version: 66.04
glider: 131
mission: 3
dive: 23
start: 6 18 109 15 25 15
data:
$ID,131
$MISSION,3
$DIVE,23
$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,-82777.562
$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,21
$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
$GPS1,151913,4807.953,-12223.995,12,1.8,29,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-63.8
$GPS2,152420,4807.924,-12223.947,13,1.8,13,18.3
$SPEED_LIMITS,0.138,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.166
$KALMAN_X,-3084.6,252.6,6.8,1287.9,86.9
$KALMAN_Y,-1193.3,-370.2,-112.6,3340.7,-128.5
$MHEAD_RNG_PITCHd_Wd,127.2,2074,-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,13,-1.35,-97.3,0.0,0.0,0,98,0.00,0.00,-81.80,0.000,2,0.000,0.000,406,2312,3213
$GC,100,-1.35,-97.3,3.2,-4.2,14,132,9.77,2.65,-16.98,0.000,4,0.151,0.070,2176,3724,3877
$GC,385,-1.35,-97.3,26.6,-9.6,64,391,0.00,2.47,0.00,0.000,6,0.000,0.031,2176,2303,3878
$GC,460,-1.35,-97.3,33.3,-8.8,77,466,0.00,2.60,0.00,0.000,4,0.000,0.058,2176,3720,3878
$GC,533,-1.35,-97.3,41.3,-10.7,90,539,0.00,2.47,0.00,0.000,6,0.000,0.031,2176,2301,3878
$GC,673,-1.35,-97.3,55.2,-9.6,115,679,0.00,2.60,0.00,0.000,4,0.000,0.059,2176,3715,3879
$GC,724,-1.35,-97.3,60.4,-10.5,124,730,0.00,2.45,0.00,0.000,6,0.000,0.032,2176,2311,3878
$GC,864,-1.35,-97.3,74.2,-9.7,149,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2311,3878
$GC,1003,-1.35,-97.3,85.4,-8.4,174,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2311,3878
$GC,1143,-1.35,-97.3,97.9,-8.9,199,1149,0.00,2.60,0.00,0.000,4,0.000,0.061,2176,3718,3878
$GC,1176,-1.35,-97.3,100.9,-9.0,205,1183,0.00,2.47,0.00,0.000,6,0.000,0.034,2176,2307,3878
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1203,begin apogee
$GC,1206,-0.34,0.0,103.4,8.5,210,1293,1.02,0.00,79.93,0.584,6,0.084,0.000,2391,2307,3478
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1295,1.35,97.3,105.5,0.0,226,1381,1.67,0.00,79.40,0.568,6,0.053,0.000,2771,2307,3080
$GC,1515,1.35,97.3,89.9,8.4,266,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2307,3079
$GC,1654,1.35,97.3,78.6,8.2,291,1660,0.00,2.62,0.00,0.000,4,0.000,0.064,2771,3715,3079
$GC,1688,1.35,97.3,75.5,9.3,297,1694,0.00,2.50,0.00,0.000,6,0.000,0.036,2771,2304,3078
$GC,1828,1.35,100.7,64.4,7.8,322,1840,0.00,2.65,4.10,0.406,4,0.000,0.066,2771,910,3067
$GC,1862,1.36,104.9,61.8,7.8,328,1874,0.00,2.55,5.20,0.452,6,0.000,0.050,2770,2313,3050
$GC,2009,1.36,111.5,50.4,7.6,354,2022,0.00,2.67,7.12,0.501,4,0.000,0.066,2771,3716,3023
$GC,2049,1.36,111.8,47.1,8.0,361,2056,0.00,2.47,0.00,0.000,6,0.000,0.034,2771,2306,3022
$GC,2191,1.38,125.1,36.5,7.3,386,2208,0.00,0.00,12.60,0.538,6,0.000,0.000,2771,2306,2967
$GC,2276,1.39,131.2,29.9,7.6,401,2288,0.00,0.00,6.65,0.485,6,0.000,0.000,2771,2306,2942
$GC,2356,1.39,135.5,23.6,7.8,415,2363,0.00,0.00,5.28,0.450,6,0.000,0.000,2771,2306,2925
$GC,2430,1.39,135.5,17.5,8.0,428,2436,0.00,2.60,0.00,0.000,4,0.000,0.066,2771,908,2925
$GC,2476,1.39,135.5,13.7,8.0,436,2483,0.00,2.55,0.00,0.000,6,0.000,0.051,2771,2315,2925
$GC,2551,1.42,155.5,8.3,6.9,449,2575,0.00,2.62,17.45,0.541,4,0.000,0.064,2771,3722,2843
$GC,2631,1.53,247.0,4.6,2.9,463,2664,0.17,2.45,26.20,0.538,2,0.049,0.031,2818,2301,2714
$STATE,2664,end climb,SURFACE_DEPTH_REACHED
$STATE,2664,begin surface coast
$FINISH,3.5,1.019999
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2760,begin surface
$SM_CCo,2776,322.25,0.519,0,0,1113,580.13
$SM_GC,0.66,0.00,0.00,322.25,0.000,0.000,0.519,405,2300,1113,-9.52,-0.25,580.13
$IRIDIUM_FIX,4751.72,-12340.51,120998,141440
$TT8_MAMPS,0.028379
$HUMID,1868
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.80
$XPDR_PINGS,1
$24V_AH,23.6,2.513
$10V_AH,10.7,1.071
$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,23.675,46.025,243.925,322.250,0.000,27.996,32.899,174.202,0.250,0.000,0.000,15.184,726.430,937.972,658.129,813.749,289.496,33.338,1107.645,0.000,809.438,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,69.797,584.454,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.596,336.521,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19097,485
$CAP_FILE_SIZE,52769,0
$CFSIZE,259952640,258449408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,161806,4807.668,-12223.827,39,0.9,39,18.3