version: 66.04
glider: 136
mission: 3
dive: 6
start: 6 17 109 22 37 56
data:
$ID,136
$MISSION,3
$DIVE,6
$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,-78666.922
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,223106,4807.002,-12222.605,8,1.2,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.7
$GPS2,223640,4807.050,-12222.649,8,2.7,27,18.3
$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,-366.7,-237.6,-112.1,690.3,-3.3
$KALMAN_Y,956.5,563.0,268.3,-1658.8,26.9
$MHEAD_RNG_PITCHd_Wd,140.2,2104,-21.7,-10.000
$D_GRID,108
$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,-97.3,0.0,0.0,0,122,0.00,0.00,-103.75,0.000,2,0.000,0.000,676,2180,3774
$GC,125,-1.57,-97.3,3.3,-5.1,18,151,11.93,2.97,-4.80,0.000,4,0.143,0.062,2823,583,3963
$GC,157,-1.57,-97.3,7.2,-10.2,23,164,0.00,2.80,0.00,0.000,6,0.000,0.036,2823,2173,3963
$GC,232,-1.57,-97.3,12.5,-7.0,36,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2173,3964
$GC,306,-1.57,-97.3,18.0,-7.9,49,313,0.00,2.83,0.00,0.000,4,0.000,0.046,2822,3750,3964
$GC,398,-1.57,-97.3,27.5,-11.6,65,405,0.00,2.78,0.00,0.000,6,0.000,0.029,2823,2154,3964
$GC,473,-1.57,-97.3,35.4,-10.6,78,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2154,3964
$GC,547,-1.57,-97.3,43.6,-11.1,91,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2154,3964
$GC,686,-1.57,-97.3,59.1,-10.4,116,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2154,3964
$GC,827,-1.57,-97.3,74.6,-10.5,141,833,0.00,2.90,0.00,0.000,4,0.000,0.048,2822,3758,3964
$GC,952,-1.57,-97.3,89.2,-11.5,163,958,0.00,2.78,0.00,0.000,6,0.000,0.033,2823,2171,3964
$GC,1096,-1.57,-97.3,103.9,-9.5,188,1102,0.00,2.85,0.00,0.000,4,0.000,0.049,2823,3751,3964
$STATE,1134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1135,begin apogee
$GC,1143,-0.33,0.0,108.3,10.5,195,1218,1.33,0.00,69.18,0.834,6,0.090,0.000,3091,2150,3598
$STATE,1219,end apogee,CONTROL_FINISHED_OK
$STATE,1219,begin climb
$GC,1222,1.57,97.3,111.1,0.0,208,1301,1.95,0.00,73.93,0.815,6,0.054,0.000,3516,2150,3201
$GC,1435,1.57,97.3,92.1,10.4,246,1442,0.00,2.97,0.00,0.000,4,0.000,0.061,3515,555,3200
$GC,1481,1.57,97.3,87.1,11.0,254,1488,0.00,2.88,0.00,0.000,6,0.000,0.042,3515,2152,3200
$GC,1626,1.57,99.2,72.7,9.9,279,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2152,3199
$GC,1766,1.58,102.6,58.9,9.8,304,1778,0.00,0.00,5.57,0.632,6,0.000,0.000,3515,2152,3179
$GC,1913,1.60,123.6,45.8,8.6,330,1937,0.00,3.00,17.25,0.756,4,0.000,0.058,3515,561,3093
$GC,2050,1.60,123.6,31.3,11.1,354,2057,0.00,2.85,0.00,0.000,6,0.000,0.040,3516,2158,3092
$GC,2126,1.61,127.4,23.9,9.7,367,2133,0.00,0.00,4.55,0.576,6,0.000,0.000,3515,2158,3078
$GC,2202,1.61,132.7,16.8,9.6,380,2215,0.00,2.97,5.82,0.635,4,0.000,0.057,3515,561,3056
$GC,2323,1.63,142.3,4.5,9.3,401,2336,0.00,2.83,6.80,0.657,6,0.000,0.039,3515,2148,3017
$STATE,2340,end climb,SURFACE_DEPTH_REACHED
$STATE,2340,begin surface coast
$FINISH,3.2,1.019750
$STATE,2416,end surface coast,CONTROL_FINISHED_OK
$STATE,2416,begin surface
$SM_CCo,2438,233.07,0.769,0,0,1152,600.00
$SM_GC,0.95,0.00,0.00,233.07,0.000,0.000,0.769,674,2149,1152,-11.49,-0.59,600.00
$IRIDIUM_FIX,4751.72,-12340.51,110998,212129
$TT8_MAMPS,0.03068
$HUMID,1864
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,177.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,36.8
$24V_AH,23.3,0.953
$10V_AH,10.8,0.791
$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,28.125,40.250,183.100,233.075,0.000,23.832,29.202,162.056,0.750,0.000,0.000,29.899,639.700,698.225,518.707,842.491,344.781,33.320,919.860,0.000,820.868,0.000,7.074,0.000
$DEVICE_MAMPS,143.429,62.127,833.729,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,280.877,564.935,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19038,417
$CAP_FILE_SIZE,47927,0
$CFSIZE,260165632,258703360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,232314,4806.866,-12222.542,9,1.4,9,18.3