version: 66.04
glider: 136
mission: 3
dive: 22
start: 6 18 109 14 53 14
data:
$ID,136
$MISSION,3
$DIVE,22
$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,-79022.789
$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,21
$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
$GPS1,144606,4807.628,-12223.430,32,1.8,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.4
$GPS2,145220,4807.592,-12223.354,13,1.4,13,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,0.109
$KALMAN_X,143.6,277.0,112.5,-1436.4,126.7
$KALMAN_Y,2515.3,-596.5,-208.6,-574.1,10.3
$MHEAD_RNG_PITCHd_Wd,285.5,1100,-16.7,-7.463
$D_GRID,107
$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,-97.3,0.0,0.0,0,128,0.00,0.00,-109.82,0.000,2,0.000,0.000,669,2348,3327
$GC,131,-1.23,-97.3,3.5,-4.0,19,168,12.20,2.83,-16.77,0.000,4,0.140,0.056,2878,3919,3963
$GC,203,-1.23,-97.3,8.0,-6.2,31,210,0.00,2.72,0.00,0.000,6,0.000,0.027,2878,2329,3963
$GC,279,-1.23,-97.3,12.8,-6.6,44,286,0.00,2.80,0.00,0.000,4,0.000,0.048,2878,775,3962
$GC,361,-1.23,-97.3,18.5,-7.2,58,368,0.00,2.80,0.00,0.000,6,0.000,0.036,2878,2357,3963
$GC,437,-1.23,-97.3,24.0,-7.6,71,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2357,3963
$GC,512,-1.23,-97.3,30.1,-8.2,84,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2357,3963
$GC,587,-1.23,-97.3,37.0,-9.0,97,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2357,3964
$GC,661,-1.23,-97.3,43.9,-9.1,110,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2357,3964
$GC,801,-1.23,-97.3,57.1,-9.5,135,807,0.00,2.85,0.00,0.000,4,0.000,0.052,2878,769,3964
$GC,825,-1.23,-97.3,59.3,-9.3,139,831,0.00,2.83,0.00,0.000,6,0.000,0.040,2878,2350,3963
$GC,966,-1.23,-97.3,72.1,-9.2,164,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2350,3964
$GC,1107,-1.23,-97.3,84.5,-8.9,189,1113,0.00,2.83,0.00,0.000,4,0.000,0.049,2879,3919,3964
$GC,1170,-1.23,-97.3,90.4,-9.3,200,1176,0.00,2.70,0.00,0.000,6,0.000,0.029,2878,2362,3963
$GC,1311,-1.23,-97.3,102.4,-8.3,225,1317,0.00,2.92,0.00,0.000,4,0.000,0.055,2878,766,3964
$STATE,1366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1374,-0.33,0.0,107.3,8.6,235,1450,0.95,0.00,69.28,0.841,6,0.081,0.000,3074,1863,3597
$STATE,1451,end apogee,CONTROL_FINISHED_OK
$STATE,1451,begin climb
$GC,1453,1.23,97.3,110.1,0.0,249,1534,1.60,0.00,74.07,0.825,6,0.056,0.000,3419,1863,3201
$GC,1669,1.23,97.3,96.3,7.6,288,1675,0.00,3.05,0.00,0.000,4,0.000,0.067,3419,268,3200
$GC,1749,1.23,97.3,89.6,8.2,302,1755,0.00,2.85,0.00,0.000,6,0.000,0.039,3419,1851,3200
$GC,1890,1.24,107.3,79.4,6.9,327,1908,0.00,2.95,9.10,0.714,4,0.000,0.050,3419,3439,3160
$GC,1948,1.24,109.5,75.2,7.3,337,1954,0.00,2.85,0.00,0.000,6,0.000,0.037,3419,1848,3159
$GC,2090,1.27,126.8,65.2,6.6,362,2112,0.00,0.00,16.08,0.764,6,0.000,0.000,3419,1848,3081
$GC,2247,1.27,126.8,53.4,7.8,390,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1847,3080
$GC,2388,1.28,138.7,43.2,6.8,415,2404,0.00,0.00,10.48,0.731,6,0.000,0.000,3419,1848,3032
$GC,2540,1.29,147.5,32.6,7.0,442,2553,0.05,0.00,8.38,0.699,6,0.084,0.000,3442,1848,2996
$GC,2621,1.29,147.5,25.9,8.3,456,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1848,2995
$GC,2695,1.29,147.5,19.6,8.4,469,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1848,2995
$GC,2769,1.29,147.5,13.6,7.9,482,2776,0.00,2.88,0.00,0.000,4,0.000,0.046,3442,3445,2995
$GC,2811,1.29,147.5,10.4,7.8,489,2817,0.00,2.83,0.00,0.000,6,0.000,0.035,3442,1847,2995
$GC,2886,1.34,189.4,6.2,5.3,502,2928,0.00,2.95,32.58,0.775,4,0.000,0.044,3442,3434,2824
$STATE,2938,end climb,SURFACE_DEPTH_REACHED
$STATE,2939,begin surface coast
$FINISH,3.7,1.019157
$STATE,3046,end surface coast,CONTROL_FINISHED_OK
$STATE,3046,begin surface
$SM_CCo,3070,202.68,0.789,0,0,1314,560.02
$SM_GC,1.07,0.00,0.00,202.68,0.000,0.000,0.789,676,2336,1314,-11.40,-0.40,560.02
$IRIDIUM_FIX,4751.72,-12340.51,120998,131339
$TT8_MAMPS,0.029913
$HUMID,1799
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,202.70
$XPDR_PINGS,0
$24V_AH,23.3,2.750
$10V_AH,10.8,1.521
$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,27.275,49.550,219.950,202.675,0.000,33.002,40.086,190.839,0.000,0.000,0.000,14.658,790.376,1019.403,560.574,886.118,405.272,33.341,1053.483,0.000,884.153,0.000,0.540,0.000
$DEVICE_MAMPS,140.361,67.496,841.399,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.349,360.174,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22218,530
$CAP_FILE_SIZE,56148,0
$CFSIZE,260165632,258174976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,154848,4807.754,-12223.600,13,1.6,23,18.3