version: 66.04
glider: 136
mission: 3
dive: 1
start: 6 17 109 17 51 0
data:
$ID,136
$MISSION,3
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$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,15
$T_MISSION,30
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51492
$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,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,24.5
$TGT_DEFAULT_LON,57.5
$TGT_AUTO_DEFAULT,0
$SM_CC,749.93939
$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,-78425.977
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3218
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.050000001
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3918
$ROLL_DEG,45
$C_ROLL_DIVE,2077
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3598
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,-2.3875301
$PRESSURE_SLOPE,0.0001163524
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.3
$TCM_ROLL_OFFSET,-0.89999998
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$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,0.0043112189
$SEABIRD_T_H,0.00063089712
$SEABIRD_T_I,2.4176574e-05
$SEABIRD_T_J,2.6117627e-06
$SEABIRD_C_G,-10.042094
$SEABIRD_C_H,1.1112094
$SEABIRD_C_I,-0.00092196499
$SEABIRD_C_J,0.00016575911
$GPS1,174646,4806.969,-12222.622,9,5.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.0
$GPS2,174949,4806.979,-12222.627,10,1.7,21,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,-0.198
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,138.6,1973,-21.7,-10.000
$D_GRID,107
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.57,-97.3,0.0,0.0,0,138,0.00,0.00,-120.53,0.000,2,0.000,0.000,672,2063,3868
$GC,141,-1.57,-97.3,3.5,-7.0,21,161,11.90,2.88,-2.08,0.000,4,0.137,0.050,2870,3663,3962
$GC,269,-1.57,-97.3,15.6,-5.2,43,276,0.00,2.67,0.00,0.000,6,0.000,0.027,2871,2088,3963
$GC,344,-1.57,-97.3,20.2,-5.6,56,351,0.00,2.85,0.00,0.000,4,0.000,0.048,2870,493,3962
$GC,587,-1.57,-97.3,39.2,-8.7,99,594,0.00,2.75,0.00,0.000,6,0.000,0.035,2870,2081,3963
$STATE,660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,660,begin apogee
$GC,666,-0.33,0.0,45.3,8.2,112,739,1.27,0.00,67.15,0.740,6,0.076,0.000,3139,2160,3598
$STATE,740,end apogee,CONTROL_FINISHED_OK
$STATE,740,begin climb
$GC,742,1.57,97.3,46.6,0.0,125,823,1.83,3.00,72.07,0.725,4,0.038,0.053,3562,570,3200
$GC,852,1.57,97.3,38.4,11.5,144,858,0.00,2.80,0.00,0.000,6,0.000,0.044,3561,2144,3200
$GC,927,1.57,97.3,29.3,11.7,157,933,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2144,3200
$GC,1002,1.57,97.3,20.8,10.9,170,1009,0.00,2.88,0.00,0.000,4,0.000,0.054,3561,567,3199
$GC,1060,1.57,97.3,14.0,11.9,180,1067,0.00,2.80,0.00,0.000,6,0.000,0.038,3561,2153,3199
$GC,1135,1.60,124.2,6.7,8.1,193,1160,0.00,0.00,20.88,0.693,6,0.000,0.000,3561,2153,3091
$GC,1228,1.80,284.5,5.3,-1.1,209,1306,0.17,0.00,74.22,0.723,2,0.043,0.000,3614,2153,2678
$STATE,1307,end climb,SURFACE_DEPTH_REACHED
$STATE,1307,begin surface coast
$FINISH,3.8,1.017546
$STATE,1392,end surface coast,CONTROL_FINISHED_OK
$STATE,1392,begin surface
$SM_CCo,1416,267.83,0.723,0,0,540,750.13
$SM_GC,0.99,0.00,0.00,267.83,0.000,0.000,0.723,675,2065,540,-11.70,-0.34,750.13
$IRIDIUM_FIX,4751.72,-12340.51,110998,171750
$TT8_MAMPS,0.029913
$HUMID,1799
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,179.90
$XPDR_PINGS,9
$24V_AH,23.5,0.373
$10V_AH,10.9,0.547
$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,28.400,22.875,234.325,267.825,0.000,0.000,0.000,0.000,2.250,0.000,0.000,22.639,352.008,341.159,562.831,471.668,58.571,29.237,845.794,0.000,463.262,0.000,1.010,0.000
$DEVICE_MAMPS,136.526,69.797,740.155,723.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,155.503,372.434,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9675,237
$CAP_FILE_SIZE,42254,0
$CFSIZE,260165632,258867200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,182024,4807.008,-12222.634,25,1.7,42,18.3