version: 66.04
glider: 131
mission: 3
dive: 14
start: 6 18 109 6 32 26
data:
$ID,131
$MISSION,3
$DIVE,14
$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,-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,500
$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,-82595.938
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,407
$PITCH_MAX,3732
$C_PITCH,2475
$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,25
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$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
$GPS1,062619,4806.771,-12222.792,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-59.7
$GPS2,063132,4806.780,-12222.818,11,1.6,11,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.177
$KALMAN_X,-2820.7,-178.3,-0.2,2860.8,12.2
$KALMAN_Y,324.8,-19.7,-51.7,-711.0,-94.9
$MHEAD_RNG_PITCHd_Wd,313.3,2691,-17.8,-7.989
$D_GRID,105
$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,-1.34,-97.3,0.0,0.0,0,133,0.00,0.00,-116.05,0.000,2,0.000,0.000,403,2315,3396
$GC,135,-1.34,-97.3,3.1,-4.1,20,166,9.73,2.60,-12.73,0.000,4,0.147,0.070,2181,3712,3876
$GC,195,-1.34,-97.3,7.6,-6.7,30,201,0.00,2.45,0.00,0.000,6,0.000,0.030,2181,2299,3876
$GC,269,-1.34,-97.3,12.2,-5.3,43,275,0.00,2.50,0.00,0.000,4,0.000,0.052,2181,915,3876
$GC,527,-1.34,-97.3,33.0,-9.5,89,534,0.00,2.50,0.00,0.000,6,0.000,0.048,2181,2312,3876
$GC,601,-1.34,-97.3,39.9,-9.1,102,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2312,3877
$GC,673,-1.34,-97.3,46.6,-9.1,115,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2312,3877
$GC,813,-1.34,-97.3,59.4,-8.8,140,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2312,3877
$GC,952,-1.34,-97.3,71.9,-8.6,165,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2312,3877
$GC,1091,-1.34,-97.3,84.2,-8.9,190,1097,0.00,2.60,0.00,0.000,4,0.000,0.063,2181,3724,3876
$GC,1130,-1.34,-97.3,87.7,-9.2,197,1137,0.00,2.47,0.00,0.000,6,0.000,0.034,2181,2311,3876
$GC,1271,-1.34,-97.3,99.7,-8.5,222,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2311,3876
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1344,-0.34,0.0,105.2,7.9,235,1430,1.02,0.00,79.07,0.591,6,0.084,0.000,2395,2309,3477
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1432,1.34,97.3,107.5,0.0,251,1519,1.65,2.65,78.57,0.574,4,0.051,0.064,2763,3714,3080
$GC,1558,1.34,97.3,100.2,9.2,274,1565,0.00,2.50,0.00,0.000,6,0.000,0.037,2763,2319,3079
$GC,1699,1.34,97.3,88.2,8.2,299,1705,0.00,2.67,0.00,0.000,4,0.000,0.067,2764,895,3079
$GC,1749,1.34,97.3,83.8,8.8,308,1756,0.00,2.60,0.00,0.000,6,0.000,0.054,2763,2315,3079
$GC,1890,1.34,100.2,72.4,7.8,333,1902,0.00,2.65,3.70,0.380,4,0.000,0.067,2763,3715,3069
$GC,1918,1.34,100.2,70.0,8.8,338,1925,0.00,2.50,0.00,0.000,6,0.000,0.034,2763,2295,3069
$GC,2059,1.34,100.2,58.6,8.0,363,2065,0.00,2.58,0.00,0.000,4,0.000,0.065,2763,909,3069
$GC,2098,1.34,101.2,55.5,7.9,370,2104,0.00,2.58,0.00,0.000,6,0.000,0.052,2763,2318,3069
$GC,2239,1.36,116.4,45.0,7.1,395,2256,0.00,0.00,14.70,0.554,6,0.000,0.000,2763,2318,3003
$GC,2391,1.37,124.8,34.0,7.5,422,2403,0.00,0.00,8.25,0.515,6,0.000,0.000,2763,2318,2969
$GC,2470,1.39,136.5,28.2,7.3,436,2483,0.00,0.00,11.00,0.530,6,0.000,0.000,2763,2318,2921
$GC,2550,1.39,137.0,22.0,8.0,450,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2318,2921
$GC,2623,1.39,137.0,16.1,8.2,463,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2318,2920
$GC,2696,1.40,151.7,10.5,7.2,476,2714,0.00,0.00,13.68,0.535,6,0.000,0.000,2764,2318,2859
$GC,2782,1.45,192.2,4.8,5.7,491,2808,0.12,0.00,23.30,0.538,2,0.052,0.000,2802,2318,2744
$STATE,2808,end climb,SURFACE_DEPTH_REACHED
$STATE,2808,begin surface coast
$FINISH,3.1,1.019937
$STATE,2915,end surface coast,CONTROL_FINISHED_OK
$STATE,2915,begin surface
$SM_CCo,2932,259.15,0.520,2,0,1439,500.16
$SM_GC,1.38,0.00,0.00,259.15,0.000,0.000,0.520,407,2318,1439,-9.51,0.23,500.16
$IRIDIUM_FIX,4751.72,-12340.51,120998,050549
$TT8_MAMPS,0.028379
$HUMID,1894
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,18.00
$XPDR_PINGS,4
$24V_AH,23.6,1.600
$10V_AH,10.7,0.707
$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,23.400,35.850,232.275,259.150,0.000,29.045,31.194,182.285,1.000,0.000,0.000,13.374,759.022,997.023,618.405,863.382,293.341,33.342,1092.629,0.000,858.745,0.000,0.835,0.000
$DEVICE_MAMPS,147.264,69.797,591.357,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.203,360.647,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22164,514
$CAP_FILE_SIZE,54354,0
$CFSIZE,259952640,258723840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180609,072654,4806.949,-12223.143,23,1.4,34,18.3