version: 66.04
glider: 131
mission: 3
dive: 22
start: 6 18 109 14 35 18
data:
$ID,131
$MISSION,3
$DIVE,22
$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,-82761.742
$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,26
$R_STBD_OVSHOOT,19
$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,4
$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
$GPS1,142456,4807.934,-12223.970,14,1.9,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-63.8
$GPS2,143425,4807.888,-12223.855,15,1.7,32,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.086,0.123
$KALMAN_X,-3170.9,244.0,-5.9,1507.3,51.0
$KALMAN_Y,-984.0,-355.5,-93.9,3033.1,-119.7
$MHEAD_RNG_PITCHd_Wd,306.7,274,-24.8,-7.989
$D_GRID,105
$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,-1.77,-52.9,0.0,0.0,0,93,0.00,0.00,-76.07,0.000,2,0.000,0.000,407,2317,3096
$GC,95,-1.81,-81.9,3.4,-5.0,13,132,9.07,2.58,-19.88,0.000,4,0.144,0.067,2080,3725,3814
$GC,148,-1.83,-97.3,6.0,-3.2,22,156,0.00,2.47,-1.52,0.000,6,0.000,0.029,2079,2298,3876
$GC,224,-1.83,-97.3,12.7,-10.8,35,231,0.00,2.60,0.00,0.000,4,0.000,0.056,2080,3723,3877
$GC,264,-1.83,-97.3,17.1,-10.9,42,271,0.00,2.45,0.00,0.000,6,0.000,0.029,2080,2304,3877
$GC,338,-1.83,-97.3,24.7,-10.2,55,344,0.00,2.58,0.00,0.000,4,0.000,0.055,2080,3721,3877
$GC,377,-1.83,-97.3,29.5,-11.8,62,384,0.00,2.45,0.00,0.000,6,0.000,0.029,2080,2303,3877
$GC,451,-1.83,-97.3,38.2,-12.0,75,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2302,3877
$GC,523,-1.83,-97.3,47.6,-13.0,88,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2303,3877
$GC,663,-1.83,-97.3,65.4,-12.8,113,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2302,3877
$GC,802,-1.83,-97.3,83.6,-13.5,138,808,0.00,2.60,0.00,0.000,4,0.000,0.060,2080,3717,3878
$GC,852,-1.83,-97.3,90.8,-14.5,147,859,0.00,2.45,0.00,0.000,6,0.000,0.033,2080,2312,3878
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,969,begin apogee
$GC,972,-0.34,0.0,105.5,12.2,168,1058,1.55,0.00,79.47,0.581,6,0.094,0.000,2394,2312,3478
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1061,1.83,97.3,107.8,0.0,184,1148,2.15,2.72,78.97,0.565,4,0.051,0.063,2878,3723,3081
$GC,1198,1.83,97.3,95.8,13.2,209,1205,0.00,2.50,0.00,0.000,6,0.000,0.034,2878,2307,3080
$GC,1339,1.83,97.3,78.1,11.7,234,1345,0.00,2.62,0.00,0.000,4,0.000,0.065,2878,896,3079
$GC,1395,1.83,97.3,71.3,12.3,244,1401,0.00,2.60,0.00,0.000,6,0.000,0.052,2878,2319,3079
$GC,1535,1.83,97.3,55.4,11.4,269,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2319,3079
$GC,1675,1.83,97.3,40.9,10.2,294,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2319,3078
$GC,1814,1.83,97.3,27.3,9.5,319,1821,0.00,2.62,0.00,0.000,4,0.000,0.061,2878,901,3078
$GC,1888,1.83,97.3,20.2,9.7,332,1894,0.00,2.58,0.00,0.000,6,0.000,0.051,2878,2321,3078
$GC,1961,1.83,97.3,13.8,8.3,345,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2321,3078
$GC,2034,1.86,123.8,9.0,5.3,358,2064,0.00,2.70,22.30,0.541,4,0.000,0.061,2878,905,2972
$GC,2081,1.91,162.6,7.0,4.0,366,2123,0.00,2.55,32.22,0.531,6,0.000,0.050,2878,2312,2813
$STATE,2133,end climb,SURFACE_DEPTH_REACHED
$STATE,2133,begin surface coast
$FINISH,3.8,1.019814
$STATE,2213,end surface coast,CONTROL_FINISHED_OK
$STATE,2214,begin surface
$SM_CCo,2231,342.10,0.515,0,0,1113,580.13
$SM_GC,0.57,0.00,0.00,342.10,0.000,0.000,0.515,405,2312,1113,-9.52,0.06,580.13
$IRIDIUM_FIX,4751.72,-12340.51,120998,141444
$TT8_MAMPS,0.028379
$HUMID,1851
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.00
$XPDR_PINGS,0
$24V_AH,23.6,2.415
$10V_AH,10.7,1.031
$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,24.100,41.075,212.975,342.100,0.000,54.477,177.923,183.896,0.000,0.000,0.000,33.876,582.227,774.764,653.594,682.686,465.382,33.333,1036.980,0.000,660.736,0.000,0.535,0.000
$DEVICE_MAMPS,144.196,67.496,580.619,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.136,295.123,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15970,389
$CAP_FILE_SIZE,46185,0
$CFSIZE,259952640,258486272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,151913,4807.953,-12223.995,12,1.8,29,18.3