version: 66.04
glider: 136
mission: 3
dive: 20
start: 6 18 109 12 46 39
data:
$ID,136
$MISSION,3
$DIVE,20
$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,-78973.727
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,123916,4807.379,-12223.286,10,4.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.7
$GPS2,124546,4807.333,-12223.275,9,4.7,28,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,0.157
$KALMAN_X,-453.5,283.3,97.1,-731.5,81.6
$KALMAN_Y,2780.1,-585.8,-148.6,-1390.5,-97.4
$MHEAD_RNG_PITCHd_Wd,304.9,1527,-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,-87.03,0.000,2,0.000,0.000,670,2336,3619
$GC,108,-1.23,-97.3,3.0,-2.8,15,140,12.25,2.88,-9.77,0.000,4,0.142,0.058,2879,777,3962
$GC,262,-1.23,-97.3,13.5,-7.3,41,268,0.00,2.80,0.00,0.000,6,0.000,0.037,2879,2354,3963
$GC,337,-1.23,-97.3,18.9,-6.8,54,344,0.00,2.88,0.00,0.000,4,0.000,0.049,2878,771,3963
$GC,384,-1.23,-97.3,22.7,-8.3,62,391,0.00,2.80,0.00,0.000,6,0.000,0.038,2878,2350,3962
$GC,459,-1.23,-97.3,29.1,-8.6,75,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2350,3963
$GC,533,-1.23,-97.3,36.0,-9.6,88,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2350,3963
$GC,607,-1.23,-97.3,42.9,-9.4,101,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2350,3964
$GC,749,-1.23,-97.3,55.9,-8.8,126,755,0.00,2.90,0.00,0.000,4,0.000,0.052,2879,765,3964
$GC,783,-1.23,-97.3,59.2,-9.3,132,789,0.00,2.85,0.00,0.000,6,0.000,0.041,2878,2354,3963
$GC,925,-1.23,-97.3,72.0,-9.4,157,931,0.00,2.83,0.00,0.000,4,0.000,0.050,2879,3917,3964
$GC,959,-1.23,-97.3,75.4,-9.9,163,966,0.00,2.72,0.00,0.000,6,0.000,0.029,2879,2347,3964
$GC,1101,-1.23,-97.3,87.6,-8.5,188,1107,0.00,2.85,0.00,0.000,4,0.000,0.048,2879,3922,3964
$GC,1130,-1.23,-97.3,90.4,-9.3,193,1136,0.00,2.75,0.00,0.000,6,0.000,0.030,2878,2337,3964
$GC,1272,-1.23,-97.3,102.4,-8.1,218,1278,0.00,2.88,0.00,0.000,4,0.000,0.056,2879,772,3964
$STATE,1298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1307,-0.33,0.0,105.0,8.4,223,1382,0.95,0.00,69.47,0.852,6,0.084,0.000,3074,1866,3597
$STATE,1383,end apogee,CONTROL_FINISHED_OK
$STATE,1383,begin climb
$GC,1385,1.23,97.3,107.5,0.0,237,1466,1.60,0.00,74.32,0.833,6,0.056,0.000,3419,1866,3201
$GC,1601,1.23,97.3,94.0,7.7,276,1608,0.00,3.05,0.00,0.000,4,0.000,0.067,3418,273,3200
$GC,1638,1.23,97.3,91.2,7.8,282,1644,0.00,2.85,0.00,0.000,6,0.000,0.040,3419,1851,3200
$GC,1779,1.24,101.9,80.5,7.2,307,1792,0.00,2.92,5.10,0.609,4,0.000,0.051,3419,3445,3182
$GC,1826,1.24,102.2,77.3,7.4,315,1832,0.00,2.85,0.00,0.000,6,0.000,0.038,3418,1852,3182
$GC,1968,1.25,115.7,66.9,6.8,340,1984,0.00,0.00,11.77,0.751,6,0.000,0.000,3418,1852,3127
$GC,2120,1.25,115.7,56.1,7.5,367,2126,0.00,2.88,0.00,0.000,4,0.000,0.048,3418,3439,3127
$GC,2149,1.25,116.9,54.0,7.4,372,2155,0.00,2.83,0.00,0.000,6,0.000,0.038,3419,1850,3127
$GC,2291,1.27,132.9,44.2,6.6,397,2308,0.00,0.00,14.68,0.765,6,0.000,0.000,3418,1850,3056
$GC,2444,1.30,152.4,34.0,6.5,424,2463,0.08,0.00,16.25,0.769,6,0.065,0.000,3445,1850,2976
$GC,2532,1.30,152.4,26.9,8.3,439,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1850,2975
$GC,2606,1.30,152.4,20.6,8.3,452,2612,0.00,3.00,0.00,0.000,4,0.000,0.065,3445,260,2975
$GC,2654,1.30,152.4,16.2,9.8,460,2660,0.00,2.85,0.00,0.000,6,0.000,0.037,3446,1860,2975
$GC,2729,1.30,152.4,10.1,7.6,473,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1861,2975
$GC,2804,1.34,185.9,5.1,5.7,486,2829,0.00,0.00,22.85,0.772,2,0.000,0.000,3445,1860,2855
$STATE,2830,end climb,SURFACE_DEPTH_REACHED
$STATE,2830,begin surface coast
$FINISH,3.2,1.019046
$STATE,2919,end surface coast,CONTROL_FINISHED_OK
$STATE,2919,begin surface
$SM_CCo,2942,204.18,0.795,0,0,1314,560.02
$SM_GC,1.22,0.00,0.00,204.18,0.000,0.000,0.795,671,2352,1314,-11.43,0.08,560.02
$IRIDIUM_FIX,4751.72,-12340.51,120998,111128
$TT8_MAMPS,0.03068
$HUMID,1810
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,178.40
$XPDR_PINGS,0
$24V_AH,23.3,2.506
$10V_AH,10.8,1.432
$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,27.400,57.225,214.450,204.175,0.000,31.079,31.439,199.114,0.000,0.000,0.000,31.060,771.763,982.039,535.018,864.179,397.865,33.336,1002.775,0.000,839.839,0.000,0.539,0.000
$DEVICE_MAMPS,141.895,66.729,852.137,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.853,332.604,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22228,506
$CAP_FILE_SIZE,55873,0
$CFSIZE,260165632,258244608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,134013,4807.509,-12223.376,12,1.6,29,18.3