.3,16.1,-7.3,52,326,0.00,2.60,0.00,0.000,4,0.000,0.056,2132,3728,3877
$GC,365,-1.57,-97.3,20.3,-9.5,60,371,0.00,2.45,0.00,0.000,6,0.000,0.031,2132,2308,3877
$GC,440,-1.57,-97.3,27.5,-10.4,73,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2308,3877
$GC,514,-1.57,-97.3,35.6,-10.3,86,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2308,3877
$GC,586,-1.57,-97.3,43.7,-10.5,99,592,0.00,2.55,0.00,0.000,4,0.000,0.058,2131,907,3876
$GC,603,-1.57,-97.3,45.6,-11.2,102,610,0.00,2.53,0.00,0.000,6,0.000,0.051,2131,2309,3877
$GC,744,-1.57,-97.3,61.1,-10.7,127,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2309,3876
$GC,883,-1.57,-97.3,75.7,-10.3,152,890,0.00,2.55,0.00,0.000,4,0.000,0.061,2132,3716,3876
$GC,895,-1.57,-97.3,77.0,-9.8,154,902,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2313,3876
$GC,1038,-1.57,-97.3,91.9,-10.5,179,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2313,3876
$STATE,1164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1165,begin apogee
$GC,1168,-0.33,0.0,105.2,10.5,202,1252,1.27,0.00,78.12,0.589,6,0.086,0.000,2397,2312,3478
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1254,1.57,97.3,107.3,0.0,217,1345,1.85,2.70,77.85,0.571,4,0.048,0.064,2823,3715,3080
$GC,1356,1.57,97.3,100.7,10.5,235,1362,0.00,2.50,0.00,0.000,6,0.000,0.038,2823,2310,3080
$GC,1496,1.57,97.3,85.6,10.8,260,1503,0.00,2.62,0.00,0.000,4,0.000,0.069,2823,901,3079
$GC,1581,1.57,97.3,76.5,10.7,275,1587,0.00,2.58,0.00,0.000,6,0.000,0.054,2823,2309,3079
$GC,1721,1.58,103.1,62.2,9.6,300,1734,0.00,2.62,6.03,0.475,4,0.000,0.067,2823,3720,3057
$GC,1801,1.58,103.1,53.8,10.5,314,1808,0.00,2.53,0.00,0.000,6,0.000,0.045,2823,2307,3057
$GC,1943,1.60,118.4,41.2,8.9,339,1966,0.00,2.67,13.85,0.544,4,0.000,0.067,2823,909,2994
$GC,2022,1.60,123.9,33.9,9.6,353,2035,0.00,2.55,5.95,0.468,6,0.000,0.061,2823,2315,2973
$GC,2102,1.62,135.6,26.3,9.2,367,2115,0.00,0.00,10.80,0.523,6,0.000,0.000,2823,2314,2925
$GC,2183,1.62,140.1,18.4,9.7,381,2196,0.00,2.62,5.47,0.454,4,0.000,0.064,2823,907,2906
$GC,2218,1.62,140.1,14.5,11.1,387,2224,0.00,2.55,0.00,0.000,6,0.000,0.052,2823,2313,2906
$GC,2292,1.65,162.0,7.3,8.5,400,2317,0.00,2.62,19.00,0.537,4,0.000,0.067,2823,3719,2816
$STATE,2338,end climb,SURFACE_DEPTH_REACHED
$STATE,2338,begin surface coast
$FINISH,3.3,1.020307
$STATE,2350,end surface coast,CONTROL_FINISHED_OK
$STATE,2350,begin surface
$SM_CCo,2369,355.83,0.514,3,0,1030,600.24
$SM_GC,0.70,0.00,0.00,355.83,0.000,0.000,0.514,406,2305,1030,-9.52,-0.17,600.24
$IRIDIUM_FIX,4751.72,-12340.51,110998,202023
$TT8_MAMPS,0.028379
$HUMID,1930
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.00
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,80.5,44.4
$24V_AH,23.7,0.571
$10V_AH,10.7,0.240
$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,23.525,51.325,217.075,355.825,0.000,52.451,60.594,222.466,2.500,0.000,0.000,16.850,624.867,771.053,705.099,754.676,397.664,32.337,1121.930,0.000,745.023,0.000,6.145,0.000
$DEVICE_MAMPS,142.662,69.030,589.056,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.331,493.601,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19098,410
$CAP_FILE_SIZE,53243,0
$CFSIZE,259952640,259047424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170609,213128,4806.768,-12222.858,8,2.6,27,18.3