version: 66.04
glider: 131
mission: 3
dive: 10
start: 6 18 109 2 16 45
data:
$ID,131
$MISSION,3
$DIVE,10
$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,-82491.203
$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,26
$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,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
$GPS1,021016,4806.004,-12222.270,11,2.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-61.0
$GPS2,021552,4806.029,-12222.283,11,2.3,30,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.157,-0.010
$KALMAN_X,-1813.3,-464.1,-52.5,2856.3,-248.0
$KALMAN_Y,625.1,232.7,-81.3,-2623.6,-17.6
$MHEAD_RNG_PITCHd_Wd,75.2,354,-23.6,-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,13,begin dive
$GC,14,-1.64,-57.9,0.0,0.0,0,126,0.00,0.00,-107.82,0.000,6,0.000,0.000,405,2312,3716
$GC,128,-1.69,-97.3,2.9,-3.7,19,148,9.43,2.58,-4.35,0.000,4,0.152,0.071,2104,3717,3874
$GC,277,-1.69,-97.3,18.0,-10.5,45,284,0.00,2.45,0.00,0.000,6,0.000,0.032,2104,2301,3876
$GC,351,-1.69,-97.3,25.4,-10.7,58,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2301,3876
$GC,424,-1.69,-97.3,33.7,-11.4,71,430,0.00,2.53,0.00,0.000,4,0.000,0.055,2104,914,3876
$GC,441,-1.69,-97.3,36.0,-12.5,74,447,0.00,2.50,0.00,0.000,6,0.000,0.044,2104,2312,3876
$GC,514,-1.69,-97.3,45.3,-12.4,87,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2312,3877
$GC,654,-1.69,-97.3,62.5,-12.6,112,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2312,3876
$GC,794,-1.69,-97.3,79.9,-12.0,137,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2312,3876
$GC,940,-1.69,-97.3,97.8,-11.9,162,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2312,3876
$GC,1080,-1.69,-97.3,113.9,-11.4,187,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2312,3876
$STATE,1117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1117,begin apogee
$GC,1120,-0.33,0.0,118.3,11.2,194,1205,1.45,0.00,78.25,0.600,6,0.093,0.000,2400,2312,3478
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1207,1.69,97.3,120.5,0.0,209,1292,1.98,0.00,78.10,0.583,6,0.049,0.000,2850,2312,3081
$GC,1426,1.69,97.3,100.0,11.7,248,1433,0.00,2.62,0.00,0.000,4,0.000,0.066,2850,916,3080
$GC,1488,1.69,97.3,92.6,11.6,259,1495,0.00,2.55,0.00,0.000,6,0.000,0.054,2850,2306,3080
$GC,1629,1.69,97.3,77.5,10.5,284,1635,0.00,2.62,0.00,0.000,4,0.000,0.068,2850,3718,3079
$GC,1646,1.69,97.3,75.6,10.8,287,1653,0.00,2.47,0.00,0.000,6,0.000,0.036,2850,2313,3079
$GC,1787,1.69,97.3,61.1,10.3,312,1793,0.00,2.62,0.00,0.000,4,0.000,0.067,2850,903,3079
$GC,1838,1.69,97.3,56.0,10.1,321,1844,0.00,2.58,0.00,0.000,6,0.000,0.053,2850,2311,3079
$GC,1978,1.69,97.3,42.7,9.4,346,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2311,3078
$GC,2119,1.69,97.3,30.7,8.7,371,2126,0.00,2.62,0.00,0.000,4,0.000,0.077,2850,3722,3078
$GC,2142,1.69,97.3,28.5,9.0,375,2149,0.00,2.47,0.00,0.000,6,0.000,0.041,2850,2306,3078
$GC,2216,1.69,97.3,22.1,9.0,388,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2306,3078
$GC,2289,1.69,97.3,16.1,8.1,401,2295,0.00,2.62,0.00,0.000,4,0.000,0.066,2850,3719,3078
$GC,2318,1.69,97.3,13.7,8.2,406,2325,0.00,2.47,0.00,0.000,6,0.000,0.038,2851,2313,3078
$GC,2394,1.71,109.3,7.7,6.9,419,2406,0.00,0.00,10.40,0.533,6,0.000,0.000,2850,2313,3032
$STATE,2472,end climb,SURFACE_DEPTH_REACHED
$STATE,2472,begin surface coast
$FINISH,3.7,1.021404
$STATE,2626,end surface coast,CONTROL_FINISHED_OK
$STATE,2626,begin surface
$SM_CCo,2643,400.73,0.518,4,0,1031,600.24
$SM_GC,0.64,0.00,0.00,400.73,0.000,0.000,0.518,404,2312,1031,-9.53,0.06,600.24
$IRIDIUM_FIX,4751.72,-12340.51,120998,010144
$TT8_MAMPS,0.028379
$HUMID,1913
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.2,37.9
$24V_AH,23.6,1.184
$10V_AH,10.7,0.515
$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,24.025,35.725,166.750,400.725,0.000,29.264,32.095,185.229,1.750,0.000,0.000,32.704,697.769,853.102,709.793,860.247,294.571,33.329,1142.590,0.000,834.927,0.000,10.244,0.000
$DEVICE_MAMPS,151.866,77.467,599.794,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.960,559.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22227,460
$CAP_FILE_SIZE,50278,0
$CFSIZE,259952640,258859008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,180609,030900,4805.970,-12221.995,27,1.0,38,18.3