version: 66.04
glider: 136
mission: 3
dive: 8
start: 6 18 109 0 21 21
data:
$ID,136
$MISSION,3
$DIVE,8
$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,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,-78714.75
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3172
$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,2170
$C_ROLL_CLIMB,2150
$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,80
$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
$GPS1,001442,4806.735,-12222.459,10,1.6,20,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-66.0
$GPS2,002028,4806.765,-12222.486,8,99.0,27,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.179
$KALMAN_X,-537.2,-267.2,-43.2,1022.6,-8.6
$KALMAN_Y,1324.7,635.1,115.2,-2475.7,-4.8
$MHEAD_RNG_PITCHd_Wd,137.7,1539,-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,13,begin dive
$GC,15,-1.23,-97.3,0.0,0.0,0,123,0.00,0.00,-104.60,0.000,2,0.000,0.000,677,2149,3747
$GC,126,-1.23,-97.3,3.5,-3.7,18,151,12.30,2.92,-5.10,0.000,4,0.142,0.058,2896,3760,3963
$GC,186,-1.23,-97.3,9.6,-6.3,28,193,0.00,2.80,0.00,0.000,6,0.000,0.030,2896,2159,3964
$GC,262,-1.23,-97.3,14.7,-6.7,41,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2159,3964
$GC,336,-1.23,-97.3,19.8,-7.0,54,343,0.00,2.88,0.00,0.000,4,0.000,0.046,2896,3756,3964
$GC,395,-1.23,-97.3,24.7,-8.4,64,401,0.00,2.78,0.00,0.000,6,0.000,0.031,2896,2164,3964
$GC,471,-1.23,-97.3,31.2,-8.5,77,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2164,3964
$GC,545,-1.23,-97.3,37.6,-8.3,90,553,0.00,2.90,0.00,0.000,4,0.000,0.047,2896,3751,3964
$GC,598,-1.23,-97.3,42.5,-9.3,99,605,0.00,2.78,0.00,0.000,6,0.000,0.031,2896,2165,3964
$GC,740,-1.23,-97.3,54.6,-8.4,124,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2165,3964
$GC,881,-1.23,-97.3,66.5,-8.4,149,887,0.00,2.88,0.00,0.000,4,0.000,0.048,2896,3755,3964
$GC,928,-1.23,-97.3,70.7,-9.3,157,934,0.00,2.78,0.00,0.000,6,0.000,0.033,2896,2171,3964
$GC,1072,-1.23,-97.3,82.9,-8.3,182,1080,0.00,2.90,0.00,0.000,4,0.000,0.048,2896,3754,3964
$GC,1086,-1.23,-97.3,84.2,-8.0,184,1093,0.00,2.78,0.00,0.000,6,0.000,0.033,2896,2170,3964
$GC,1228,-1.23,-97.3,96.2,-8.5,209,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2170,3964
$STATE,1366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1372,-0.33,0.0,107.1,7.4,234,1448,0.95,0.00,69.43,0.848,6,0.082,0.000,3092,2170,3598
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1451,1.23,97.3,109.3,0.0,247,1534,1.58,3.10,73.95,0.831,4,0.053,0.061,3435,568,3200
$GC,1568,1.23,97.3,103.6,7.6,267,1574,0.00,2.88,0.00,0.000,6,0.000,0.043,3435,2151,3200
$GC,1709,1.23,97.3,92.3,7.5,292,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2151,3200
$GC,1853,1.23,101.2,82.0,7.3,317,1865,0.00,2.97,4.57,0.585,4,0.000,0.061,3435,571,3184
$GC,1944,1.23,101.2,74.4,8.0,333,1951,0.00,2.85,0.00,0.000,6,0.000,0.042,3435,2155,3184
$GC,2086,1.23,101.2,63.9,7.5,358,2092,0.00,2.95,0.00,0.000,4,0.000,0.061,3435,569,3184
$GC,2132,1.23,101.2,60.2,7.8,366,2138,0.00,2.83,0.00,0.000,6,0.000,0.041,3435,2149,3184
$GC,2274,1.24,109.6,50.5,7.0,391,2287,0.00,3.03,7.93,0.706,4,0.000,0.060,3435,568,3151
$GC,2347,1.24,109.6,45.2,7.7,403,2353,0.00,2.85,0.00,0.000,6,0.000,0.041,3435,2159,3151
$GC,2489,1.26,118.0,34.9,7.0,428,2501,0.00,0.00,8.00,0.706,6,0.000,0.000,3435,2159,3116
$GC,2569,1.27,132.1,29.5,6.7,442,2589,0.00,2.90,12.30,0.746,4,0.000,0.051,3435,3738,3058
$GC,2613,1.27,132.8,26.3,7.4,449,2619,0.00,2.80,0.00,0.000,6,0.000,0.034,3435,2153,3058
$GC,2689,1.28,139.9,21.0,7.1,462,2703,0.05,3.05,7.60,0.693,4,0.084,0.059,3458,556,3026
$GC,2749,1.28,139.9,15.7,9.0,472,2755,0.00,2.85,0.00,0.000,6,0.000,0.040,3458,2150,3026
$GC,2824,1.28,139.9,9.6,8.1,485,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2150,3026
$GC,2898,1.30,156.9,4.3,6.6,498,2905,0.00,0.00,5.65,0.631,2,0.000,0.000,3458,2151,2995
$STATE,2906,end climb,SURFACE_DEPTH_REACHED
$STATE,2906,begin surface coast
$FINISH,2.7,1.019797
$STATE,2986,end surface coast,CONTROL_FINISHED_OK
$STATE,2986,begin surface
$SM_CCo,3007,231.00,0.777,0,0,1150,600.00
$SM_GC,0.95,0.00,0.00,231.00,0.000,0.000,0.777,675,2151,1150,-11.49,-0.54,600.00
$IRIDIUM_FIX,4751.72,-12340.51,110998,232341
$TT8_MAMPS,0.029913
$HUMID,1860
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,177.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,45.2
$24V_AH,23.3,1.164
$10V_AH,10.8,0.891
$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,27.450,63.425,189.425,231.000,0.000,24.335,30.268,169.675,0.500,0.000,0.000,31.252,788.342,886.389,548.012,1014.579,362.895,33.323,1039.030,0.000,997.584,0.000,5.551,0.000
$DEVICE_MAMPS,141.895,61.360,847.535,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.671,679.468,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22227,513
$CAP_FILE_SIZE,58467,0
$CFSIZE,260165632,258629632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,011636,4806.541,-12222.293,38,1.0,38,18.3