version: 66.04
glider: 131
mission: 3
dive: 12
start: 6 18 109 4 18 50
data:
$ID,131
$MISSION,3
$DIVE,12
$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,70
$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,-82539.109
$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,14.6
$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
$GPS1,041228,4806.263,-12222.318,8,4.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-67.0
$GPS2,041757,4806.261,-12222.321,10,2.6,29,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,0.194
$KALMAN_X,-2392.1,-357.9,-42.9,3265.7,-201.6
$KALMAN_Y,464.1,136.4,-83.2,-1932.0,-111.2
$MHEAD_RNG_PITCHd_Wd,326.5,3832,-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,13,-1.34,-97.3,0.0,0.0,0,99,0.00,0.00,-82.50,0.000,2,0.000,0.000,404,2320,3138
$GC,100,-1.34,-97.3,3.0,-4.3,14,138,9.95,2.60,-19.80,0.000,4,0.156,0.064,2182,900,3875
$GC,257,-1.34,-97.3,11.9,-6.3,41,264,0.00,2.53,0.00,0.000,6,0.000,0.043,2182,2321,3876
$GC,331,-1.34,-97.3,18.0,-8.9,54,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2320,3877
$GC,405,-1.34,-97.3,24.6,-8.4,67,411,0.00,2.55,0.00,0.000,4,0.000,0.061,2182,3715,3877
$GC,445,-1.34,-97.3,28.5,-9.8,74,451,0.00,2.45,0.00,0.000,6,0.000,0.036,2182,2306,3877
$GC,518,-1.34,-97.3,35.5,-9.6,87,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2306,3877
$GC,591,-1.34,-97.3,42.7,-10.2,100,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2306,3877
$GC,731,-1.34,-97.3,56.1,-9.4,125,737,0.00,2.60,0.00,0.000,4,0.000,0.062,2182,3712,3877
$GC,758,-1.34,-97.3,58.9,-9.8,130,765,0.00,2.47,0.00,0.000,6,0.000,0.033,2182,2315,3877
$GC,900,-1.34,-97.3,71.8,-8.6,155,906,0.00,2.60,0.00,0.000,4,0.000,0.060,2182,900,3877
$GC,934,-1.34,-97.3,75.1,-9.5,161,940,0.00,2.55,0.00,0.000,6,0.000,0.048,2182,2313,3876
$GC,1076,-1.34,-97.3,87.9,-9.1,186,1082,0.00,2.58,0.00,0.000,4,0.000,0.064,2182,3716,3876
$GC,1132,-1.34,-97.3,93.4,-9.9,196,1139,0.00,2.50,0.00,0.000,6,0.000,0.035,2182,2310,3876
$GC,1275,-1.34,-97.3,105.9,-8.6,221,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2309,3876
$GC,1416,-1.34,-97.3,117.1,-8.1,246,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2309,3875
$GC,1558,-1.34,-97.3,121.9,0.1,271,1564,0.00,2.62,0.00,0.000,4,0.000,0.064,2182,3716,3875
$STATE,1625,end dive,NO_VERTICAL_VELOCITY
$STATE,1625,begin apogee
$GC,1631,-0.34,0.0,122.0,0.0,283,1715,0.98,0.00,79.05,0.611,6,0.059,0.000,2399,2310,3478
$STATE,1716,end apogee,CONTROL_FINISHED_OK
$STATE,1716,begin climb
$GC,1717,1.34,97.3,121.8,0.0,298,1808,1.62,2.75,78.57,0.591,4,0.048,0.068,2765,901,3081
$GC,2060,1.34,97.3,95.3,8.4,359,2066,0.00,2.58,0.00,0.000,6,0.000,0.053,2764,2309,3080
$GC,2200,1.34,97.3,84.0,8.7,384,2207,0.00,2.62,0.00,0.000,4,0.000,0.064,2764,901,3080
$GC,2342,1.34,102.2,72.7,7.7,409,2354,0.00,2.58,5.35,0.477,6,0.000,0.052,2764,2316,3061
$GC,2490,1.36,112.5,61.7,7.4,435,2502,0.00,0.00,9.98,0.545,6,0.000,0.000,2764,2316,3019
$GC,2637,1.36,112.9,50.0,8.0,461,2643,0.00,2.62,0.00,0.000,4,0.000,0.072,2764,908,3018
$GC,2716,1.37,122.5,43.8,7.5,475,2734,0.00,2.55,9.82,0.541,6,0.000,0.051,2764,2313,2978
$GC,2869,1.38,129.0,31.8,7.6,502,2881,0.00,0.00,6.90,0.505,6,0.000,0.000,2764,2313,2951
$GC,2948,1.39,139.9,25.7,7.4,516,2962,0.00,0.00,10.07,0.533,6,0.000,0.000,2764,2313,2907
$GC,3029,1.40,151.1,19.6,7.4,530,3042,0.00,0.00,10.85,0.532,6,0.000,0.000,2764,2314,2861
$GC,3109,1.42,161.2,13.7,7.4,544,3128,0.00,2.67,9.55,0.521,4,0.000,0.062,2763,912,2820
$STATE,3256,end climb,SURFACE_DEPTH_REACHED
$STATE,3257,begin surface coast
$FINISH,4.0,1.020059
$STATE,3263,end surface coast,CONTROL_FINISHED_OK
$STATE,3263,begin surface
$SM_CCo,3282,362.58,0.521,3,0,1031,600.24
$SM_GC,0.83,0.00,0.00,362.58,0.000,0.000,0.521,407,2322,1031,-9.52,0.34,600.24
$IRIDIUM_FIX,4751.72,-12340.51,120998,030351
$TT8_MAMPS,0.028379
$HUMID,1884
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.80
$XPDR_PINGS,5
$24V_AH,23.6,1.389
$10V_AH,10.7,0.622
$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,23.225,51.525,220.150,362.575,0.000,23.825,30.088,185.906,3.750,0.000,0.000,31.851,863.934,1086.838,706.871,1053.671,293.588,33.334,1220.757,0.000,1020.056,0.000,23.045,0.000
$DEVICE_MAMPS,155.701,72.098,610.532,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.533,650.768,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25347,571
$CAP_FILE_SIZE,59838,0
$CFSIZE,259952640,258785280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,180609,052052,4806.567,-12222.529,9,4.9,28,18.3