version: 66.04
glider: 131
mission: 3
dive: 8
start: 6 18 109 0 13 24
data:
$ID,131
$MISSION,3
$DIVE,8
$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,0
$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,-82419.43
$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,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,10
$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,5
$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
$GPS1,000737,4806.336,-12222.702,18,1.9,18,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-60.7
$GPS2,001231,4806.360,-12222.712,22,2.0,22,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.191,-0.100
$KALMAN_X,-1055.7,-479.6,-105.1,1634.2,-88.5
$KALMAN_Y,457.8,285.3,46.7,-2023.7,-67.3
$MHEAD_RNG_PITCHd_Wd,99.4,1104,-21.7,-10.000
$D_GRID,150
$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,-97.3,0.0,0.0,0,131,0.00,0.00,-113.93,0.000,6,0.000,0.000,408,2311,3877
$GC,133,-1.57,-97.3,3.6,-8.4,20,152,9.50,2.62,0.00,0.000,4,0.152,0.058,2128,3724,3878
$GC,186,-1.57,-97.3,11.7,-11.4,29,192,0.00,2.47,0.00,0.000,6,0.000,0.032,2129,2298,3877
$GC,260,-1.57,-97.3,18.4,-8.9,42,266,0.00,2.60,0.00,0.000,4,0.000,0.058,2128,3718,3878
$GC,283,-1.57,-97.3,20.5,-9.6,46,289,0.00,2.45,0.00,0.000,6,0.000,0.038,2128,2309,3878
$GC,356,-1.57,-97.3,28.0,-10.3,59,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2309,3878
$GC,429,-1.57,-97.3,36.1,-11.5,72,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2309,3879
$GC,501,-1.57,-97.3,44.3,-11.0,85,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2309,3878
$GC,641,-1.57,-97.3,60.4,-11.8,110,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2309,3878
$GC,781,-1.57,-97.3,76.1,-11.1,135,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2309,3879
$GC,920,-1.57,-97.3,91.1,-10.6,160,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2308,3878
$GC,1061,-1.57,-97.3,105.1,-10.4,185,1067,0.00,2.62,0.00,0.000,4,0.000,0.064,2128,3725,3878
$GC,1145,-1.57,-97.3,115.0,-11.6,200,1152,0.00,2.50,0.00,0.000,6,0.000,0.036,2128,2315,3878
$STATE,1156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1156,begin apogee
$GC,1159,-0.33,0.0,116.2,10.7,202,1243,1.30,0.00,78.57,0.600,6,0.089,0.000,2396,2314,3478
$STATE,1244,end apogee,CONTROL_FINISHED_OK
$STATE,1244,begin climb
$GC,1245,1.57,97.3,118.2,0.0,217,1336,1.88,2.72,78.10,0.583,4,0.051,0.068,2821,908,3081
$GC,1392,1.57,97.3,108.6,10.6,243,1398,0.00,2.58,0.00,0.000,6,0.000,0.054,2821,2309,3080
$GC,1532,1.57,97.3,94.0,10.4,268,1539,0.00,2.62,0.00,0.000,4,0.000,0.069,2821,3718,3081
$GC,1600,1.57,97.3,86.1,10.9,280,1606,0.00,2.53,0.00,0.000,6,0.000,0.036,2821,2304,3080
$GC,1741,1.58,106.2,72.2,9.4,305,1753,0.00,0.00,8.52,0.525,6,0.000,0.000,2821,2304,3045
$GC,1888,1.58,108.9,57.7,9.8,331,1900,0.00,2.65,3.85,0.395,4,0.000,0.067,2821,908,3034
$GC,1956,1.58,108.9,50.7,10.2,343,1962,0.00,2.58,0.00,0.000,6,0.000,0.059,2821,2317,3034
$GC,2097,1.61,126.6,37.9,8.8,368,2121,0.00,2.70,15.82,0.553,4,0.000,0.070,2821,908,2962
$GC,2138,1.61,132.3,34.0,9.6,375,2151,0.00,2.58,6.22,0.472,6,0.000,0.056,2821,2314,2938
$GC,2219,1.62,134.5,26.0,9.8,389,2225,0.00,0.00,3.38,0.352,6,0.000,0.000,2821,2314,2929
$GC,2292,1.62,134.5,18.3,10.9,402,2299,0.00,2.62,0.00,0.000,4,0.000,0.076,2821,3724,2929
$GC,2315,1.62,134.5,15.8,11.1,406,2322,0.00,2.50,0.00,0.000,6,0.000,0.037,2821,2303,2929
$GC,2389,1.64,151.4,8.9,8.8,419,2407,0.00,0.00,15.02,0.542,6,0.000,0.000,2822,2300,2860
$STATE,2451,end climb,SURFACE_DEPTH_REACHED
$STATE,2451,begin surface coast
$FINISH,1.7,1.019601
$STATE,2520,end surface coast,CONTROL_FINISHED_OK
$STATE,2520,begin surface
$SM_CCo,2536,362.15,0.524,0,0,1031,600.24
$SM_GC,0.55,0.00,0.00,362.15,0.000,0.000,0.524,403,2300,1031,-9.54,-0.28,600.24
$IRIDIUM_FIX,4751.72,-12340.51,110998,232345
$TT8_MAMPS,0.028379
$HUMID,1916
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,17.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,100.5,24.6
$24V_AH,23.6,0.975
$10V_AH,10.7,0.413
$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,23.650,41.350,209.500,362.150,0.000,26.329,28.210,161.937,3.500,0.000,0.000,24.195,657.189,791.342,683.124,817.998,261.186,33.321,1116.993,0.000,796.597,0.000,14.546,0.000
$DEVICE_MAMPS,151.866,75.933,599.794,523.861,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.494,516.098,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19041,442
$CAP_FILE_SIZE,50819,0
$CFSIZE,259952640,258928640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,010254,4806.156,-12222.502,38,1.6,38,18.3