version: 66.04
glider: 131
mission: 3
dive: 21
start: 6 18 109 13 32 8
data:
$ID,131
$MISSION,3
$DIVE,21
$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,-82727.234
$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,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
$GPS1,132607,4807.824,-12223.933,28,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-64.3
$GPS2,133114,4807.805,-12223.905,13,1.4,13,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.055,0.186
$KALMAN_X,-3317.6,216.6,-14.8,1631.0,26.4
$KALMAN_Y,-731.5,-330.5,-69.8,2575.5,-120.2
$MHEAD_RNG_PITCHd_Wd,325.1,380,-18.5,-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,-1.39,-90.3,0.0,0.0,0,93,0.00,0.00,-76.25,0.000,2,0.000,0.000,406,2314,3103
$GC,95,-1.40,-97.3,3.2,-3.9,13,133,9.68,2.62,-21.98,0.000,4,0.149,0.062,2166,907,3875
$GC,161,-1.40,-97.3,6.6,-5.9,24,167,0.00,2.50,0.00,0.000,6,0.000,0.041,2166,2317,3876
$GC,235,-1.40,-97.3,11.4,-7.5,37,241,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,3721,3877
$GC,421,-1.40,-97.3,28.0,-9.5,70,427,0.00,2.45,0.00,0.000,6,0.000,0.035,2166,2301,3877
$GC,495,-1.40,-97.3,34.8,-9.4,83,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2301,3877
$GC,567,-1.40,-97.3,42.0,-10.3,96,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2301,3877
$GC,706,-1.40,-97.3,55.8,-10.2,121,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2301,3877
$GC,845,-1.40,-97.3,69.6,-9.5,146,851,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,907,3877
$GC,884,-1.40,-97.3,73.3,-9.8,153,891,0.00,2.53,0.00,0.000,6,0.000,0.047,2166,2311,3877
$GC,1025,-1.40,-97.3,86.6,-9.6,178,1031,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,3714,3877
$GC,1092,-1.40,-97.3,93.5,-10.0,190,1099,0.00,2.45,0.00,0.000,6,0.000,0.033,2166,2310,3877
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1201,-0.34,0.0,103.2,8.7,209,1287,1.10,0.00,79.40,0.588,6,0.087,0.000,2394,2309,3478
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1289,1.40,97.3,105.2,0.0,225,1375,1.73,0.00,78.88,0.570,6,0.052,0.000,2784,2309,3081
$GC,1509,1.40,97.3,89.1,9.4,265,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2309,3080
$GC,1650,1.40,97.3,76.8,8.6,290,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2309,3079
$GC,1789,1.40,97.3,64.7,8.4,315,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2309,3079
$GC,1928,1.40,102.2,53.8,7.7,340,1941,0.00,2.62,5.43,0.465,4,0.000,0.064,2784,912,3061
$GC,2008,1.41,103.8,47.6,7.9,354,2014,0.00,2.55,0.00,0.000,6,0.000,0.051,2783,2313,3060
$GC,2149,1.42,112.6,36.5,7.5,379,2168,0.00,2.65,9.85,0.529,4,0.000,0.061,2784,918,3019
$GC,2257,1.42,114.6,27.8,7.9,398,2270,0.00,2.53,3.67,0.384,6,0.000,0.050,2784,2316,3009
$GC,2338,1.43,123.0,21.4,7.5,412,2350,0.00,0.00,8.48,0.512,6,0.000,0.000,2784,2316,2976
$GC,2417,1.43,123.0,15.1,8.1,426,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2316,2975
$GC,2490,1.46,147.5,10.1,6.5,439,2514,0.00,0.00,20.92,0.545,6,0.000,0.000,2784,2316,2876
$GC,2582,1.52,199.8,5.2,4.9,455,2625,0.10,0.00,40.47,0.539,2,0.060,0.000,2815,2317,2673
$STATE,2626,end climb,SURFACE_DEPTH_REACHED
$STATE,2626,begin surface coast
$FINISH,3.7,1.019588
$STATE,2771,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2772,begin surface
$SM_CCo,2788,317.67,0.513,3,0,1112,580.13
$SM_GC,0.68,0.00,0.00,317.67,0.000,0.000,0.513,407,2316,1112,-9.51,0.17,580.13
$IRIDIUM_FIX,4751.72,-12340.51,120998,121248
$TT8_MAMPS,0.028379
$HUMID,1891
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,17.90
$XPDR_PINGS,6
$24V_AH,23.6,2.310
$10V_AH,10.7,0.993
$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,23.575,30.575,247.100,317.675,0.000,31.072,31.889,170.593,1.500,0.000,0.000,15.329,721.564,947.899,662.373,827.089,286.608,33.329,1112.338,0.000,821.762,0.000,0.836,0.000
$DEVICE_MAMPS,148.798,64.428,587.522,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.752,362.422,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19009,488
$CAP_FILE_SIZE,50831,0
$CFSIZE,259952640,258510848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,180609,142456,4807.934,-12223.970,14,1.9,14,18.3