version: 66.04
glider: 131
mission: 3
dive: 5
start: 6 17 109 21 38 12
data:
$ID,131
$MISSION,3
$DIVE,5
$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,-82369.531
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,213128,4806.768,-12222.858,8,2.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-62.1
$GPS2,213657,4806.810,-12222.900,12,2.4,31,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.140,-0.163
$KALMAN_X,-479.8,-311.5,-188.8,742.0,-45.7
$KALMAN_Y,336.3,252.2,171.7,-1162.9,7.9
$MHEAD_RNG_PITCHd_Wd,121.0,1868,-21.7,-10.000
$D_GRID,103
$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,-97.3,0.0,0.0,0,116,0.00,0.00,-99.22,0.000,2,0.000,0.000,407,2304,3572
$GC,118,-1.57,-97.3,3.1,-5.6,17,143,9.45,2.60,-8.57,0.000,4,0.150,0.071,2130,3718,3876
$GC,149,-1.57,-97.3,5.5,-5.9,22,155,0.00,2.45,0.00,0.000,6,0.000,0.033,2129,2309,3876
$GC,222,-1.57,-97.3,11.9,-8.7,35,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2310,3877
$GC,295,-1.57,-97.3,17.7,-8.2,48,302,0.00,2.58,0.00,0.000,4,0.000,0.067,2130,3719,3877
$GC,341,-1.57,-97.3,22.1,-10.7,56,347,0.00,2.45,0.00,0.000,6,0.000,0.043,2129,2302,3877
$GC,414,-1.57,-97.3,29.6,-10.9,69,420,0.00,2.53,0.00,0.000,4,0.000,0.058,2130,911,3877
$GC,426,-1.57,-97.3,30.8,-10.2,71,432,0.00,2.50,0.00,0.000,6,0.000,0.047,2129,2315,3877
$GC,499,-1.57,-97.3,39.1,-11.2,84,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2316,3877
$GC,572,-1.57,-97.3,47.3,-11.4,97,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2316,3877
$GC,711,-1.57,-97.3,63.2,-11.4,122,718,0.00,2.60,0.00,0.000,4,0.000,0.060,2129,916,3877
$GC,729,-1.57,-97.3,65.2,-11.3,125,735,0.00,2.50,0.00,0.000,6,0.000,0.048,2130,2311,3877
$GC,870,-1.57,-97.3,80.9,-10.6,150,877,0.00,2.58,0.00,0.000,4,0.000,0.062,2130,3724,3877
$GC,899,-1.57,-97.3,84.0,-11.5,155,905,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2301,3877
$GC,1039,-1.57,-97.3,99.5,-10.4,180,1046,0.00,2.55,0.00,0.000,4,0.000,0.063,2129,909,3876
$STATE,1072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1072,begin apogee
$GC,1078,-0.33,0.0,103.1,10.5,186,1163,1.30,0.00,78.38,0.590,6,0.090,0.000,2398,2319,3478
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1164,begin climb
$GC,1165,1.57,97.3,105.6,0.0,201,1249,1.85,0.00,77.80,0.573,6,0.057,0.000,2819,2319,3081
$GC,1384,1.57,97.3,86.7,11.0,240,1390,0.00,2.65,0.00,0.000,4,0.000,0.066,2820,900,3080
$GC,1502,1.57,97.3,74.3,10.2,261,1509,0.00,2.58,0.00,0.000,6,0.000,0.054,2819,2309,3080
$GC,1643,1.58,103.8,60.8,9.6,286,1656,0.00,2.62,6.80,0.493,4,0.000,0.074,2819,3718,3054
$GC,1740,1.58,104.4,51.1,10.0,303,1746,0.00,2.47,0.00,0.000,6,0.000,0.044,2819,2312,3053
$GC,1881,1.61,129.5,38.6,8.3,328,1911,0.00,2.70,21.88,0.555,4,0.000,0.069,2819,908,2949
$GC,1952,1.61,134.0,31.9,9.7,340,1964,0.00,2.58,5.15,0.441,6,0.000,0.058,2820,2320,2931
$GC,2032,1.62,140.6,23.7,9.5,354,2045,0.00,2.65,7.03,0.488,4,0.000,0.064,2820,908,2904
$GC,2067,1.62,140.6,20.2,10.4,360,2074,0.00,2.55,0.00,0.000,6,0.000,0.052,2819,2312,2903
$GC,2141,1.62,141.1,12.5,10.0,373,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2312,2903
$GC,2216,1.66,169.3,5.7,8.1,386,2246,0.00,2.65,23.95,0.543,4,0.000,0.063,2819,902,2786
$STATE,2250,end climb,SURFACE_DEPTH_REACHED
$STATE,2251,begin surface coast
$FINISH,2.4,1.019536
$STATE,2280,end surface coast,CONTROL_FINISHED_OK
$STATE,2280,begin surface
$SM_CCo,2299,346.58,0.520,0,0,1031,600.24
$SM_GC,0.67,0.00,0.00,346.58,0.000,0.000,0.520,407,2314,1031,-9.52,0.11,600.24
$IRIDIUM_FIX,4751.72,-12340.51,110998,202059
$TT8_MAMPS,0.028379
$HUMID,1930
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,17.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,80.1,42.0
$24V_AH,23.7,0.671
$10V_AH,10.7,0.283
$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,23.500,56.450,220.975,346.575,0.000,23.711,31.527,183.085,3.250,0.000,0.000,33.849,609.523,684.702,675.136,747.576,297.024,33.320,1082.375,0.000,721.671,0.000,5.826,0.000
$DEVICE_MAMPS,149.565,73.632,589.823,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.477,479.374,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19115,397
$CAP_FILE_SIZE,50480,0
$CFSIZE,259952640,259014656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,222331,4806.622,-12222.861,40,1.6,40,18.3