version: 66.04
glider: 131
mission: 3
dive: 15
start: 6 18 109 7 32 56
data:
$ID,131
$MISSION,3
$DIVE,15
$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,-82610.477
$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,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,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
$GPS1,072654,4806.949,-12223.143,23,1.4,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.2
$GPS2,073202,4806.966,-12223.165,12,1.1,12,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.078,0.185
$KALMAN_X,-3115.3,-85.1,46.3,2588.6,-32.3
$KALMAN_Y,282.7,-104.5,-40.7,-249.4,-40.8
$MHEAD_RNG_PITCHd_Wd,318.7,2176,-17.8,-7.989
$D_GRID,101
$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,-97.3,0.0,0.0,0,98,0.00,0.00,-82.05,0.000,2,0.000,0.000,407,2318,3591
$GC,100,-1.34,-97.3,3.5,-4.5,14,126,9.75,2.62,-7.38,0.000,4,0.151,0.072,2178,3719,3876
$GC,143,-1.34,-97.3,7.7,-7.8,21,150,0.00,2.47,0.00,0.000,6,0.000,0.032,2178,2297,3876
$GC,217,-1.34,-97.3,13.3,-6.9,34,223,0.00,2.53,0.00,0.000,4,0.000,0.054,2177,908,3876
$GC,476,-1.34,-97.3,35.7,-9.4,80,483,0.00,2.53,0.00,0.000,6,0.000,0.044,2178,2323,3877
$GC,549,-1.34,-97.3,42.7,-9.1,93,556,0.00,2.60,0.00,0.000,4,0.000,0.056,2178,903,3878
$GC,594,-1.34,-97.3,47.0,-9.7,101,601,0.00,2.53,0.00,0.000,6,0.000,0.044,2178,2310,3878
$GC,735,-1.34,-97.3,59.8,-9.1,126,741,0.00,2.58,0.00,0.000,4,0.000,0.062,2178,3716,3877
$GC,768,-1.34,-97.3,63.1,-9.9,132,775,0.00,2.45,0.00,0.000,6,0.000,0.033,2178,2312,3877
$GC,909,-1.34,-97.3,75.9,-9.0,157,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2312,3878
$GC,1048,-1.34,-97.3,88.0,-8.7,182,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2312,3877
$GC,1187,-1.34,-97.3,99.9,-8.6,207,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2312,3877
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1205,-0.34,0.0,101.3,8.2,210,1291,1.05,0.00,79.45,0.591,6,0.086,0.000,2397,2311,3478
$STATE,1292,end apogee,CONTROL_FINISHED_OK
$STATE,1292,begin climb
$GC,1293,1.34,97.3,103.2,0.0,226,1380,1.65,2.72,79.10,0.573,4,0.052,0.067,2772,909,3081
$GC,1419,1.34,97.3,95.8,8.4,249,1426,0.00,2.58,0.00,0.000,6,0.000,0.052,2772,2310,3080
$GC,1560,1.34,97.3,83.5,8.8,274,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2310,3080
$GC,1699,1.34,97.3,71.7,8.2,299,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2310,3080
$GC,1838,1.35,104.4,60.7,7.6,324,1850,0.00,0.00,7.15,0.502,6,0.000,0.000,2772,2310,3052
$GC,1984,1.35,109.9,49.6,7.7,350,1997,0.00,2.62,6.43,0.489,4,0.000,0.061,2772,909,3028
$GC,2041,1.35,109.9,45.0,8.0,360,2047,0.00,2.58,0.00,0.000,6,0.000,0.051,2772,2317,3028
$GC,2182,1.36,117.8,34.4,7.6,385,2194,0.00,0.00,7.97,0.513,6,0.000,0.000,2772,2317,2996
$GC,2262,1.37,127.5,28.4,7.5,399,2274,0.00,0.00,9.48,0.522,6,0.000,0.000,2772,2316,2957
$GC,2342,1.38,131.9,22.2,7.7,413,2355,0.00,2.67,5.18,0.450,4,0.000,0.061,2772,908,2940
$GC,2388,1.38,131.9,18.6,8.1,421,2394,0.00,2.55,0.00,0.000,6,0.000,0.051,2772,2313,2940
$GC,2462,1.39,141.1,12.9,7.5,434,2474,0.00,0.00,9.07,0.516,6,0.000,0.000,2772,2314,2902
$GC,2542,1.39,141.3,6.8,8.0,448,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2314,2901
$STATE,2591,end climb,SURFACE_DEPTH_REACHED
$STATE,2591,begin surface coast
$FINISH,4.3,1.020424
$STATE,2682,end surface coast,CONTROL_FINISHED_OK
$STATE,2682,begin surface
$SM_CCo,2684,513.38,0.509,7,0,400,755.02
$SM_GC,0.68,10.40,0.00,0.00,0.031,0.000,0.000,404,2313,395,-9.47,0.08,756.25
$IRIDIUM_FIX,4751.72,-12340.51,120998,060614
$TT8_MAMPS,0.028379
$HUMID,1960
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,17.80
$XPDR_PINGS,2
$24V_AH,22.6,1.719
$10V_AH,10.7,0.749
$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,22.850,36.025,203.825,513.375,0.000,29.829,28.307,179.693,0.500,0.000,0.000,13.904,714.376,1020.146,847.267,794.497,286.844,33.337,1278.741,0.000,790.257,0.000,0.836,0.000
$DEVICE_MAMPS,151.099,72.098,590.590,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.400,326.109,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19100,473
$CAP_FILE_SIZE,52310,0
$CFSIZE,259952640,258703360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,180609,082914,4807.109,-12223.423,7,1.9,7,18.3