version: 66.04
glider: 131
mission: 3
dive: 17
start: 6 18 109 9 37 7
data:
$ID,131
$MISSION,3
$DIVE,17
$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,580
$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,-82647.312
$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,14.5
$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,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
$GPS1,093126,4807.266,-12223.494,26,2.1,45,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-66.3
$GPS2,093614,4807.259,-12223.514,14,1.7,14,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.043,0.196
$KALMAN_X,-3384.8,56.7,30.2,2296.3,-58.0
$KALMAN_Y,-52.7,-205.6,3.5,687.5,-112.4
$MHEAD_RNG_PITCHd_Wd,329.2,1499,-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,13,begin dive
$GC,14,-1.35,-97.3,0.0,0.0,0,122,0.00,0.00,-104.88,0.000,2,0.000,0.000,406,2317,3861
$GC,124,-1.35,-97.3,3.6,-5.1,18,143,9.80,2.60,-0.35,0.000,4,0.153,0.067,2176,3715,3876
$GC,396,-1.35,-97.3,29.4,-10.1,66,402,0.00,2.47,0.00,0.000,6,0.000,0.032,2176,2300,3877
$GC,471,-1.35,-97.3,36.1,-9.0,79,477,0.00,2.60,0.00,0.000,4,0.000,0.058,2176,3717,3878
$GC,566,-1.35,-97.3,45.9,-10.1,96,573,0.00,2.47,0.00,0.000,6,0.000,0.032,2176,2305,3878
$GC,707,-1.35,-97.3,59.0,-8.8,121,713,0.00,2.60,0.00,0.000,4,0.000,0.060,2176,3718,3878
$GC,763,-1.35,-97.3,64.5,-10.1,131,769,0.00,2.47,0.00,0.000,6,0.000,0.033,2176,2302,3878
$GC,903,-1.35,-97.3,77.4,-9.6,156,910,0.00,2.55,0.00,0.000,4,0.000,0.061,2176,914,3878
$GC,948,-1.35,-97.3,81.6,-9.5,164,955,0.00,2.53,0.00,0.000,6,0.000,0.048,2176,2315,3878
$GC,1089,-1.35,-97.3,94.4,-9.4,189,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2315,3878
$STATE,1165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1165,begin apogee
$GC,1168,-0.34,0.0,101.4,8.7,203,1254,1.05,0.00,79.57,0.590,6,0.084,0.000,2396,2315,3478
$STATE,1255,end apogee,CONTROL_FINISHED_OK
$STATE,1255,begin climb
$GC,1256,1.35,97.3,103.4,0.0,219,1342,1.65,0.00,78.72,0.571,6,0.050,0.000,2773,2315,3080
$GC,1476,1.35,97.3,88.5,8.2,259,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2315,3080
$GC,1616,1.35,97.3,76.8,8.6,284,1622,0.00,2.62,0.00,0.000,4,0.000,0.064,2773,913,3079
$GC,1711,1.35,101.6,69.0,7.8,301,1723,0.00,2.55,4.85,0.444,6,0.000,0.051,2773,2310,3063
$GC,1858,1.36,107.6,57.4,7.7,327,1869,0.00,0.00,6.57,0.492,6,0.000,0.000,2773,2310,3039
$GC,2003,1.36,109.1,45.7,7.9,353,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2310,3038
$GC,2143,1.36,112.3,34.9,7.8,378,2150,0.00,0.00,5.45,0.466,6,0.000,0.000,2773,2310,3020
$GC,2218,1.37,118.7,29.2,7.6,391,2230,0.00,0.00,7.15,0.499,6,0.000,0.000,2773,2311,2994
$GC,2297,1.39,132.1,23.4,7.2,405,2315,0.00,0.00,12.40,0.535,6,0.000,0.000,2773,2310,2938
$GC,2382,1.39,132.1,16.9,8.0,420,2389,0.00,2.60,0.00,0.000,4,0.000,0.061,2773,908,2938
$GC,2445,1.39,132.1,11.7,8.4,431,2451,0.00,2.55,0.00,0.000,6,0.000,0.050,2773,2315,2938
$GC,2520,1.41,147.2,6.0,7.2,444,2539,0.00,2.62,13.52,0.535,4,0.000,0.067,2773,3718,2877
$STATE,2555,end climb,SURFACE_DEPTH_REACHED
$STATE,2555,begin surface coast
$FINISH,2.6,1.020077
$STATE,2619,end surface coast,CONTROL_FINISHED_OK
$STATE,2619,begin surface
$SM_CCo,2639,352.27,0.522,0,0,1113,580.13
$SM_GC,0.76,0.00,0.00,352.27,0.000,0.000,0.522,405,2305,1113,-9.52,-0.14,580.13
$IRIDIUM_FIX,4751.72,-12340.51,120998,080848
$TT8_MAMPS,0.028379
$HUMID,1888
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.80
$XPDR_PINGS,4
$24V_AH,23.6,1.919
$10V_AH,10.7,0.829
$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,23.250,35.775,208.250,352.275,0.000,26.062,32.276,157.990,1.000,0.000,0.000,15.945,690.992,908.584,658.898,773.827,263.598,33.347,1080.612,0.000,769.206,0.000,0.836,0.000
$DEVICE_MAMPS,152.633,67.496,589.823,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.111,310.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19058,461
$CAP_FILE_SIZE,48240,0
$CFSIZE,259952640,258641920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,102743,4807.440,-12223.554,12,1.6,12,18.3