version: 66.04
glider: 131
mission: 3
dive: 18
start: 6 18 109 10 33 31
data:
$ID,131
$MISSION,3
$DIVE,18
$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,-82662.906
$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,30
$R_STBD_OVSHOOT,18
$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
$GPS1,102743,4807.440,-12223.554,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-66.7
$GPS2,103237,4807.429,-12223.575,13,1.6,13,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.071,0.188
$KALMAN_X,-3367.8,98.5,-3.2,2194.8,-2.3
$KALMAN_Y,-171.2,-250.0,-9.3,1177.0,-110.0
$MHEAD_RNG_PITCHd_Wd,321.0,1181,-17.8,-7.989
$D_GRID,103
$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,-1.35,-97.3,0.0,0.0,0,110,0.00,0.00,-93.50,0.000,2,0.000,0.000,406,2305,3603
$GC,112,-1.35,-97.3,3.0,-2.9,16,138,9.80,2.67,-7.57,0.000,4,0.151,0.072,2178,3724,3876
$GC,390,-1.35,-97.3,25.6,-9.6,65,397,0.00,2.45,0.00,0.000,6,0.000,0.031,2178,2313,3877
$GC,464,-1.35,-97.3,32.3,-9.1,78,471,0.00,2.60,0.00,0.000,4,0.000,0.058,2178,3726,3877
$GC,565,-1.35,-97.3,42.9,-10.6,96,572,0.00,2.50,0.00,0.000,6,0.000,0.031,2178,2302,3877
$GC,706,-1.35,-97.3,56.1,-9.4,121,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2302,3878
$GC,845,-1.35,-97.3,69.1,-9.3,146,851,0.00,2.62,0.00,0.000,4,0.000,0.061,2178,3722,3878
$GC,890,-1.35,-97.3,73.8,-10.3,154,896,0.00,2.47,0.00,0.000,6,0.000,0.033,2178,2306,3878
$GC,1030,-1.35,-97.3,86.5,-9.3,179,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2306,3878
$GC,1170,-1.35,-97.3,99.0,-8.9,204,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2306,3877
$STATE,1218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1218,begin apogee
$GC,1221,-0.34,0.0,103.4,8.6,213,1307,1.05,0.00,79.32,0.592,6,0.086,0.000,2397,2304,3478
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1309,1.35,97.3,105.3,0.0,229,1396,1.62,2.72,78.75,0.574,4,0.051,0.067,2773,908,3081
$GC,1418,1.35,103.5,99.5,7.6,249,1431,0.00,2.60,6.65,0.476,6,0.000,0.052,2773,2317,3057
$GC,1565,1.35,103.5,86.7,8.6,275,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2317,3055
$GC,1704,1.35,103.5,74.7,8.6,300,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2317,3055
$GC,1844,1.36,105.3,63.0,7.9,325,1850,0.00,2.62,0.00,0.000,4,0.000,0.061,2773,908,3054
$GC,1883,1.36,105.3,59.8,8.2,332,1889,0.00,2.58,0.00,0.000,6,0.000,0.051,2773,2321,3055
$GC,2023,1.37,118.8,48.7,7.2,357,2040,0.00,0.00,13.88,0.550,6,0.000,0.000,2773,2321,2993
$GC,2175,1.37,118.8,36.6,8.0,384,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2321,2993
$GC,2249,1.38,121.2,30.7,7.9,397,2262,0.00,2.67,3.60,0.377,4,0.000,0.060,2773,911,2983
$GC,2290,1.38,121.2,27.2,8.4,404,2296,0.00,2.55,0.00,0.000,6,0.000,0.054,2773,2317,2983
$GC,2364,1.38,121.2,21.3,8.0,417,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2317,2983
$GC,2437,1.39,129.7,15.7,7.5,430,2451,0.00,2.70,8.38,0.515,4,0.000,0.061,2773,908,2949
$GC,2518,1.39,134.4,9.2,7.7,444,2531,0.00,2.55,5.55,0.466,6,0.000,0.050,2772,2317,2929
$GC,2598,1.45,183.1,4.1,5.3,458,2606,0.00,0.00,5.65,0.463,2,0.000,0.000,2773,2316,2906
$STATE,2606,end climb,SURFACE_DEPTH_REACHED
$STATE,2607,begin surface coast
$FINISH,3.5,1.020171
$STATE,2702,end surface coast,CONTROL_FINISHED_OK
$STATE,2702,begin surface
$SM_CCo,2718,367.30,0.509,9,0,1113,580.13
$SM_GC,0.67,0.00,0.00,367.30,0.000,0.000,0.509,409,2316,1113,-9.51,0.17,580.13
$IRIDIUM_FIX,4751.72,-12340.51,120998,090916
$TT8_MAMPS,0.028379
$HUMID,1880
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,17.90
$XPDR_PINGS,4
$24V_AH,23.6,2.016
$10V_AH,10.7,0.869
$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,23.225,36.325,201.775,367.300,0.000,26.225,31.800,165.562,1.000,0.000,0.000,14.960,714.922,940.246,717.668,801.171,269.806,33.350,1149.729,0.000,794.922,0.000,0.837,0.000
$DEVICE_MAMPS,151.099,72.098,592.124,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.402,329.563,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19120,476
$CAP_FILE_SIZE,50369,0
$CFSIZE,259952640,258609152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,180609,112654,4807.590,-12223.659,38,1.1,38,18.3