version: 66.04
glider: 136
mission: 3
dive: 15
start: 6 18 109 7 37 19
data:
$ID,136
$MISSION,3
$DIVE,15
$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,-78849.172
$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
$GPS1,073028,4806.604,-12222.536,8,2.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.1
$GPS2,073625,4806.615,-12222.552,8,2.0,13,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.146
$KALMAN_X,-853.2,-14.1,-93.8,1051.3,174.9
$KALMAN_Y,2888.7,15.9,171.1,-3747.9,-77.8
$MHEAD_RNG_PITCHd_Wd,299.6,3129,-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,-87.22,0.000,2,0.000,0.000,678,2353,3704
$GC,108,-1.23,-97.3,3.2,-2.9,15,134,12.25,2.90,-6.47,0.000,4,0.143,0.058,2878,762,3961
$GC,388,-1.23,-97.3,26.3,-9.0,64,395,0.00,2.83,0.00,0.000,6,0.000,0.038,2878,2350,3962
$GC,463,-1.23,-97.3,33.0,-8.9,77,470,0.00,2.90,0.00,0.000,4,0.000,0.051,2878,758,3962
$GC,504,-1.23,-97.3,36.8,-9.2,84,511,0.00,2.85,0.00,0.000,6,0.000,0.039,2878,2356,3962
$GC,579,-1.23,-97.3,43.7,-9.1,97,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2356,3962
$GC,719,-1.23,-97.3,56.8,-9.1,122,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2356,3963
$GC,860,-1.23,-97.3,69.4,-8.8,147,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2356,3963
$GC,1000,-1.23,-97.3,82.2,-8.9,172,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2357,3963
$GC,1143,-1.23,-97.3,94.2,-8.7,197,1150,0.00,2.95,0.00,0.000,4,0.000,0.056,2878,755,3963
$GC,1174,-1.23,-97.3,97.0,-8.7,202,1180,0.00,2.88,0.00,0.000,6,0.000,0.044,2878,2348,3962
$GC,1317,-1.23,-97.3,109.1,-8.2,227,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2349,3963
$STATE,1366,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1366,begin apogee
$GC,1373,-0.33,0.0,113.4,8.3,236,1448,0.95,0.00,69.53,0.890,6,0.082,0.000,3074,1847,3598
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1451,1.23,97.3,115.8,0.0,250,1532,1.60,0.00,74.57,0.868,6,0.056,0.000,3419,1848,3202
$GC,1667,1.23,97.3,102.9,8.2,289,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1848,3200
$GC,1808,1.23,100.1,92.6,7.3,314,1820,0.00,2.95,3.80,0.527,4,0.000,0.049,3419,3438,3189
$GC,1854,1.23,100.1,88.9,8.1,322,1861,0.00,2.85,0.00,0.000,6,0.000,0.038,3420,1845,3189
$GC,1996,1.24,106.2,78.5,7.2,347,2009,0.00,3.03,6.50,0.693,4,0.000,0.067,3419,263,3164
$GC,2032,1.24,106.2,75.7,7.7,353,2038,0.00,2.88,0.00,0.000,6,0.000,0.039,3419,1859,3164
$GC,2174,1.25,117.0,65.8,6.9,378,2186,0.00,0.00,9.70,0.761,6,0.000,0.000,3419,1859,3121
$GC,2321,1.27,130.3,55.4,6.8,404,2339,0.00,2.90,11.90,0.782,4,0.000,0.049,3419,3442,3066
$GC,2363,1.27,130.7,52.3,7.4,411,2369,0.00,2.85,0.00,0.000,6,0.000,0.038,3420,1850,3066
$GC,2504,1.27,133.9,41.7,7.3,436,2511,0.00,0.00,4.28,0.571,6,0.000,0.000,3419,1850,3052
$GC,2647,1.29,142.2,31.4,7.0,461,2660,0.05,0.00,8.10,0.726,6,0.084,0.000,3442,1849,3018
$GC,2728,1.29,142.2,24.9,8.1,475,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1849,3017
$GC,2802,1.29,142.2,19.0,7.9,488,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1849,3017
$GC,2877,1.29,144.7,13.5,7.3,501,2883,0.00,0.00,3.60,0.505,6,0.000,0.000,3442,1849,3008
$GC,2952,1.30,150.3,8.0,7.2,514,2964,0.00,0.00,6.10,0.667,6,0.000,0.000,3443,1849,2985
$STATE,3025,end climb,SURFACE_DEPTH_REACHED
$STATE,3025,begin surface coast
$FINISH,3.3,1.020186
$STATE,3127,end surface coast,CONTROL_FINISHED_OK
$STATE,3127,begin surface
$SM_CCo,3150,202.82,0.829,0,0,1437,530.09
$SM_GC,1.68,0.00,0.00,202.82,0.000,0.000,0.829,673,2349,1437,-11.42,-0.03,530.09
$IRIDIUM_FIX,4751.72,-12340.51,120998,060632
$TT8_MAMPS,0.03068
$HUMID,1818
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,177.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,22.7
$24V_AH,23.2,1.948
$10V_AH,10.8,1.223
$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,27.350,36.575,198.075,202.825,0.000,26.272,29.749,189.808,1.250,0.000,0.000,15.418,829.414,1094.749,506.626,905.336,387.884,33.338,983.101,0.000,897.344,0.000,11.422,0.000
$DEVICE_MAMPS,143.429,67.496,889.720,829.127,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.727,335.859,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22229,545
$CAP_FILE_SIZE,55843,0
$CFSIZE,260165632,258404352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,083422,4806.825,-12222.785,12,99.0,31,18.3