version: 66.04
glider: 136
mission: 3
dive: 9
start: 6 18 109 1 23 44
data:
$ID,136
$MISSION,3
$DIVE,9
$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,67
$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,-78730.805
$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,19
$R_STBD_OVSHOOT,21
$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,2
$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
$GPS1,011636,4806.541,-12222.293,38,1.0,38,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.1
$GPS2,012249,4806.582,-12222.326,8,1.1,13,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,-0.185
$KALMAN_X,-608.7,-262.3,-5.7,1249.0,6.3
$KALMAN_Y,1572.0,633.9,24.7,-2970.3,6.7
$MHEAD_RNG_PITCHd_Wd,142.0,1151,-16.7,-7.463
$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,-1.23,-97.3,0.0,0.0,0,122,0.00,0.00,-105.07,0.000,2,0.000,0.000,675,2152,3745
$GC,126,-1.23,-97.3,3.0,-2.7,18,151,12.32,2.90,-5.65,0.000,4,0.143,0.056,2897,3755,3963
$GC,186,-1.23,-97.3,8.2,-6.0,28,193,0.00,2.80,0.00,0.000,6,0.000,0.030,2896,2155,3964
$GC,262,-1.23,-97.3,13.3,-7.0,41,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2155,3964
$GC,336,-1.23,-97.3,18.9,-7.5,54,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2154,3964
$GC,410,-1.23,-97.3,25.0,-8.4,67,416,0.00,2.88,0.00,0.000,4,0.000,0.045,2897,3756,3965
$GC,457,-1.23,-97.3,29.2,-9.4,75,463,0.00,2.78,0.00,0.000,6,0.000,0.031,2896,2164,3965
$GC,533,-1.23,-97.3,36.0,-8.5,88,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2164,3965
$GC,608,-1.23,-97.3,42.4,-8.7,101,615,0.00,2.88,0.00,0.000,4,0.000,0.046,2896,3756,3965
$GC,646,-1.23,-97.3,45.8,-8.9,107,652,0.00,2.78,0.00,0.000,6,0.000,0.031,2896,2168,3965
$GC,787,-1.23,-97.3,58.1,-8.6,132,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2167,3965
$GC,931,-1.23,-97.3,70.2,-8.3,157,937,0.00,2.88,0.00,0.000,4,0.000,0.048,2897,3757,3965
$GC,955,-1.23,-97.3,72.3,-8.5,161,961,0.00,2.78,0.00,0.000,6,0.000,0.032,2897,2172,3965
$GC,1099,-1.23,-97.3,84.0,-7.8,186,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2172,3965
$GC,1240,-1.23,-97.3,95.5,-8.2,211,1246,0.00,2.88,0.00,0.000,4,0.000,0.048,2897,3759,3965
$GC,1264,-1.23,-97.3,97.5,-8.0,215,1270,0.00,2.80,0.00,0.000,6,0.000,0.034,2896,2165,3965
$STATE,1403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1403,begin apogee
$GC,1410,-0.33,0.0,108.2,7.7,240,1485,0.95,0.00,69.38,0.851,6,0.084,0.000,3092,2165,3598
$STATE,1486,end apogee,CONTROL_FINISHED_OK
$STATE,1486,begin climb
$GC,1488,1.23,97.3,110.5,0.0,252,1567,1.58,0.00,74.25,0.831,6,0.054,0.000,3435,2165,3201
$GC,1702,1.23,97.3,96.5,8.3,289,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2164,3200
$GC,1842,1.23,97.3,85.2,8.1,314,1850,0.00,3.03,0.00,0.000,4,0.000,0.062,3435,565,3200
$GC,1923,1.23,97.3,78.4,8.6,328,1930,0.00,2.85,0.00,0.000,6,0.000,0.042,3435,2152,3199
$GC,2066,1.24,105.3,67.9,7.0,353,2079,0.00,2.97,7.60,0.702,4,0.000,0.060,3435,568,3168
$GC,2125,1.24,105.3,63.3,7.9,363,2132,0.00,2.85,0.00,0.000,6,0.000,0.041,3435,2149,3167
$GC,2267,1.25,111.3,52.9,7.2,388,2279,0.00,0.00,6.18,0.663,6,0.000,0.000,3436,2149,3144
$GC,2415,1.27,129.9,42.7,6.5,414,2438,0.00,3.03,15.40,0.765,4,0.000,0.060,3435,571,3067
$GC,2559,1.27,129.9,31.0,8.3,439,2566,0.00,2.83,0.00,0.000,6,0.000,0.041,3436,2149,3067
$GC,2635,1.27,133.7,25.2,7.3,452,2642,0.00,0.00,4.55,0.581,6,0.000,0.000,3435,2150,3052
$GC,2714,1.27,133.7,19.6,7.5,465,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2150,3052
$GC,2790,1.28,141.6,14.1,7.1,478,2804,0.05,3.03,7.68,0.693,4,0.084,0.058,3458,564,3020
$GC,2856,1.28,141.6,8.4,8.7,489,2862,0.00,2.85,0.00,0.000,6,0.000,0.040,3458,2161,3019
$STATE,2911,end climb,SURFACE_DEPTH_REACHED
$STATE,2912,begin surface coast
$FINISH,1.9,1.019649
$STATE,2975,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,2997,233.57,0.782,0,0,1152,600.00
$SM_GC,0.85,0.00,0.00,233.57,0.000,0.000,0.782,676,2162,1152,-11.48,-0.23,600.00
$IRIDIUM_FIX,4751.72,-12340.51,120998,000002
$TT8_MAMPS,0.03068
$HUMID,1825
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,177.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,45.5
$24V_AH,23.3,1.272
$10V_AH,10.8,0.945
$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,27.450,51.750,185.025,233.575,0.000,27.630,34.342,201.246,0.500,0.000,0.000,15.431,781.632,875.087,536.427,1015.821,410.287,33.325,1023.362,0.000,1016.044,0.000,5.552,0.000
$DEVICE_MAMPS,143.429,62.127,850.603,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.070,693.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22265,510
$CAP_FILE_SIZE,57357,0
$CFSIZE,260165632,258596864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,021825,4806.342,-12222.193,7,1.4,12,18.3