version: 66.04
glider: 131
mission: 3
dive: 6
start: 6 17 109 22 31 0
data:
$ID,131
$MISSION,3
$DIVE,6
$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,-82383.469
$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,23
$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
$GPS1,222331,4806.622,-12222.861,40,1.6,40,18.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-59.2
$GPS2,222944,4806.674,-12222.936,11,1.4,11,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.161,-0.143
$KALMAN_X,-697.3,-402.4,-163.8,984.5,-56.0
$KALMAN_Y,409.6,284.3,139.1,-1486.6,-4.8
$MHEAD_RNG_PITCHd_Wd,113.3,1702,-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,-99.05,0.000,2,0.000,0.000,407,2315,3524
$GC,118,-1.57,-97.3,3.1,-5.4,17,143,9.48,2.58,-10.10,0.000,4,0.149,0.077,2132,3727,3875
$GC,155,-1.57,-97.3,5.5,-4.7,23,161,0.00,2.47,0.00,0.000,6,0.000,0.037,2132,2296,3876
$GC,229,-1.57,-97.3,11.0,-7.4,36,235,0.00,2.53,0.00,0.000,4,0.000,0.064,2132,908,3875
$GC,342,-1.57,-97.3,21.0,-9.2,56,348,0.00,2.50,0.00,0.000,6,0.000,0.044,2132,2315,3876
$GC,415,-1.57,-97.3,28.3,-10.4,69,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2315,3876
$GC,488,-1.57,-97.3,36.3,-11.0,82,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2315,3877
$GC,561,-1.57,-97.3,44.4,-11.4,95,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2315,3876
$GC,700,-1.57,-97.3,59.8,-11.1,120,706,0.00,2.58,0.00,0.000,4,0.000,0.058,2132,911,3876
$GC,728,-1.57,-97.3,62.9,-11.2,125,734,0.00,2.53,0.00,0.000,6,0.000,0.047,2132,2319,3876
$GC,868,-1.57,-97.3,78.2,-10.4,150,875,0.00,2.55,0.00,0.000,4,0.000,0.063,2132,3716,3876
$GC,904,-1.57,-97.3,82.4,-12.0,156,911,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2316,3876
$GC,1046,-1.57,-97.3,97.7,-10.4,181,1052,0.00,2.60,0.00,0.000,4,0.000,0.064,2132,908,3875
$GC,1097,-1.57,-97.3,102.7,-10.2,190,1104,0.00,2.55,0.00,0.000,6,0.000,0.051,2132,2299,3875
$STATE,1108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1111,-0.33,0.0,103.8,9.4,192,1196,1.27,0.00,78.00,0.591,6,0.087,0.000,2397,2300,3478
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1198,1.57,97.3,106.1,0.0,207,1282,1.88,0.00,77.47,0.574,6,0.051,0.000,2826,2300,3081
$GC,1416,1.57,97.3,87.2,10.9,246,1423,0.00,2.62,0.00,0.000,4,0.000,0.067,2826,905,3081
$GC,1501,1.57,97.3,78.4,10.7,261,1507,0.00,2.58,0.00,0.000,6,0.000,0.053,2827,2312,3080
$GC,1642,1.58,102.3,64.5,9.7,286,1654,0.00,2.65,5.68,0.468,4,0.000,0.067,2826,3725,3060
$GC,1710,1.58,102.3,57.6,10.7,298,1716,0.00,2.53,0.00,0.000,6,0.000,0.037,2826,2310,3059
$GC,1851,1.59,116.8,44.4,9.0,323,1869,0.00,2.70,13.10,0.543,4,0.000,0.069,2826,907,3001
$GC,1914,1.61,127.3,38.7,9.3,334,1933,0.00,2.58,10.15,0.520,6,0.000,0.055,2826,2315,2958
$GC,2000,1.61,129.3,30.4,9.9,349,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2315,2957
$GC,2073,1.61,132.0,23.4,9.8,362,2080,0.00,0.00,5.25,0.453,6,0.000,0.000,2826,2315,2939
$GC,2147,1.61,133.0,15.9,9.9,375,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2315,2939
$GC,2220,1.63,144.9,8.9,9.2,388,2239,0.00,2.62,11.73,0.528,4,0.000,0.061,2827,908,2887
$STATE,2288,end climb,SURFACE_DEPTH_REACHED
$STATE,2288,begin surface coast
$FINISH,3.2,1.020185
$STATE,2374,end surface coast,CONTROL_FINISHED_OK
$STATE,2374,begin surface
$SM_CCo,2393,365.33,0.523,0,0,1030,600.24
$SM_GC,0.50,0.00,0.00,365.33,0.000,0.000,0.523,406,2316,1030,-9.53,0.17,600.24
$IRIDIUM_FIX,4751.72,-12340.51,110998,212112
$TT8_MAMPS,0.028379
$HUMID,1918
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,100.3,19.2
$24V_AH,23.6,0.775
$10V_AH,10.7,0.328
$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,23.625,46.225,201.375,365.325,0.000,23.809,29.903,252.658,4.000,0.000,0.000,13.306,638.732,732.207,674.183,764.227,362.939,33.319,1083.530,0.000,754.406,0.000,14.560,0.000
$DEVICE_MAMPS,148.798,77.467,590.590,523.094,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.454,505.628,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19105,415
$CAP_FILE_SIZE,51584,0
$CFSIZE,259952640,258990080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,231744,4806.483,-12222.831,14,1.8,14,18.3