version: 66.04
glider: 136
mission: 3
dive: 11
start: 6 18 109 3 30 48
data:
$ID,136
$MISSION,3
$DIVE,11
$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,0
$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,530
$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,-78789.414
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3155
$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,2350
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,10
$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
$GPS1,032301,4806.185,-12222.112,7,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.0
$GPS2,032955,4806.195,-12222.150,24,99.0,43,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,-0.115
$KALMAN_X,-867.4,-213.3,42.5,1629.1,-44.8
$KALMAN_Y,2112.7,519.1,-90.3,-3997.2,84.7
$MHEAD_RNG_PITCHd_Wd,134.4,406,-26.8,-7.463
$D_GRID,150
$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,-1.84,-40.7,0.0,0.0,0,126,0.00,0.00,-105.60,0.000,6,0.000,0.000,675,2176,3764
$GC,129,-1.88,-76.8,3.1,-3.0,19,155,11.50,3.20,-3.72,0.000,4,0.144,0.056,2740,3913,3913
$GC,331,-1.88,-76.8,24.4,-11.9,54,337,0.00,2.72,0.00,0.000,6,0.000,0.028,2741,2338,3913
$GC,406,-1.88,-76.8,33.6,-12.7,67,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2338,3913
$GC,481,-1.88,-76.8,43.9,-13.6,80,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2338,3914
$GC,624,-1.88,-76.8,63.0,-13.5,105,630,0.00,2.85,0.00,0.000,4,0.000,0.047,2740,3916,3914
$GC,715,-1.88,-76.8,76.1,-14.4,121,721,0.00,2.72,0.00,0.000,6,0.000,0.031,2740,2349,3914
$GC,859,-1.88,-76.8,94.8,-13.0,146,866,0.00,2.83,0.00,0.000,4,0.000,0.048,2741,3916,3914
$GC,901,-1.88,-76.8,100.6,-13.8,153,907,0.00,2.72,0.00,0.000,6,0.000,0.031,2741,2351,3914
$STATE,1040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1040,begin apogee
$GC,1049,-0.33,0.0,117.9,11.7,178,1113,1.67,0.00,59.88,0.858,6,0.094,0.000,3075,1853,3598
$STATE,1114,end apogee,CONTROL_FINISHED_OK
$STATE,1114,begin climb
$GC,1116,1.88,76.8,120.7,0.0,189,1187,2.22,3.10,59.10,0.841,4,0.055,0.069,3560,276,3284
$GC,1257,1.88,76.8,108.7,12.5,213,1263,0.00,2.85,0.00,0.000,6,0.000,0.041,3560,1849,3284
$GC,1399,1.88,76.8,92.8,10.3,238,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1849,3283
$GC,1542,1.88,76.8,78.8,9.7,263,1548,0.00,2.88,0.00,0.000,4,0.000,0.050,3560,3441,3282
$GC,1611,1.88,76.8,72.0,9.5,275,1617,0.00,2.83,0.00,0.000,6,0.000,0.038,3560,1852,3283
$GC,1752,1.88,76.8,59.9,8.4,300,1759,0.00,3.00,0.00,0.000,4,0.000,0.066,3560,266,3282
$GC,1807,1.88,76.8,55.1,9.3,309,1814,0.00,2.85,0.00,0.000,6,0.000,0.038,3560,1855,3282
$GC,1949,1.88,76.8,43.2,8.1,334,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1856,3282
$GC,2091,1.88,79.0,32.8,7.2,359,2097,0.00,2.85,0.00,0.000,4,0.000,0.048,3560,3443,3282
$GC,2171,1.89,80.5,26.8,7.3,373,2184,0.00,2.83,4.07,0.550,6,0.000,0.037,3560,1849,3269
$GC,2253,1.89,83.9,21.3,7.1,387,2260,0.00,0.00,4.35,0.571,6,0.000,0.000,3560,1849,3256
$GC,2328,1.89,87.9,15.8,7.0,400,2335,0.00,0.00,4.88,0.602,6,0.000,0.000,3560,1849,3239
$GC,2404,1.91,97.9,11.0,6.2,413,2423,0.00,2.92,9.32,0.723,4,0.000,0.044,3560,3439,3198
$GC,2441,1.92,106.6,8.5,6.4,419,2455,0.00,2.85,8.12,0.700,6,0.000,0.037,3560,1841,3163
$STATE,2515,end climb,SURFACE_DEPTH_REACHED
$STATE,2515,begin surface coast
$FINISH,4.4,1.021408
$STATE,2606,end surface coast,CONTROL_FINISHED_OK
$STATE,2606,begin surface
$SM_CCo,2609,359.45,0.782,0,0,499,759.94
$SM_GC,0.94,12.93,0.00,0.00,0.031,0.000,0.000,672,2352,490,-11.34,0.08,762.39
$IRIDIUM_FIX,4751.72,-12056.72,120998,020210
$TT8_MAMPS,0.029913
$HUMID,1870
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,177.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,47.2
$24V_AH,23.3,1.519
$10V_AH,10.8,1.052
$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,28.325,47.825,149.725,359.450,0.000,24.393,27.414,219.343,0.500,0.000,0.000,46.000,692.540,877.033,631.062,900.401,406.899,33.335,1057.901,0.000,872.052,0.000,5.549,0.000
$DEVICE_MAMPS,144.196,69.030,858.273,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.971,595.767,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19091,448
$CAP_FILE_SIZE,51602,0
$CFSIZE,260165632,258543616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,042255,4806.112,-12222.035,8,1.4,8,18.3