version: 66.04
glider: 136
mission: 3
dive: 3
start: 6 17 109 19 58 32
data:
$ID,136
$MISSION,3
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,600
$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,-78569.242
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3172
$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,2170
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,43
$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
$GPS1,195319,4807.244,-12222.774,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.3
$GPS2,195719,4807.296,-12222.802,12,1.6,29,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,-0.198
$KALMAN_X,-174.5,-129.5,-121.7,211.8,-97.5
$KALMAN_Y,425.3,297.7,276.6,-423.5,227.4
$MHEAD_RNG_PITCHd_Wd,138.8,2597,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.57,-97.3,0.0,0.0,0,93,0.00,0.00,-75.38,0.000,2,0.000,0.000,677,2191,3156
$GC,96,-1.57,-97.3,3.3,-6.0,13,139,11.65,2.88,-24.75,0.000,4,0.136,0.057,2823,592,3962
$GC,146,-1.57,-97.3,4.4,-3.4,21,153,0.00,2.72,0.00,0.000,6,0.000,0.035,2823,2154,3962
$GC,221,-1.57,-97.3,9.7,-6.6,34,228,0.00,2.83,0.00,0.000,4,0.000,0.043,2822,3751,3963
$GC,399,-1.57,-97.3,23.5,-9.0,65,406,0.00,2.70,0.00,0.000,6,0.000,0.028,2823,2171,3963
$GC,474,-1.57,-97.3,31.3,-10.5,78,480,0.00,2.80,0.00,0.000,4,0.000,0.044,2823,3750,3963
$GC,498,-1.57,-97.3,34.3,-11.9,82,504,0.00,2.72,0.00,0.000,6,0.000,0.029,2823,2165,3963
$GC,573,-1.57,-97.3,42.7,-11.5,95,579,0.00,2.83,0.00,0.000,4,0.000,0.044,2823,3750,3963
$GC,608,-1.57,-97.3,46.8,-12.1,101,614,0.00,2.72,0.00,0.000,6,0.000,0.030,2823,2171,3964
$GC,750,-1.57,-97.3,62.9,-11.9,126,756,0.00,2.83,0.00,0.000,4,0.000,0.045,2823,3756,3963
$GC,779,-1.57,-97.3,66.4,-12.4,131,786,0.00,2.75,0.00,0.000,6,0.000,0.031,2823,2165,3963
$GC,923,-1.57,-97.3,81.7,-10.4,156,929,0.00,2.85,0.00,0.000,4,0.000,0.047,2823,3758,3963
$GC,986,-1.57,-97.3,88.8,-11.7,167,993,0.00,2.78,0.00,0.000,6,0.000,0.032,2822,2161,3963
$GC,1128,-1.57,-97.3,103.7,-10.7,192,1134,0.00,2.85,0.00,0.000,4,0.000,0.048,2823,3755,3963
$GC,1141,-1.57,-97.3,105.0,-10.0,194,1147,0.00,2.78,0.00,0.000,6,0.000,0.033,2823,2160,3963
$STATE,1162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1162,begin apogee
$GC,1168,-0.33,0.0,107.4,10.1,198,1241,1.30,0.00,68.45,0.830,6,0.084,0.000,3092,2159,3598
$STATE,1242,end apogee,CONTROL_FINISHED_OK
$STATE,1242,begin climb
$GC,1245,1.57,97.3,109.8,0.0,211,1324,1.90,0.00,73.38,0.809,6,0.049,0.000,3518,2159,3201
$GC,1459,1.57,97.3,91.1,11.2,249,1466,0.00,2.97,0.00,0.000,4,0.000,0.060,3518,560,3200
$GC,1612,1.57,97.3,73.4,10.9,276,1619,0.00,2.83,0.00,0.000,6,0.000,0.041,3518,2143,3199
$GC,1755,1.58,107.7,58.7,9.3,301,1772,0.00,2.95,9.23,0.705,4,0.000,0.050,3518,3736,3158
$GC,1802,1.58,107.7,54.1,10.2,309,1808,0.00,2.80,0.00,0.000,6,0.000,0.035,3517,2151,3158
$GC,1944,1.59,117.6,40.3,9.3,334,1962,0.00,3.00,9.05,0.700,4,0.000,0.059,3517,565,3117
$GC,2100,1.59,117.6,24.8,10.6,361,2106,0.00,2.83,0.00,0.000,6,0.000,0.040,3518,2158,3117
$GC,2176,1.60,123.8,17.6,9.6,374,2188,0.00,0.00,5.97,0.637,6,0.000,0.000,3518,2158,3094
$GC,2257,1.63,150.3,10.2,8.2,388,2287,0.00,2.92,21.30,0.758,4,0.000,0.049,3518,3731,2984
$STATE,2336,end climb,SURFACE_DEPTH_REACHED
$STATE,2336,begin surface coast
$FINISH,3.8,1.019919
$STATE,2427,end surface coast,CONTROL_FINISHED_OK
$STATE,2427,begin surface
$SM_CCo,2452,233.77,0.757,0,0,1152,600.00
$SM_GC,1.08,0.00,0.00,233.77,0.000,0.000,0.757,676,2160,1152,-11.48,-0.28,600.00
$IRIDIUM_FIX,4751.72,-12340.51,110998,191945
$TT8_MAMPS,0.03068
$HUMID,1865
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,177.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,48.2
$24V_AH,23.4,0.632
$10V_AH,10.8,0.656
$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,27.675,62.125,187.375,233.775,0.000,0.000,0.000,0.000,0.500,0.000,0.000,30.833,643.637,750.091,531.454,782.966,87.622,31.415,937.385,0.000,759.507,0.000,5.558,0.000
$DEVICE_MAMPS,135.759,59.826,829.894,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,280.998,510.165,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19078,418
$CAP_FILE_SIZE,60198,0
$CFSIZE,260165632,258768896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,204425,4807.173,-12222.703,17,1.9,29,18.3