version: 66.04
glider: 136
mission: 3
dive: 21
start: 6 18 109 13 47 21
data:
$ID,136
$MISSION,3
$DIVE,21
$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,-79007.5
$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,20
$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
$GPS1,134013,4807.509,-12223.376,12,1.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.3
$GPS2,134628,4807.474,-12223.325,11,2.8,30,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,0.137
$KALMAN_X,-203.6,284.4,105.0,-1052.7,104.0
$KALMAN_Y,2675.2,-609.2,-195.8,-952.7,-42.7
$MHEAD_RNG_PITCHd_Wd,295.9,1282,-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,-97.3,0.0,0.0,0,99,0.00,0.00,-81.35,0.000,2,0.000,0.000,671,2353,3413
$GC,102,-1.23,-97.3,3.2,-3.1,14,139,12.25,2.88,-15.60,0.000,4,0.142,0.057,2882,3919,3962
$GC,163,-1.23,-97.3,6.6,-5.0,24,170,0.00,2.72,0.00,0.000,6,0.000,0.026,2882,2329,3963
$GC,239,-1.23,-97.3,12.0,-7.2,37,245,0.00,2.85,0.00,0.000,4,0.000,0.044,2882,3920,3963
$GC,274,-1.23,-97.3,14.9,-8.2,43,281,0.00,2.70,0.00,0.000,6,0.000,0.026,2882,2346,3963
$GC,350,-1.23,-97.3,20.3,-7.0,56,356,0.00,2.85,0.00,0.000,4,0.000,0.049,2882,772,3963
$GC,374,-1.23,-97.3,22.2,-7.3,60,381,0.00,2.80,0.00,0.000,6,0.000,0.038,2882,2350,3963
$GC,449,-1.23,-97.3,28.4,-8.2,73,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2350,3963
$GC,523,-1.23,-97.3,34.6,-8.8,86,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2350,3963
$GC,596,-1.23,-97.3,41.4,-9.2,99,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2350,3963
$GC,738,-1.23,-97.3,54.2,-9.1,124,744,0.00,2.88,0.00,0.000,4,0.000,0.052,2882,777,3963
$GC,773,-1.23,-97.3,57.5,-9.3,130,779,0.00,2.83,0.00,0.000,6,0.000,0.041,2882,2353,3963
$GC,914,-1.23,-97.3,70.5,-9.2,155,920,0.00,2.83,0.00,0.000,4,0.000,0.049,2882,3920,3964
$GC,943,-1.23,-97.3,73.4,-9.5,160,950,0.00,2.72,0.00,0.000,6,0.000,0.030,2882,2355,3964
$GC,1085,-1.23,-97.3,85.3,-8.8,185,1091,0.00,2.83,0.00,0.000,4,0.000,0.049,2882,3917,3964
$GC,1120,-1.23,-97.3,88.5,-9.0,191,1126,0.00,2.75,0.00,0.000,6,0.000,0.031,2882,2337,3964
$GC,1261,-1.23,-97.3,100.3,-8.2,216,1267,0.00,2.88,0.00,0.000,4,0.000,0.057,2882,772,3964
$STATE,1310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1311,begin apogee
$GC,1319,-0.33,0.0,105.0,9.1,225,1394,0.93,0.00,69.50,0.848,6,0.081,0.000,3072,1858,3598
$STATE,1395,end apogee,CONTROL_FINISHED_OK
$STATE,1395,begin climb
$GC,1397,1.23,97.3,107.8,0.0,239,1480,1.60,3.15,74.20,0.830,4,0.056,0.067,3418,271,3201
$GC,1514,1.23,97.3,101.9,7.7,260,1520,0.00,2.85,0.00,0.000,6,0.000,0.039,3418,1848,3200
$GC,1657,1.23,98.7,91.2,7.4,285,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1848,3200
$GC,1799,1.25,111.3,81.4,6.8,310,1817,0.00,2.97,12.12,0.749,4,0.000,0.050,3418,3438,3144
$GC,1840,1.26,119.9,78.3,7.0,317,1858,0.00,2.83,8.27,0.699,6,0.000,0.038,3418,1860,3108
$GC,1994,1.26,119.9,66.6,7.5,344,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1860,3107
$GC,2135,1.26,121.0,56.5,7.4,369,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1860,3107
$GC,2276,1.28,135.4,46.5,6.7,394,2293,0.00,0.00,13.20,0.752,6,0.000,0.000,3418,1859,3045
$GC,2429,1.28,135.4,35.6,7.6,421,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1860,3044
$GC,2503,1.28,138.7,30.3,7.3,434,2510,0.05,0.00,3.92,0.528,6,0.083,0.000,3441,1860,3032
$GC,2578,1.28,138.7,24.3,8.2,447,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1860,3032
$GC,2652,1.28,138.7,18.4,8.2,460,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1860,3032
$GC,2726,1.28,138.7,12.9,7.5,473,2733,0.00,3.00,0.00,0.000,4,0.000,0.064,3441,261,3031
$GC,2762,1.29,142.8,10.4,7.2,479,2775,0.00,2.83,5.12,0.610,6,0.000,0.036,3442,1855,3014
$GC,2844,1.35,191.0,6.0,5.0,493,2886,0.00,0.00,37.15,0.782,6,0.000,0.000,3441,1855,2819
$STATE,2890,end climb,SURFACE_DEPTH_REACHED
$STATE,2890,begin surface coast
$FINISH,4.0,1.018688
$STATE,3007,end surface coast,CONTROL_FINISHED_OK
$STATE,3007,begin surface
$SM_CCo,3011,327.80,0.764,0,0,499,759.94
$SM_GC,0.97,12.32,0.00,0.00,0.028,0.000,0.000,669,2348,489,-11.34,-0.06,762.64
$IRIDIUM_FIX,4751.72,-12340.51,120998,121248
$TT8_MAMPS,0.029913
$HUMID,1832
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,177.20
$XPDR_PINGS,0
$24V_AH,23.3,2.640
$10V_AH,10.8,1.477
$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,27.150,56.975,223.500,327.800,0.000,25.142,27.222,192.896,0.000,0.000,0.000,33.138,791.164,1092.377,674.303,893.884,387.357,33.336,1162.046,0.000,868.554,0.000,0.539,0.000
$DEVICE_MAMPS,141.895,67.496,848.302,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.665,356.804,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22173,521
$CAP_FILE_SIZE,59003,0
$CFSIZE,260165632,258207744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,144606,4807.628,-12223.430,32,1.8,37,18.3