version: 66.04
glider: 136
mission: 3
dive: 5
start: 6 17 109 21 46 22
data:
$ID,136
$MISSION,3
$DIVE,5
$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,-78636.398
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,213904,4807.117,-12222.646,10,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.8
$GPS2,214506,4807.177,-12222.687,13,2.0,29,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.071,-0.203
$KALMAN_X,-288.6,-201.8,-134.7,551.8,-19.6
$KALMAN_Y,797.0,493.6,312.6,-1239.2,97.1
$MHEAD_RNG_PITCHd_Wd,142.5,2340,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.57,-97.3,0.0,0.0,0,116,0.00,0.00,-97.50,0.000,2,0.000,0.000,673,2149,3653
$GC,119,-1.57,-97.3,3.4,-5.8,17,145,11.90,2.95,-8.35,0.000,4,0.142,0.055,2821,3758,3962
$GC,382,-1.57,-97.3,27.4,-11.3,63,389,0.00,2.78,0.00,0.000,6,0.000,0.028,2821,2157,3963
$GC,457,-1.57,-97.3,35.5,-11.1,76,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2157,3964
$GC,531,-1.57,-97.3,43.9,-11.2,89,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2157,3963
$GC,671,-1.57,-97.3,60.5,-11.6,114,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2157,3963
$GC,813,-1.57,-97.3,76.6,-11.2,139,819,0.00,2.90,0.00,0.000,4,0.000,0.048,2821,3765,3963
$GC,906,-1.57,-97.3,87.2,-11.2,155,912,0.00,2.80,0.00,0.000,6,0.000,0.031,2821,2162,3964
$GC,1049,-1.57,-97.3,102.0,-10.2,180,1056,0.00,2.88,0.00,0.000,4,0.000,0.048,2821,3758,3964
$STATE,1093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1093,begin apogee
$GC,1102,-0.33,0.0,107.4,11.1,188,1176,1.33,0.00,69.10,0.833,6,0.087,0.000,3092,2154,3598
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1179,1.57,97.3,110.3,0.0,201,1264,1.90,3.05,73.65,0.811,4,0.049,0.061,3516,565,3200
$GC,1361,1.57,97.3,94.4,11.8,233,1367,0.00,2.88,0.00,0.000,6,0.000,0.042,3517,2160,3199
$GC,1502,1.57,97.3,79.4,10.6,258,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2161,3199
$GC,1644,1.57,99.4,65.2,9.9,283,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2161,3199
$GC,1784,1.59,115.2,52.4,8.9,308,1808,0.00,3.05,14.73,0.749,4,0.000,0.058,3516,560,3128
$GC,1865,1.59,115.2,44.5,10.7,322,1871,0.00,2.85,0.00,0.000,6,0.000,0.041,3516,2153,3127
$GC,2008,1.60,119.5,30.6,9.7,347,2021,0.00,2.97,5.00,0.600,4,0.000,0.058,3516,559,3109
$GC,2112,1.60,119.5,19.9,10.3,365,2119,0.00,2.85,0.00,0.000,6,0.000,0.040,3516,2161,3110
$GC,2187,1.60,120.4,12.3,9.9,378,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2161,3109
$GC,2261,1.65,160.8,6.4,7.2,391,2303,0.00,3.03,31.83,0.759,4,0.000,0.055,3516,567,2941
$STATE,2319,end climb,SURFACE_DEPTH_REACHED
$STATE,2319,begin surface coast
$FINISH,3.0,1.019792
$STATE,2365,end surface coast,CONTROL_FINISHED_OK
$STATE,2365,begin surface
$SM_CCo,2390,230.93,0.768,0,0,1152,600.00
$SM_GC,1.05,0.00,0.00,230.93,0.000,0.000,0.768,675,2179,1152,-11.48,0.28,600.00
$IRIDIUM_FIX,4751.72,-12340.51,110998,202015
$TT8_MAMPS,0.029913
$HUMID,1854
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,196.80
$XPDR_PINGS,0
$24V_AH,23.4,0.850
$10V_AH,10.8,0.745
$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,28.000,40.750,194.300,230.925,0.000,24.798,34.943,179.830,1.500,0.000,0.000,32.019,619.578,742.987,524.060,768.972,365.902,33.320,917.826,0.000,743.582,0.000,14.159,0.000
$DEVICE_MAMPS,141.895,61.360,832.962,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,275.156,491.137,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19045,409
$CAP_FILE_SIZE,44233,0
$CFSIZE,260165632,258736128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,223106,4807.002,-12222.605,8,1.2,24,18.3