version: 66.04
glider: 136
mission: 3
dive: 2
start: 6 17 109 18 46 32
data:
$ID,136
$MISSION,3
$DIVE,2
$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,50
$T_MISSION,65
$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,600
$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,-78472.578
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3198
$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,2077
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,183355,4807.081,-12222.715,8,1.4,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.8
$GPS2,184520,4807.137,-12222.777,14,1.3,14,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.099,-0.191
$KALMAN_X,-64.0,-64.0,-64.0,12.1,-136.0
$KALMAN_Y,114.7,114.7,114.7,-63.5,243.7
$MHEAD_RNG_PITCHd_Wd,134.4,2315,-21.7,-10.000
$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,14,-1.57,-97.3,0.0,0.0,0,114,0.00,0.00,-97.32,0.000,2,0.000,0.000,676,2065,3163
$GC,118,-1.57,-97.3,3.4,-5.2,17,161,11.73,2.85,-22.83,0.000,4,0.134,0.058,2848,503,3963
$GC,173,-1.57,-97.3,5.1,-4.0,26,180,0.00,2.75,0.00,0.000,6,0.000,0.032,2848,2090,3963
$GC,249,-1.57,-97.3,9.7,-5.6,39,255,0.00,2.78,0.00,0.000,4,0.000,0.041,2848,3666,3963
$GC,397,-1.57,-97.3,18.2,-7.7,65,403,0.00,2.72,0.00,0.000,6,0.000,0.028,2848,2072,3963
$GC,472,-1.57,-97.3,24.5,-8.8,78,479,0.00,2.80,0.00,0.000,4,0.000,0.042,2848,3658,3963
$GC,502,-1.57,-97.3,27.6,-10.5,83,508,0.00,2.72,0.00,0.000,6,0.000,0.029,2848,2071,3963
$GC,579,-1.57,-97.3,34.6,-9.3,96,585,0.00,2.83,0.00,0.000,4,0.000,0.044,2848,3670,3963
$GC,603,-1.57,-97.3,37.2,-10.2,100,609,0.00,2.75,0.00,0.000,6,0.000,0.030,2848,2069,3963
$GC,678,-1.57,-97.3,44.5,-9.8,113,684,0.00,2.83,0.00,0.000,4,0.000,0.044,2848,3663,3963
$GC,729,-1.57,-97.3,50.3,-11.0,122,736,0.00,2.75,0.00,0.000,6,0.000,0.031,2848,2069,3963
$GC,872,-1.57,-97.3,65.2,-10.1,147,878,0.00,2.83,0.00,0.000,4,0.000,0.045,2848,3658,3963
$GC,941,-1.57,-97.3,72.5,-10.1,159,947,0.00,2.75,0.00,0.000,6,0.000,0.033,2848,2072,3963
$GC,1085,-1.57,-97.3,85.7,-9.0,184,1091,0.00,2.83,0.00,0.000,4,0.000,0.048,2848,3664,3963
$GC,1149,-1.57,-97.3,92.3,-10.0,195,1156,0.00,2.75,0.00,0.000,6,0.000,0.034,2848,2073,3963
$GC,1294,-1.57,-97.3,105.5,-8.8,220,1301,0.00,2.83,0.00,0.000,4,0.000,0.048,2848,3660,3963
$STATE,1311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1311,begin apogee
$GC,1319,-0.33,0.0,107.3,9.2,223,1393,1.30,0.00,68.43,0.831,6,0.083,0.000,3118,2155,3598
$STATE,1393,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1396,1.57,97.3,109.4,0.0,236,1481,1.88,3.03,73.47,0.813,4,0.044,0.060,3537,565,3201
$GC,1540,1.57,97.3,97.4,12.4,261,1546,0.00,2.85,0.00,0.000,6,0.000,0.042,3537,2149,3200
$GC,1682,1.57,97.3,80.7,10.9,286,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2149,3200
$GC,1823,1.57,97.3,64.7,10.9,311,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,2149,3199
$GC,1963,1.57,97.3,49.7,10.1,336,1970,0.00,2.92,0.00,0.000,4,0.000,0.058,3537,562,3198
$GC,2061,1.57,97.3,39.5,10.2,353,2067,0.00,2.83,0.00,0.000,6,0.000,0.040,3537,2152,3198
$GC,2136,1.58,105.8,32.5,9.4,366,2148,0.00,0.00,7.70,0.677,6,0.000,0.000,3537,2152,3165
$GC,2217,1.61,126.1,25.3,8.6,380,2235,0.00,0.00,16.42,0.737,6,0.000,0.000,3537,2152,3084
$GC,2304,1.61,126.1,16.6,10.1,395,2310,0.00,2.95,0.00,0.000,4,0.000,0.058,3537,554,3083
$GC,2362,1.61,126.1,10.0,11.5,405,2368,0.00,2.85,0.00,0.000,6,0.000,0.039,3537,2162,3082
$GC,2437,1.73,227.2,4.5,3.0,418,2503,0.15,0.00,62.72,0.775,2,0.047,0.000,3580,2162,2734
$STATE,2504,end climb,SURFACE_DEPTH_REACHED
$STATE,2504,begin surface coast
$FINISH,3.8,1.018829
$STATE,2694,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2694,begin surface
$SM_CCo,2716,208.77,0.772,0,0,1151,600.00
$SM_GC,1.13,0.00,0.00,208.77,0.000,0.000,0.772,676,2058,1151,-11.60,-0.54,600.00
$IRIDIUM_FIX,4751.72,-12340.51,110998,181812
$TT8_MAMPS,0.029913
$HUMID,1889
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,177.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,22.4
$24V_AH,23.4,0.510
$10V_AH,10.9,0.605
$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,28.175,62.000,228.750,208.775,0.000,0.000,0.000,0.000,1.500,0.000,0.000,16.178,701.183,818.412,549.260,859.334,94.621,30.182,1006.140,0.000,846.874,0.000,14.297,0.000
$DEVICE_MAMPS,134.225,59.826,830.661,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.557,584.432,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22221,463
$CAP_FILE_SIZE,61852,0
$CFSIZE,260165632,258793472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,193622,4807.013,-12222.688,5,99.0,25,18.3