version: 66.04
glider: 136
mission: 3
dive: 19
start: 6 18 109 11 45 50
data:
$ID,136
$MISSION,3
$DIVE,19
$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,-78942.031
$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,18
$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
$GPS1,113856,4807.239,-12223.210,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.6
$GPS2,114456,4807.192,-12223.214,13,1.5,13,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,0.167
$KALMAN_X,-640.8,273.1,89.4,-448.8,63.5
$KALMAN_Y,2873.9,-538.8,-84.4,-1855.4,-120.0
$MHEAD_RNG_PITCHd_Wd,310.0,1784,-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,-97.3,0.0,0.0,0,87,0.00,0.00,-69.40,0.000,2,0.000,0.000,672,2348,3116
$GC,90,-1.23,-97.3,3.2,-2.7,12,140,12.20,2.92,-28.17,0.000,4,0.140,0.057,2881,761,3961
$GC,169,-1.23,-97.3,5.8,-6.4,25,175,0.00,2.83,0.00,0.000,6,0.000,0.036,2881,2351,3963
$GC,244,-1.23,-97.3,9.8,-4.7,38,250,0.00,2.83,0.00,0.000,4,0.000,0.047,2882,3922,3963
$GC,358,-1.23,-97.3,18.3,-8.1,58,365,0.00,2.72,0.00,0.000,6,0.000,0.026,2881,2335,3963
$GC,433,-1.23,-97.3,24.3,-8.3,71,439,0.00,2.83,0.00,0.000,4,0.000,0.050,2882,776,3963
$GC,485,-1.23,-97.3,29.2,-9.3,80,492,0.00,2.83,0.00,0.000,6,0.000,0.039,2882,2359,3964
$GC,560,-1.23,-97.3,35.9,-9.1,93,567,0.00,2.80,0.00,0.000,4,0.000,0.047,2882,3917,3964
$GC,591,-1.23,-97.3,38.9,-9.6,98,598,0.00,2.70,0.00,0.000,6,0.000,0.028,2881,2354,3964
$GC,666,-1.23,-97.3,45.7,-8.8,111,672,0.00,2.90,0.00,0.000,4,0.000,0.051,2882,762,3964
$GC,694,-1.23,-97.3,48.3,-8.7,116,701,0.00,2.85,0.00,0.000,6,0.000,0.040,2881,2351,3964
$GC,836,-1.23,-97.3,60.7,-8.6,141,842,0.00,2.83,0.00,0.000,4,0.000,0.048,2881,3919,3964
$GC,893,-1.23,-97.3,66.1,-10.0,151,899,0.00,2.72,0.00,0.000,6,0.000,0.030,2881,2351,3964
$GC,1035,-1.23,-97.3,79.1,-9.3,176,1041,0.00,2.90,0.00,0.000,4,0.000,0.054,2882,768,3964
$GC,1070,-1.23,-97.3,82.3,-9.2,182,1076,0.00,2.85,0.00,0.000,6,0.000,0.042,2881,2353,3964
$GC,1211,-1.23,-97.3,94.6,-8.7,207,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2353,3964
$STATE,1332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1332,begin apogee
$GC,1339,-0.33,0.0,105.0,8.3,229,1415,0.95,0.00,69.53,0.865,6,0.081,0.000,3077,1850,3598
$STATE,1416,end apogee,CONTROL_FINISHED_OK
$STATE,1416,begin climb
$GC,1418,1.23,97.3,107.3,0.0,243,1499,1.58,0.00,74.35,0.844,6,0.055,0.000,3417,1850,3201
$GC,1634,1.24,107.6,94.6,6.9,282,1646,0.00,0.00,9.40,0.733,6,0.000,0.000,3417,1850,3159
$GC,1782,1.24,109.4,84.0,7.4,308,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1850,3158
$GC,1922,1.24,109.4,73.6,7.5,333,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1850,3158
$GC,2063,1.26,124.3,63.7,6.7,358,2080,0.00,0.00,14.07,0.784,6,0.000,0.000,3417,1850,3090
$GC,2216,1.27,131.9,52.5,7.1,385,2228,0.00,2.97,7.25,0.693,4,0.000,0.048,3417,3445,3060
$GC,2251,1.27,131.9,49.6,7.9,391,2258,0.03,2.85,0.00,0.000,6,0.130,0.037,3435,1851,3060
$GC,2394,1.27,131.9,38.6,7.8,416,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1851,3060
$GC,2468,1.27,134.0,33.1,7.4,429,2475,0.00,0.00,3.33,0.466,6,0.000,0.000,3435,1851,3051
$GC,2543,1.27,134.0,27.4,7.5,442,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1851,3051
$GC,2617,1.28,138.0,22.0,7.3,455,2630,0.00,3.05,4.80,0.599,4,0.000,0.066,3435,268,3035
$GC,2648,1.28,138.0,19.5,7.7,460,2655,0.00,2.85,0.00,0.000,6,0.000,0.037,3435,1863,3035
$GC,2725,1.28,139.9,13.9,7.4,473,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1863,3035
$GC,2800,1.31,162.7,8.7,6.3,486,2831,0.00,2.95,20.12,0.785,4,0.000,0.048,3435,3444,2933
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,3.5,1.020978
$STATE,2892,end surface coast,CONTROL_FINISHED_OK
$STATE,2892,begin surface
$SM_CCo,2917,221.85,0.805,0,0,1315,560.02
$SM_GC,1.52,0.00,0.00,221.85,0.000,0.000,0.805,670,2335,1315,-11.43,-0.42,560.02
$IRIDIUM_FIX,4751.72,-12340.51,120998,101032
$TT8_MAMPS,0.03068
$HUMID,1804
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,201.70
$XPDR_PINGS,0
$24V_AH,23.3,2.396
$10V_AH,10.8,1.390
$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,27.250,57.050,202.850,221.850,0.000,30.872,29.277,188.390,0.000,0.000,0.000,14.551,767.109,976.837,546.752,838.908,383.419,33.347,1012.221,0.000,831.259,0.000,0.539,0.000
$DEVICE_MAMPS,140.361,65.962,865.176,805.350,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.349,325.679,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22192,502
$CAP_FILE_SIZE,56044,0
$CFSIZE,260165632,258273280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,123916,4807.379,-12223.286,10,4.1,29,18.3