version: 66.04
glider: 136
mission: 3
dive: 14
start: 6 18 109 6 32 44
data:
$ID,136
$MISSION,3
$DIVE,14
$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,-78833.125
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,062607,4806.310,-12222.249,31,1.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.1
$GPS2,063150,4806.333,-12222.280,11,1.7,11,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.147
$KALMAN_X,-1020.9,-76.6,-51.7,1573.1,7.6
$KALMAN_Y,2914.2,158.9,69.3,-4334.6,160.8
$MHEAD_RNG_PITCHd_Wd,300.1,3749,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-69.85,0.000,2,0.000,0.000,673,2353,3274
$GC,90,-1.23,-97.3,3.2,-3.4,12,134,12.25,2.92,-20.90,0.000,4,0.143,0.057,2881,766,3962
$GC,376,-1.23,-97.3,21.8,-8.5,62,382,0.00,2.83,0.00,0.000,6,0.000,0.038,2881,2354,3963
$GC,451,-1.23,-97.3,28.3,-8.4,75,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2355,3963
$GC,525,-1.23,-97.3,35.0,-9.2,88,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2354,3963
$GC,598,-1.23,-97.3,41.8,-9.0,101,604,0.00,2.83,0.00,0.000,4,0.000,0.048,2881,3925,3964
$GC,655,-1.23,-97.3,47.7,-10.5,111,662,0.00,2.75,0.00,0.000,6,0.000,0.028,2881,2330,3964
$GC,797,-1.23,-97.3,60.6,-8.6,136,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2330,3964
$GC,938,-1.23,-97.3,72.9,-8.7,161,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2330,3964
$GC,1078,-1.23,-97.3,86.0,-9.5,186,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2330,3964
$GC,1219,-1.23,-97.3,98.6,-8.6,211,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2330,3963
$GC,1360,-1.23,-97.3,110.1,-7.8,236,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2330,3964
$STATE,1414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1414,begin apogee
$GC,1421,-0.33,0.0,114.6,8.0,246,1496,0.95,0.00,69.68,0.888,6,0.083,0.000,3076,1849,3598
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1499,1.23,97.3,117.0,0.0,260,1580,1.58,0.00,74.62,0.869,6,0.055,0.000,3417,1849,3201
$GC,1716,1.23,97.3,104.1,7.7,299,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1849,3200
$GC,1858,1.24,107.3,94.1,6.9,324,1875,0.00,2.97,9.23,0.756,4,0.000,0.047,3417,3449,3159
$GC,1903,1.24,107.3,90.7,7.5,332,1910,0.00,2.85,0.00,0.000,6,0.000,0.037,3417,1853,3159
$GC,2045,1.26,119.5,80.4,6.8,357,2063,0.00,3.05,10.90,0.775,4,0.000,0.068,3416,268,3109
$GC,2086,1.26,119.5,77.3,7.8,364,2092,0.00,2.88,0.00,0.000,6,0.000,0.039,3416,1865,3109
$GC,2227,1.26,119.5,66.5,7.5,389,2234,0.00,2.85,0.00,0.000,4,0.000,0.049,3417,3437,3109
$GC,2251,1.26,119.5,64.7,7.8,393,2257,0.00,2.83,0.00,0.000,6,0.000,0.038,3417,1850,3109
$GC,2393,1.26,122.9,54.3,7.3,418,2399,0.00,0.00,4.28,0.574,6,0.000,0.000,3417,1850,3096
$GC,2535,1.27,129.9,44.1,7.1,443,2548,0.03,2.95,6.88,0.703,4,0.131,0.047,3435,3437,3068
$GC,2576,1.27,129.9,40.9,7.7,450,2583,0.00,2.85,0.00,0.000,6,0.000,0.038,3435,1841,3068
$GC,2720,1.27,129.9,30.3,7.5,475,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1841,3068
$GC,2795,1.28,141.5,24.9,6.9,488,2814,0.00,2.95,10.40,0.764,4,0.000,0.047,3435,3433,3021
$GC,2855,1.28,141.5,20.4,7.8,498,2862,0.00,2.83,0.00,0.000,6,0.000,0.037,3435,1845,3020
$GC,2931,1.29,146.7,14.9,7.2,511,2944,0.00,3.00,5.82,0.660,4,0.000,0.065,3435,264,2999
$GC,2978,1.29,146.7,11.0,8.0,519,2985,0.00,2.83,0.00,0.000,6,0.000,0.037,3435,1852,2999
$GC,3054,1.31,163.7,6.1,6.6,532,3074,0.00,2.95,14.27,0.782,4,0.000,0.047,3435,3438,2930
$GC,3092,1.36,201.2,4.0,5.5,538,3100,0.05,2.85,2.90,0.383,2,0.082,0.036,3457,1839,2912
$STATE,3101,end climb,SURFACE_DEPTH_REACHED
$STATE,3101,begin surface coast
$FINISH,3.5,1.020017
$STATE,3185,end surface coast,CONTROL_FINISHED_OK
$STATE,3185,begin surface
$SM_CCo,3208,189.88,0.821,0,0,1437,530.09
$SM_GC,1.64,0.00,0.00,189.88,0.000,0.000,0.821,677,2353,1437,-11.40,0.08,530.09
$IRIDIUM_FIX,4751.72,-12340.51,120998,050522
$TT8_MAMPS,0.029913
$HUMID,1837
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,177.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.0,24.1
$24V_AH,23.3,1.840
$10V_AH,10.8,1.181
$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,27.425,53.725,208.975,189.875,0.000,24.284,29.125,182.487,1.500,0.000,0.000,12.666,843.319,1095.565,516.394,928.606,372.017,33.333,1009.877,0.000,914.846,0.000,14.300,0.000
$DEVICE_MAMPS,142.662,68.263,888.186,821.457,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.286,348.540,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22159,554
$CAP_FILE_SIZE,59074,0
$CFSIZE,260165632,258433024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,073028,4806.604,-12222.536,8,2.2,27,18.3