version: 66.04
glider: 136
mission: 3
dive: 13
start: 6 18 109 5 27 2
data:
$ID,136
$MISSION,3
$DIVE,13
$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,70
$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,-78819.828
$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,22
$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,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
$GPS1,051955,4806.029,-12221.969,7,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.1
$GPS2,052608,4806.044,-12222.001,13,1.6,13,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.150
$KALMAN_X,-1215.4,-111.8,15.3,2085.6,-155.3
$KALMAN_Y,2999.5,262.3,-58.0,-4937.9,375.7
$MHEAD_RNG_PITCHd_Wd,301.3,4385,-16.7,-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,-1.23,-97.3,0.0,0.0,0,105,0.00,0.00,-87.15,0.000,2,0.000,0.000,673,2346,3720
$GC,108,-1.23,-97.3,3.3,-3.3,15,134,12.25,2.90,-6.35,0.000,4,0.143,0.058,2880,755,3962
$GC,388,-1.23,-97.3,28.0,-8.7,64,395,0.00,2.83,0.00,0.000,6,0.000,0.038,2880,2347,3963
$GC,464,-1.23,-97.3,34.5,-8.4,77,470,0.00,2.90,0.00,0.000,4,0.000,0.051,2880,755,3963
$GC,652,-1.23,-97.3,52.1,-9.4,110,658,0.00,2.85,0.00,0.000,6,0.000,0.040,2880,2350,3963
$GC,793,-1.23,-97.3,64.7,-8.2,135,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2351,3963
$GC,934,-1.23,-97.3,76.4,-8.5,160,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2351,3963
$GC,1076,-1.23,-97.3,88.7,-8.5,185,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2352,3963
$GC,1216,-1.23,-97.3,100.5,-8.5,210,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2352,3963
$GC,1356,-1.23,-97.3,112.3,-8.2,235,1362,0.00,2.92,0.00,0.000,4,0.000,0.057,2880,765,3963
$GC,1391,-1.23,-97.3,115.2,-8.2,241,1397,0.00,2.88,0.00,0.000,6,0.000,0.045,2880,2357,3963
$STATE,1407,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1407,begin apogee
$GC,1414,-0.33,0.0,116.7,8.6,244,1489,0.95,0.00,69.60,0.885,6,0.081,0.000,3076,1844,3598
$STATE,1490,end apogee,CONTROL_FINISHED_OK
$STATE,1490,begin climb
$GC,1493,1.23,97.3,119.2,0.0,258,1579,1.58,3.12,74.55,0.867,4,0.055,0.067,3417,264,3200
$GC,1592,1.26,119.0,114.9,6.3,276,1615,0.00,2.90,18.02,0.809,6,0.000,0.041,3417,1859,3112
$GC,1753,1.26,119.0,101.8,8.4,304,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1859,3111
$GC,1894,1.26,119.0,90.1,8.2,329,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1859,3110
$GC,2035,1.26,121.6,79.2,7.3,354,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1859,3110
$GC,2175,1.27,126.3,69.0,7.2,379,2188,0.00,2.95,7.03,0.703,4,0.000,0.049,3417,3444,3082
$GC,2222,1.27,126.3,65.5,7.6,387,2228,0.00,2.85,0.00,0.000,6,0.000,0.038,3417,1851,3082
$GC,2364,1.27,126.3,54.7,7.7,412,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1851,3081
$GC,2504,1.28,138.6,44.6,6.8,437,2521,0.05,0.00,10.93,0.767,6,0.082,0.000,3440,1851,3031
$GC,2658,1.28,138.6,32.3,8.2,464,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1851,3031
$GC,2732,1.28,138.6,26.4,7.9,477,2739,0.00,2.88,0.00,0.000,4,0.000,0.047,3440,3439,3031
$GC,2757,1.28,138.6,24.5,7.6,481,2764,0.00,2.83,0.00,0.000,6,0.000,0.038,3440,1848,3031
$GC,2832,1.28,138.6,18.7,7.5,494,2839,0.00,2.88,0.00,0.000,4,0.000,0.047,3440,3442,3030
$GC,2847,1.28,138.6,17.8,7.6,496,2853,0.00,2.83,0.00,0.000,6,0.000,0.038,3440,1850,3030
$GC,2922,1.29,143.5,12.4,7.2,509,2935,0.00,3.00,5.35,0.639,4,0.000,0.065,3440,268,3012
$GC,2976,1.29,143.5,8.1,7.9,518,2983,0.00,2.83,0.00,0.000,6,0.000,0.036,3440,1859,3012
$GC,3052,1.39,226.2,4.5,3.2,531,3100,0.05,0.00,45.83,0.817,2,0.083,0.000,3464,1859,2763
$STATE,3101,end climb,SURFACE_DEPTH_REACHED
$STATE,3101,begin surface coast
$FINISH,3.3,1.020051
$STATE,3280,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3280,begin surface
$SM_CCo,3303,172.77,0.816,0,0,1437,530.09
$SM_GC,1.78,0.00,0.00,172.77,0.000,0.000,0.816,673,2353,1437,-11.42,0.08,530.09
$IRIDIUM_FIX,4751.72,-12340.51,120998,040430
$TT8_MAMPS,0.029913
$HUMID,1839
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,177.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,46.3
$24V_AH,23.3,1.734
$10V_AH,10.8,1.137
$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,27.500,48.125,231.300,172.775,0.000,22.543,33.056,205.523,0.500,0.000,0.000,15.499,855.982,1143.708,510.200,955.526,398.707,33.326,1015.166,0.000,941.473,0.000,5.550,0.000
$DEVICE_MAMPS,142.662,67.496,885.118,816.088,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.525,365.480,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25343,571
$CAP_FILE_SIZE,57476,0
$CFSIZE,260165632,258461696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,062607,4806.310,-12222.249,31,1.4,31,18.3