version: 66.04
glider: 131
mission: 3
dive: 19
start: 6 18 109 11 33 9
data:
$ID,131
$MISSION,3
$DIVE,19
$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,-82695.516
$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,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
$GPS1,112654,4807.590,-12223.659,38,1.1,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-66.0
$GPS2,113216,4807.574,-12223.653,10,2.3,29,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,0.178
$KALMAN_X,-3316.2,141.1,-18.1,2019.4,43.2
$KALMAN_Y,-321.3,-283.6,-31.8,1652.1,-98.2
$MHEAD_RNG_PITCHd_Wd,314.2,899,-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,-97.3,0.0,0.0,0,81,0.00,0.00,-65.15,0.000,2,0.000,0.000,409,2316,2820
$GC,83,-1.35,-97.3,3.1,-4.8,11,131,9.80,0.00,-33.72,0.000,6,0.153,0.000,2178,2317,3875
$GC,199,-1.35,-97.3,8.1,-6.4,31,205,0.00,2.58,0.00,0.000,4,0.000,0.059,2178,3726,3876
$GC,311,-1.35,-97.3,16.4,-8.3,51,318,0.00,2.47,0.00,0.000,6,0.000,0.031,2178,2302,3876
$GC,385,-1.35,-97.3,22.1,-8.1,64,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2302,3876
$GC,458,-1.35,-97.3,28.3,-8.9,77,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2302,3877
$GC,532,-1.35,-97.3,35.1,-9.3,90,538,0.00,2.53,0.00,0.000,4,0.000,0.055,2178,912,3877
$GC,572,-1.35,-97.3,39.3,-10.2,97,578,0.00,2.50,0.00,0.000,6,0.000,0.046,2178,2312,3877
$GC,645,-1.35,-97.3,46.5,-9.6,110,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2312,3876
$GC,784,-1.35,-97.3,59.8,-9.8,135,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2312,3877
$GC,924,-1.35,-97.3,72.7,-8.8,160,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2312,3876
$GC,1063,-1.35,-97.3,85.1,-9.1,185,1069,0.00,2.58,0.00,0.000,4,0.000,0.062,2178,3714,3876
$GC,1136,-1.35,-97.3,92.4,-10.0,198,1142,0.00,2.45,0.00,0.000,6,0.000,0.034,2178,2315,3877
$STATE,1264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1264,begin apogee
$GC,1267,-0.34,0.0,103.4,8.5,221,1353,1.05,0.00,79.05,0.594,6,0.084,0.000,2398,2313,3477
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1355,1.35,97.3,105.5,0.0,237,1441,1.65,0.00,78.78,0.576,6,0.049,0.000,2775,2311,3081
$GC,1575,1.35,97.3,89.7,9.2,277,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2312,3080
$GC,1714,1.35,97.3,78.4,8.2,302,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2311,3080
$GC,1853,1.35,97.3,66.8,8.1,327,1860,0.00,2.62,0.00,0.000,4,0.000,0.066,2775,3722,3079
$GC,1887,1.35,97.3,63.8,8.8,333,1893,0.00,2.50,0.00,0.000,6,0.000,0.036,2775,2306,3079
$GC,2028,1.36,107.2,52.9,7.4,358,2040,0.00,0.00,9.30,0.529,6,0.000,0.000,2775,2306,3040
$GC,2174,1.36,111.2,41.8,7.8,384,2181,0.00,0.00,4.97,0.450,6,0.000,0.000,2775,2306,3024
$GC,2316,1.38,126.8,31.3,7.1,409,2335,0.00,2.70,14.15,0.545,4,0.000,0.066,2775,905,2961
$GC,2391,1.38,126.8,24.9,8.5,422,2398,0.00,2.55,0.00,0.000,6,0.000,0.052,2775,2309,2961
$GC,2466,1.38,126.8,18.8,8.3,435,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2309,2960
$GC,2540,1.39,130.1,13.1,7.8,448,2553,0.00,2.65,4.35,0.421,4,0.000,0.061,2775,908,2947
$GC,2609,1.39,134.1,7.6,7.8,460,2622,0.00,2.55,4.97,0.444,6,0.000,0.050,2776,2315,2931
$STATE,2677,end climb,SURFACE_DEPTH_REACHED
$STATE,2677,begin surface coast
$FINISH,3.6,1.020572
$STATE,2768,end surface coast,CONTROL_FINISHED_OK
$STATE,2768,begin surface
$SM_CCo,2785,369.05,0.516,5,0,1113,580.13
$SM_GC,0.70,0.00,0.00,369.05,0.000,0.000,0.516,408,2315,1113,-9.51,0.14,580.13
$IRIDIUM_FIX,4751.72,-12340.51,120998,101030
$TT8_MAMPS,0.028379
$HUMID,1878
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.90
$XPDR_PINGS,4
$24V_AH,23.6,2.114
$10V_AH,10.7,0.910
$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,23.250,30.675,195.575,369.050,0.000,25.550,29.753,177.739,1.000,0.000,0.000,31.979,734.873,969.089,693.022,838.523,283.056,33.348,1132.853,0.000,815.401,0.000,0.836,0.000
$DEVICE_MAMPS,152.633,65.962,594.425,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.760,343.389,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19053,488
$CAP_FILE_SIZE,51233,0
$CFSIZE,259952640,258580480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,180609,122650,4807.700,-12223.842,8,1.9,8,18.3