version: 66.04
glider: 136
mission: 3
dive: 4
start: 6 17 109 20 53 5
data:
$ID,136
$MISSION,3
$DIVE,4
$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,-78603.75
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,204425,4807.173,-12222.703,17,1.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.9
$GPS2,205151,4807.269,-12222.765,10,2.4,29,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.200
$KALMAN_X,-241.1,-172.4,-141.6,385.6,-58.4
$KALMAN_Y,624.7,407.6,326.0,-826.4,156.0
$MHEAD_RNG_PITCHd_Wd,140.3,2533,-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,-97.3,0.0,0.0,0,116,0.00,0.00,-98.12,0.000,2,0.000,0.000,676,2160,3662
$GC,119,-1.57,-97.3,3.4,-5.9,17,144,11.90,0.00,-8.02,0.000,6,0.143,0.000,2821,2160,3962
$GC,213,-1.57,-97.3,11.0,-7.3,33,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2160,3963
$GC,287,-1.57,-97.3,16.3,-7.2,46,293,0.00,2.85,0.00,0.000,4,0.000,0.043,2821,3754,3963
$GC,384,-1.57,-97.3,25.6,-10.3,63,390,0.00,2.75,0.00,0.000,6,0.000,0.030,2821,2165,3963
$GC,459,-1.57,-97.3,33.4,-10.0,76,465,0.00,2.85,0.00,0.000,4,0.000,0.044,2821,3758,3964
$GC,494,-1.57,-97.3,37.4,-11.7,82,501,0.00,2.75,0.00,0.000,6,0.000,0.030,2821,2171,3964
$GC,569,-1.57,-97.3,45.7,-10.7,95,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2171,3963
$GC,709,-1.57,-97.3,61.3,-10.9,120,716,0.00,2.85,0.00,0.000,4,0.000,0.046,2821,3760,3964
$GC,773,-1.57,-97.3,68.8,-11.5,131,779,0.00,2.75,0.00,0.000,6,0.000,0.031,2821,2151,3964
$GC,915,-1.57,-97.3,83.4,-10.0,156,921,0.00,2.88,0.00,0.000,4,0.000,0.048,2821,3753,3964
$GC,996,-1.57,-97.3,92.5,-11.3,170,1003,0.00,2.78,0.00,0.000,6,0.000,0.033,2821,2165,3963
$STATE,1136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1142,-0.33,0.0,107.3,10.4,195,1216,1.33,0.00,68.65,0.827,6,0.086,0.000,3093,2165,3598
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1219,1.57,97.3,109.6,0.0,208,1298,1.90,0.00,73.68,0.813,6,0.051,0.000,3510,2165,3201
$GC,1433,1.57,98.1,91.4,9.9,246,1440,0.00,2.97,0.00,0.000,4,0.000,0.061,3510,566,3200
$GC,1553,1.57,98.1,78.7,10.7,267,1559,0.00,2.85,0.00,0.000,6,0.000,0.042,3510,2152,3199
$GC,1695,1.57,98.1,64.6,10.1,292,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2153,3199
$GC,1836,1.59,111.1,51.6,9.1,317,1854,0.00,2.97,11.65,0.729,4,0.000,0.059,3510,568,3145
$GC,1917,1.59,111.1,43.6,10.6,331,1924,0.00,2.85,0.00,0.000,6,0.000,0.041,3510,2160,3145
$GC,2060,1.60,120.3,30.5,9.4,356,2072,0.00,0.00,8.50,0.695,6,0.000,0.000,3510,2160,3107
$GC,2141,1.61,132.7,23.2,9.1,370,2159,0.00,3.00,10.95,0.711,4,0.000,0.058,3511,561,3056
$GC,2201,1.61,132.7,17.3,10.4,380,2207,0.00,2.83,0.00,0.000,6,0.000,0.039,3510,2149,3055
$GC,2276,1.63,147.9,9.9,8.9,393,2294,0.05,0.00,13.00,0.720,6,0.084,0.000,3533,2149,2993
$STATE,2349,end climb,SURFACE_DEPTH_REACHED
$STATE,2349,begin surface coast
$FINISH,3.7,1.020111
$STATE,2429,end surface coast,CONTROL_FINISHED_OK
$STATE,2429,begin surface
$SM_CCo,2451,239.50,0.763,0,0,1152,600.00
$SM_GC,1.07,0.00,0.00,239.50,0.000,0.000,0.763,672,2149,1152,-11.50,-0.59,600.00
$IRIDIUM_FIX,4751.72,-12340.51,110998,202042
$TT8_MAMPS,0.03068
$HUMID,1888
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,177.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,31.7
$24V_AH,23.4,0.742
$10V_AH,10.8,0.701
$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,28.150,39.925,186.425,239.500,0.000,29.401,30.741,240.096,0.750,0.000,0.000,33.877,645.805,766.491,523.580,785.986,450.948,32.330,926.032,0.000,761.738,0.000,7.063,0.000
$DEVICE_MAMPS,142.662,60.593,826.826,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.783,506.622,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19078,420
$CAP_FILE_SIZE,49108,0
$CFSIZE,260165632,258760704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,213904,4807.117,-12222.646,10,99.0,29,18.3