version: 66.04
glider: 131
mission: 3
dive: 20
start: 6 18 109 12 32 50
data:
$ID,131
$MISSION,3
$DIVE,20
$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,-82711.281
$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,20
$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
$GPS1,122650,4807.700,-12223.842,8,1.9,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.4
$GPS2,123156,4807.671,-12223.842,13,1.9,13,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.058,0.192
$KALMAN_X,-3346.8,185.0,-20.0,1777.1,26.1
$KALMAN_Y,-533.7,-311.3,-51.7,2094.6,-111.4
$MHEAD_RNG_PITCHd_Wd,324.8,639,-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,-64.78,0.000,2,0.000,0.000,408,2315,2840
$GC,83,-1.35,-97.3,3.3,-5.5,11,132,9.77,2.60,-32.38,0.000,4,0.150,0.062,2178,894,3875
$GC,188,-1.35,-97.3,7.6,-6.3,29,195,0.00,2.53,0.00,0.000,6,0.000,0.041,2178,2314,3875
$GC,264,-1.35,-97.3,12.2,-6.4,42,270,0.00,2.55,0.00,0.000,4,0.000,0.058,2178,3717,3877
$GC,360,-1.35,-97.3,20.3,-8.5,59,366,0.00,2.45,0.00,0.000,6,0.000,0.030,2178,2300,3876
$GC,433,-1.35,-97.3,26.4,-8.3,72,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2300,3876
$GC,506,-1.35,-97.3,32.7,-8.8,85,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2300,3876
$GC,580,-1.35,-97.3,39.4,-9.6,98,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2300,3877
$GC,652,-1.35,-97.3,46.4,-9.4,111,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2300,3877
$GC,793,-1.35,-97.3,59.8,-9.2,136,799,0.00,2.62,0.00,0.000,4,0.000,0.060,2178,3719,3877
$GC,832,-1.35,-97.3,64.0,-10.4,143,838,0.00,2.47,0.00,0.000,6,0.000,0.031,2178,2307,3877
$GC,972,-1.35,-97.3,76.7,-8.6,168,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2307,3877
$GC,1112,-1.35,-97.3,89.4,-9.0,193,1118,0.00,2.60,0.00,0.000,4,0.000,0.061,2178,3715,3877
$GC,1151,-1.35,-97.3,93.1,-9.7,200,1157,0.00,2.47,0.00,0.000,6,0.000,0.033,2178,2304,3877
$STATE,1268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1271,-0.34,0.0,103.1,8.9,221,1357,1.02,0.00,79.53,0.590,6,0.084,0.000,2392,2304,3477
$STATE,1358,end apogee,CONTROL_FINISHED_OK
$STATE,1358,begin climb
$GC,1359,1.35,97.3,105.2,0.0,237,1446,1.67,2.72,79.28,0.571,4,0.052,0.064,2771,898,3081
$GC,1463,1.37,113.6,100.0,7.1,256,1485,0.00,2.60,14.95,0.537,6,0.000,0.051,2772,2311,3014
$GC,1620,1.37,113.6,85.7,9.3,284,1626,0.00,2.62,0.00,0.000,4,0.000,0.061,2772,908,3012
$GC,1653,1.37,113.6,82.6,9.2,290,1660,0.00,2.55,0.00,0.000,6,0.000,0.049,2772,2310,3013
$GC,1794,1.37,113.6,70.2,8.7,315,1800,0.00,2.62,0.00,0.000,4,0.000,0.066,2772,3725,3012
$GC,1839,1.37,113.6,65.6,10.3,323,1845,0.00,2.50,0.00,0.000,6,0.000,0.034,2772,2302,3012
$GC,1979,1.37,113.6,53.7,8.0,348,1986,0.00,2.60,0.00,0.000,4,0.000,0.065,2772,907,3012
$GC,2030,1.37,113.6,49.5,8.3,357,2036,0.00,2.55,0.00,0.000,6,0.000,0.050,2772,2312,3012
$GC,2171,1.37,115.5,38.3,7.9,382,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2312,3011
$GC,2244,1.38,121.8,32.8,7.6,395,2256,0.00,0.00,7.95,0.512,6,0.000,0.000,2772,2312,2981
$GC,2324,1.38,126.3,26.6,7.7,409,2337,0.00,2.65,5.20,0.453,4,0.000,0.060,2772,911,2963
$GC,2381,1.38,126.3,21.8,8.2,419,2388,0.00,2.55,0.00,0.000,6,0.000,0.053,2772,2312,2963
$GC,2455,1.39,137.0,15.8,7.4,432,2468,0.00,0.00,10.32,0.528,6,0.000,0.000,2772,2313,2919
$GC,2535,1.41,149.1,9.8,7.3,446,2548,0.00,0.00,11.25,0.523,6,0.000,0.000,2772,2313,2870
$GC,2616,1.46,192.0,5.0,5.6,460,2652,0.00,0.00,34.47,0.542,2,0.000,0.000,2772,2313,2698
$STATE,2653,end climb,SURFACE_DEPTH_REACHED
$STATE,2653,begin surface coast
$FINISH,3.5,1.019150
$STATE,2782,end surface coast,CONTROL_FINISHED_OK
$STATE,2782,begin surface
$SM_CCo,2799,321.48,0.515,3,0,1113,580.13
$SM_GC,0.69,0.00,0.00,321.48,0.000,0.000,0.515,406,2313,1113,-9.52,0.08,580.13
$IRIDIUM_FIX,4751.72,-12340.51,120998,111142
$TT8_MAMPS,0.028379
$HUMID,1889
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.00
$XPDR_PINGS,2
$24V_AH,23.6,2.212
$10V_AH,10.7,0.951
$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,23.225,46.275,242.950,321.475,0.000,22.420,42.870,168.392,0.500,0.000,0.000,15.142,734.453,931.905,678.248,829.377,284.940,33.336,1137.021,0.000,821.540,0.000,0.836,0.000
$DEVICE_MAMPS,150.332,65.962,589.823,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.162,360.698,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19065,489
$CAP_FILE_SIZE,54582,0
$CFSIZE,259952640,258539520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,180609,132607,4807.824,-12223.933,28,1.4,28,18.3