version: 66.04
glider: 136
mission: 3
dive: 12
start: 6 18 109 4 29 56
data:
$ID,136
$MISSION,3
$DIVE,12
$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,-78803.703
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,042255,4806.112,-12222.035,8,1.4,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.7
$GPS2,042902,4806.135,-12222.080,12,1.6,12,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,-0.125
$KALMAN_X,-1069.4,-157.3,45.0,1859.2,-129.0
$KALMAN_Y,2584.5,388.1,-101.8,-4438.5,254.8
$MHEAD_RNG_PITCHd_Wd,137.4,269,-25.3,-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,-1.74,-45.5,0.0,0.0,0,140,0.00,0.00,-121.90,0.000,2,0.000,0.000,672,2353,3669
$GC,143,-1.79,-82.6,3.3,-3.4,21,169,11.62,2.90,-6.80,0.000,4,0.144,0.058,2757,752,3935
$GC,259,-1.79,-82.6,15.4,-10.5,41,266,0.00,2.85,0.00,0.000,6,0.000,0.036,2757,2359,3936
$GC,334,-1.79,-82.6,23.3,-10.7,54,341,0.00,2.90,0.00,0.000,4,0.000,0.048,2757,760,3935
$GC,347,-1.79,-82.6,24.6,-10.6,56,354,0.00,2.83,0.00,0.000,6,0.000,0.037,2757,2350,3936
$GC,422,-1.79,-82.6,32.8,-11.0,69,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2351,3936
$GC,495,-1.79,-82.6,41.9,-12.2,82,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2350,3936
$GC,637,-1.79,-82.6,59.9,-12.7,107,643,0.00,2.83,0.00,0.000,4,0.000,0.047,2757,3919,3936
$GC,750,-1.79,-82.6,76.2,-15.1,127,757,0.00,2.75,0.00,0.000,6,0.000,0.030,2757,2336,3936
$GC,892,-1.79,-82.6,94.3,-12.5,152,898,0.00,2.85,0.00,0.000,4,0.000,0.048,2757,3917,3936
$GC,950,-1.79,-82.6,102.5,-14.2,162,957,0.00,2.72,0.00,0.000,6,0.000,0.031,2757,2354,3936
$STATE,1045,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1045,begin apogee
$GC,1052,-0.33,0.0,114.6,12.2,179,1122,1.58,0.00,64.30,0.862,6,0.093,0.000,3074,1848,3598
$STATE,1123,end apogee,CONTROL_FINISHED_OK
$STATE,1123,begin climb
$GC,1125,1.79,82.6,117.4,0.0,192,1201,2.12,3.10,63.47,0.848,4,0.053,0.067,3541,271,3261
$GC,1285,1.79,82.6,103.5,11.8,221,1292,0.00,2.88,0.00,0.000,6,0.000,0.041,3541,1861,3260
$GC,1427,1.79,82.6,89.7,9.0,246,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1860,3260
$GC,1568,1.79,82.6,76.4,9.7,271,1574,0.00,2.88,0.00,0.000,4,0.000,0.050,3541,3448,3259
$GC,1602,1.79,82.6,73.1,9.5,277,1608,0.00,2.85,0.00,0.000,6,0.000,0.038,3541,1850,3259
$GC,1744,1.79,82.6,60.2,9.0,302,1750,0.00,3.00,0.00,0.000,4,0.000,0.066,3541,263,3259
$GC,1773,1.79,82.6,57.4,9.3,307,1779,0.00,2.85,0.00,0.000,6,0.000,0.039,3541,1853,3259
$GC,1914,1.79,82.6,45.8,7.7,332,1920,0.00,2.88,0.00,0.000,4,0.000,0.048,3541,3447,3258
$GC,2011,1.79,82.6,38.3,7.7,349,2019,0.00,2.88,0.00,0.000,6,0.000,0.038,3541,1849,3258
$GC,2088,1.79,86.1,32.8,7.1,362,2101,0.00,3.03,3.85,0.528,4,0.000,0.064,3541,268,3247
$GC,2169,1.79,86.1,26.2,8.7,376,2176,0.00,2.83,0.00,0.000,6,0.000,0.037,3541,1857,3246
$GC,2244,1.80,92.2,20.8,6.8,389,2257,0.00,0.00,6.50,0.676,6,0.000,0.000,3541,1858,3221
$GC,2325,1.81,99.9,15.5,6.6,403,2337,0.00,0.00,7.28,0.694,6,0.000,0.000,3541,1858,3191
$GC,2406,1.82,111.7,10.4,6.2,417,2425,0.00,2.90,10.80,0.744,4,0.000,0.047,3541,3431,3142
$GC,2550,1.92,191.8,6.1,-1.4,442,2622,0.15,2.80,60.70,0.809,6,0.049,0.035,3582,1845,2816
$STATE,2637,end climb,SURFACE_DEPTH_REACHED
$STATE,2637,begin surface coast
$FINISH,3.8,1.019436
$STATE,2745,end surface coast,CONTROL_FINISHED_OK
$STATE,2745,begin surface
$SM_CCo,2769,179.35,0.806,0,0,1436,530.09
$SM_GC,1.71,0.00,0.00,179.35,0.000,0.000,0.806,673,2345,1436,-11.42,-0.14,530.09
$IRIDIUM_FIX,4751.72,-12340.51,120998,030328
$TT8_MAMPS,0.03068
$HUMID,1845
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,177.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.7,23.6
$24V_AH,23.3,1.624
$10V_AH,10.8,1.093
$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,28.775,59.300,216.900,179.350,0.000,29.834,33.783,193.038,1.250,0.000,0.000,13.662,709.202,886.493,529.309,818.444,387.357,33.338,987.829,0.000,809.091,0.000,11.440,0.000
$DEVICE_MAMPS,144.196,67.496,862.108,806.117,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.266,365.702,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19043,476
$CAP_FILE_SIZE,53157,0
$CFSIZE,260165632,258510848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,051955,4806.029,-12221.969,7,1.6,12,18.3