version: 66.04
glider: 131
mission: 3
dive: 9
start: 6 18 109 1 13 15
data:
$ID,131
$MISSION,3
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,151
$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,63
$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,-82457.867
$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,24
$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
$GPS1,010254,4806.156,-12222.502,38,1.6,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-60.6
$GPS2,011222,4806.224,-12222.507,16,3.3,35,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.183,-0.083
$KALMAN_X,-1344.9,-502.7,-86.0,2182.6,-130.1
$KALMAN_Y,555.1,281.0,-11.7,-2312.1,-60.6
$MHEAD_RNG_PITCHd_Wd,96.0,752,-17.8,-7.989
$D_GRID,151
$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,-1.31,-97.3,0.0,0.0,0,128,0.00,0.00,-111.35,0.000,2,0.000,0.000,403,2300,3875
$GC,130,-1.31,-97.3,3.3,-5.2,19,149,9.80,2.62,0.00,0.000,4,0.152,0.058,2188,3716,3876
$GC,334,-1.31,-97.3,22.5,-8.2,55,340,0.00,2.45,0.00,0.000,6,0.000,0.035,2188,2304,3878
$GC,408,-1.31,-97.3,28.7,-8.5,68,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2304,3877
$GC,480,-1.31,-97.3,35.3,-9.0,81,487,0.00,2.60,0.00,0.000,4,0.000,0.060,2188,3719,3877
$GC,520,-1.31,-97.3,39.3,-10.4,88,526,0.00,2.47,0.00,0.000,6,0.000,0.033,2188,2302,3878
$GC,593,-1.31,-97.3,46.3,-9.4,101,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2302,3878
$GC,733,-1.31,-97.3,59.1,-9.1,126,739,0.00,2.55,0.00,0.000,4,0.000,0.061,2188,911,3877
$GC,755,-1.31,-97.3,61.3,-9.2,130,762,0.00,2.55,0.00,0.000,6,0.000,0.050,2188,2308,3878
$GC,897,-1.31,-97.3,73.8,-8.9,155,903,0.00,2.60,0.00,0.000,4,0.000,0.063,2188,3725,3877
$GC,925,-1.31,-97.3,76.6,-9.3,160,931,0.00,2.50,0.00,0.000,6,0.000,0.033,2188,2307,3877
$GC,1068,-1.31,-97.3,88.7,-8.1,185,1074,0.00,2.60,0.00,0.000,4,0.000,0.063,2188,3715,3877
$GC,1095,-1.31,-97.3,91.0,-8.4,190,1102,0.00,2.47,0.00,0.000,6,0.000,0.035,2188,2312,3877
$GC,1237,-1.31,-97.3,102.0,-7.4,215,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2312,3876
$STATE,1376,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1376,begin apogee
$GC,1379,-0.33,0.0,113.2,8.2,240,1464,1.00,0.00,78.45,0.601,6,0.083,0.000,2399,2312,3478
$STATE,1464,end apogee,CONTROL_FINISHED_OK
$STATE,1464,begin climb
$GC,1465,1.31,97.3,115.2,0.0,255,1552,1.60,2.72,78.35,0.583,4,0.048,0.067,2762,910,3081
$GC,1591,1.31,97.3,108.0,8.5,277,1597,0.00,2.58,0.00,0.000,6,0.000,0.054,2762,2306,3081
$GC,1731,1.31,97.3,96.0,8.6,302,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2306,3080
$GC,1871,1.31,98.9,84.1,7.9,327,1878,0.00,2.62,0.00,0.000,4,0.000,0.064,2762,902,3080
$GC,1928,1.31,98.9,79.2,8.5,337,1934,0.00,2.58,0.00,0.000,6,0.000,0.052,2762,2313,3079
$GC,2068,1.31,102.5,67.8,7.8,362,2075,0.00,0.00,5.50,0.476,6,0.000,0.000,2762,2313,3060
$GC,2210,1.32,109.7,57.0,7.6,387,2224,0.00,2.65,7.45,0.515,4,0.000,0.069,2762,3726,3030
$GC,2246,1.32,109.7,53.9,8.4,393,2252,0.00,2.50,0.00,0.000,6,0.000,0.036,2762,2304,3030
$GC,2386,1.34,122.0,43.0,7.3,418,2405,0.00,2.62,11.57,0.545,4,0.000,0.066,2762,903,2980
$GC,2478,1.34,125.7,36.0,7.8,434,2491,0.00,2.58,4.70,0.442,6,0.000,0.053,2762,2320,2964
$GC,2558,1.35,132.0,30.0,7.6,448,2571,0.00,0.00,6.88,0.498,6,0.000,0.000,2762,2320,2938
$GC,2638,1.36,140.2,23.9,7.5,462,2650,0.00,0.00,8.00,0.512,6,0.000,0.000,2762,2320,2906
$GC,2717,1.36,140.2,17.5,8.0,476,2724,0.00,2.62,0.00,0.000,4,0.000,0.062,2762,903,2905
$GC,2746,1.36,140.2,15.1,8.4,481,2752,0.00,2.55,0.00,0.000,6,0.000,0.051,2762,2312,2905
$GC,2820,1.37,148.8,9.6,7.5,494,2832,0.00,0.00,8.52,0.515,6,0.000,0.000,2762,2312,2871
$GC,2899,1.40,172.1,4.1,6.7,508,2907,0.00,0.00,5.62,0.463,2,0.000,0.000,2762,2312,2846
$STATE,2907,end climb,SURFACE_DEPTH_REACHED
$STATE,2908,begin surface coast
$FINISH,1.4,1.019104
$STATE,2980,end surface coast,CONTROL_FINISHED_OK
$STATE,2980,begin surface
$SM_CCo,2997,360.15,0.525,0,0,1031,600.24
$SM_GC,0.57,0.00,0.00,360.15,0.000,0.000,0.525,404,2312,1031,-9.54,0.06,600.24
$IRIDIUM_FIX,4751.72,-12340.51,120998,010148
$TT8_MAMPS,0.028379
$HUMID,1917
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,18.00
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,90.2,32.6
$24V_AH,23.6,1.084
$10V_AH,10.7,0.467
$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,23.075,51.450,215.050,360.150,0.000,56.479,182.056,175.878,2.500,0.000,0.000,37.808,788.521,1025.824,690.451,970.419,466.915,33.327,1179.168,0.000,939.856,0.000,10.219,0.000
$DEVICE_MAMPS,151.866,69.030,601.328,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.641,612.713,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25388,522
$CAP_FILE_SIZE,58839,0
$CFSIZE,259952640,258879488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,021016,4806.004,-12222.270,11,2.3,30,18.3