version: 66.04
glider: 131
mission: 3
dive: 7
start: 6 17 109 23 24 18
data:
$ID,131
$MISSION,3
$DIVE,7
$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,-82394.602
$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,22
$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
$GPS1,231744,4806.483,-12222.831,14,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-58.6
$GPS2,232302,4806.516,-12222.856,9,1.8,9,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,-0.119
$KALMAN_X,-897.8,-448.1,-126.2,1288.3,-74.2
$KALMAN_Y,449.1,290.6,94.5,-1779.7,-21.4
$MHEAD_RNG_PITCHd_Wd,105.2,1427,-21.7,-10.000
$D_GRID,101
$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,-110.85,0.000,2,0.000,0.000,407,2317,3803
$GC,129,-1.57,-97.3,3.6,-6.6,19,149,9.52,2.60,-1.75,0.000,4,0.151,0.071,2132,3715,3877
$GC,255,-1.57,-97.3,19.2,-10.0,41,262,0.00,2.45,0.00,0.000,6,0.000,0.033,2132,2299,3878
$GC,329,-1.57,-97.3,26.2,-9.4,54,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2299,3879
$GC,402,-1.57,-97.3,33.9,-11.0,67,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2299,3879
$GC,475,-1.57,-97.3,41.6,-10.6,80,482,0.00,2.60,0.00,0.000,4,0.000,0.061,2132,3723,3879
$GC,493,-1.57,-97.3,43.7,-11.5,83,499,0.00,2.45,0.00,0.000,6,0.000,0.033,2132,2310,3879
$GC,633,-1.57,-97.3,59.6,-10.7,108,639,0.00,2.55,0.00,0.000,4,0.000,0.060,2132,911,3878
$GC,655,-1.57,-97.3,62.0,-10.7,112,662,0.00,2.55,0.00,0.000,6,0.000,0.048,2132,2309,3878
$GC,797,-1.57,-97.3,77.6,-10.8,137,803,0.00,2.60,0.00,0.000,4,0.000,0.062,2132,3726,3879
$GC,843,-1.57,-97.3,82.9,-11.8,145,849,0.00,2.47,0.00,0.000,6,0.000,0.035,2132,2308,3878
$GC,983,-1.57,-97.3,98.5,-10.7,170,990,0.00,2.58,0.00,0.000,4,0.000,0.063,2132,906,3878
$GC,1006,-1.57,-97.3,100.8,-9.9,174,1012,0.00,2.55,0.00,0.000,6,0.000,0.051,2132,2321,3877
$STATE,1016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1016,begin apogee
$GC,1019,-0.33,0.0,101.9,10.1,176,1104,1.30,0.00,78.32,0.588,6,0.089,0.000,2400,2322,3478
$STATE,1105,end apogee,CONTROL_FINISHED_OK
$STATE,1105,begin climb
$GC,1106,1.57,97.3,104.1,0.0,191,1191,1.85,0.00,77.57,0.573,6,0.051,0.000,2822,2322,3081
$GC,1325,1.57,97.3,85.4,10.8,230,1331,0.00,2.65,0.00,0.000,4,0.000,0.067,2822,910,3080
$GC,1398,1.57,97.3,77.4,10.9,243,1404,0.00,2.58,0.00,0.000,6,0.000,0.053,2822,2318,3080
$GC,1539,1.57,101.1,62.9,9.7,268,1546,0.00,0.00,4.65,0.430,6,0.000,0.000,2822,2317,3065
$GC,1681,1.59,113.3,49.6,9.2,293,1698,0.00,0.00,11.25,0.533,6,0.000,0.000,2822,2318,3016
$GC,1833,1.66,174.2,38.0,5.8,320,1887,0.00,2.70,49.03,0.557,4,0.000,0.074,2822,3717,2767
$GC,1927,1.66,174.2,28.9,12.6,336,1934,0.00,2.50,0.00,0.000,6,0.000,0.046,2822,2301,2767
$GC,2002,1.66,174.2,19.9,12.0,349,2009,0.00,2.60,0.00,0.000,4,0.000,0.070,2822,908,2767
$GC,2036,1.66,174.2,15.6,12.7,355,2043,0.00,2.55,0.00,0.000,6,0.000,0.052,2822,2311,2767
$GC,2110,1.66,174.2,7.1,11.4,368,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2310,2767
$STATE,2144,end climb,SURFACE_DEPTH_REACHED
$STATE,2144,begin surface coast
$FINISH,1.4,1.019321
$STATE,2188,end surface coast,CONTROL_FINISHED_OK
$STATE,2188,begin surface
$SM_CCo,2204,343.02,0.522,0,0,1031,600.24
$SM_GC,0.45,0.00,0.00,343.02,0.000,0.000,0.522,407,2311,1031,-9.52,0.03,600.24
$IRIDIUM_FIX,4751.72,-12340.51,110998,222214
$TT8_MAMPS,0.028379
$HUMID,1913
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.90
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,80.2,45.6
$24V_AH,23.6,0.875
$10V_AH,10.7,0.368
$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,23.625,40.975,220.825,343.025,0.000,24.999,45.758,183.240,3.750,0.000,0.000,10.504,583.061,660.815,658.521,695.833,308.281,33.325,1048.687,0.000,693.120,0.000,5.839,0.000
$DEVICE_MAMPS,151.099,74.399,588.289,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.475,455.587,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15953,382
$CAP_FILE_SIZE,46180,0
$CFSIZE,259952640,258965504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,000737,4806.336,-12222.702,18,1.9,18,18.3