version: 66.04
glider: 136
mission: 3
dive: 16
start: 6 18 109 8 41 29
data:
$ID,136
$MISSION,3
$DIVE,16
$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,-4
$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,560
$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,-78879.023
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,083422,4806.825,-12222.785,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-70.9
$GPS2,084036,4806.825,-12222.793,11,1.5,27,18.3
$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,-749.4,77.6,-57.1,522.7,179.1
$KALMAN_Y,2895.6,-167.7,151.7,-3163.5,-140.4
$MHEAD_RNG_PITCHd_Wd,300.1,2638,-16.7,-7.463
$D_GRID,105
$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,-86.82,0.000,2,0.000,0.000,673,2350,3722
$GC,108,-1.23,-97.3,3.1,-2.5,15,134,12.27,2.90,-6.30,0.000,4,0.143,0.058,2882,762,3962
$GC,388,-1.23,-97.3,26.5,-8.8,64,395,0.00,2.83,0.00,0.000,6,0.000,0.038,2882,2349,3963
$GC,463,-1.23,-97.3,33.0,-8.6,77,470,0.00,2.90,0.00,0.000,4,0.000,0.051,2882,757,3963
$GC,605,-1.23,-97.3,46.3,-9.2,102,611,0.00,2.85,0.00,0.000,6,0.000,0.041,2882,2349,3964
$GC,746,-1.23,-97.3,58.9,-9.0,127,753,0.00,2.85,0.00,0.000,4,0.000,0.050,2882,3923,3964
$GC,804,-1.23,-97.3,64.5,-9.7,137,810,0.00,2.75,0.00,0.000,6,0.000,0.030,2882,2339,3964
$GC,945,-1.23,-97.3,76.5,-8.3,162,951,0.00,2.88,0.00,0.000,4,0.000,0.055,2882,769,3963
$GC,1002,-1.23,-97.3,81.5,-9.3,172,1009,0.00,2.85,0.00,0.000,6,0.000,0.043,2882,2352,3964
$GC,1144,-1.23,-97.3,93.2,-8.3,197,1150,0.00,2.92,0.00,0.000,4,0.000,0.056,2882,763,3963
$GC,1184,-1.23,-97.3,96.7,-8.5,204,1190,0.00,2.88,0.00,0.000,6,0.000,0.044,2882,2358,3963
$STATE,1290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1290,begin apogee
$GC,1297,-0.33,0.0,105.2,7.5,223,1372,0.95,0.00,69.62,0.882,6,0.082,0.000,3077,1856,3598
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1375,1.23,97.3,107.6,0.0,237,1456,1.58,0.00,74.47,0.861,6,0.055,0.000,3416,1856,3201
$GC,1592,1.23,97.3,94.5,7.6,276,1598,0.00,2.90,0.00,0.000,4,0.000,0.049,3417,3446,3200
$GC,1626,1.23,97.3,91.7,8.0,282,1633,0.00,2.85,0.00,0.000,6,0.000,0.038,3417,1852,3200
$GC,1768,1.23,99.1,81.3,7.4,307,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1852,3200
$GC,1909,1.25,111.4,71.1,6.8,332,1925,0.00,0.00,12.18,0.782,6,0.000,0.000,3417,1852,3143
$GC,2061,1.25,115.3,60.3,7.3,359,2068,0.00,0.00,4.50,0.584,6,0.000,0.000,3417,1852,3128
$GC,2203,1.26,123.8,50.2,7.0,384,2215,0.00,0.00,8.20,0.727,6,0.000,0.000,3417,1852,3093
$GC,2350,1.28,135.9,39.7,6.8,410,2370,0.05,2.95,10.90,0.762,4,0.083,0.048,3440,3439,3043
$GC,2388,1.28,135.9,36.7,7.7,416,2394,0.00,2.85,0.00,0.000,6,0.000,0.038,3440,1845,3043
$GC,2464,1.28,135.9,30.6,8.0,429,2471,0.00,3.00,0.00,0.000,4,0.000,0.067,3440,263,3042
$GC,2496,1.28,135.9,27.9,8.5,434,2503,0.00,2.85,0.00,0.000,6,0.000,0.038,3440,1859,3042
$GC,2571,1.28,135.9,21.9,7.6,447,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1859,3042
$GC,2646,1.28,135.9,16.1,7.8,460,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1859,3042
$GC,2722,1.29,143.6,10.8,7.1,473,2734,0.00,0.00,7.10,0.697,6,0.000,0.000,3440,1859,3013
$GC,2802,1.31,160.4,5.2,6.6,487,2822,0.00,2.95,14.10,0.775,4,0.000,0.048,3440,3441,2944
$STATE,2826,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,2.5,1.019094
$STATE,2889,end surface coast,CONTROL_FINISHED_OK
$STATE,2889,begin surface
$SM_CCo,2913,217.05,0.825,0,0,1315,560.02
$SM_GC,1.56,0.00,0.00,217.05,0.000,0.000,0.825,674,2334,1315,-11.41,-0.45,560.02
$IRIDIUM_FIX,4751.72,-12340.51,120998,070756
$TT8_MAMPS,0.03068
$HUMID,1820
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,177.10
$XPDR_PINGS,0
$24V_AH,23.3,2.059
$10V_AH,10.8,1.264
$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,27.325,51.825,201.075,217.050,0.000,29.818,36.952,180.533,0.000,0.000,0.000,29.221,766.443,1000.722,522.953,849.864,377.981,33.345,975.455,0.000,829.255,0.000,0.539,0.000
$DEVICE_MAMPS,143.429,67.496,882.050,825.292,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.979,314.846,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22162,502
$CAP_FILE_SIZE,53336,0
$CFSIZE,260165632,258371584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,093446,4806.967,-12222.982,8,2.3,27,18.3