version: 66.04
glider: 136
mission: 3
dive: 10
start: 6 18 109 2 28 40
data:
$ID,136
$MISSION,3
$DIVE,10
$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,-78742.789
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,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,23
$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,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
$GPS1,021825,4806.342,-12222.193,7,1.4,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.3
$GPS2,022744,4806.390,-12222.242,9,1.6,9,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,-0.182
$KALMAN_X,-729.8,-246.3,22.9,1430.3,-3.0
$KALMAN_Y,1846.6,591.2,-47.2,-3486.1,27.9
$MHEAD_RNG_PITCHd_Wd,140.0,782,-16.7,-7.463
$D_GRID,108
$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,-109.88,0.000,2,0.000,0.000,676,2163,3926
$GC,131,-1.23,-97.3,3.2,-3.2,19,151,12.32,2.90,-0.90,0.000,4,0.143,0.061,2898,581,3962
$GC,163,-1.23,-97.3,7.4,-11.3,24,170,0.00,2.83,0.00,0.000,6,0.000,0.035,2897,2183,3963
$GC,239,-1.23,-97.3,11.9,-5.6,37,245,0.00,2.83,0.00,0.000,4,0.000,0.046,2897,3754,3963
$GC,291,-1.23,-97.3,15.6,-7.5,46,298,0.00,2.78,0.00,0.000,6,0.000,0.029,2897,2160,3963
$GC,368,-1.23,-97.3,21.1,-7.7,59,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2160,3963
$GC,442,-1.23,-97.3,27.2,-8.1,72,450,0.00,2.90,0.00,0.000,4,0.000,0.046,2897,3750,3963
$GC,479,-1.23,-97.3,30.7,-9.3,78,488,0.00,2.80,0.00,0.000,6,0.000,0.031,2897,2165,3963
$GC,556,-1.23,-97.3,37.4,-8.5,91,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2165,3963
$GC,629,-1.23,-97.3,43.8,-8.7,104,636,0.00,2.85,0.00,0.000,4,0.000,0.047,2897,3751,3963
$GC,664,-1.23,-97.3,47.0,-9.2,110,672,0.00,2.80,0.00,0.000,6,0.000,0.031,2897,2167,3964
$GC,808,-1.23,-97.3,59.4,-8.5,135,814,0.00,2.88,0.00,0.000,4,0.000,0.047,2897,3760,3963
$GC,832,-1.23,-97.3,61.6,-8.8,139,838,0.00,2.78,0.00,0.000,6,0.000,0.031,2897,2168,3964
$GC,973,-1.23,-97.3,73.9,-8.5,164,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2168,3963
$GC,1116,-1.23,-97.3,85.6,-8.1,189,1123,0.00,2.85,0.00,0.000,4,0.000,0.047,2897,3751,3963
$GC,1163,-1.23,-97.3,89.9,-9.2,197,1175,0.00,2.75,0.00,0.000,6,0.000,0.031,2896,2168,3963
$GC,1312,-1.23,-97.3,101.7,-7.8,222,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2168,3963
$STATE,1395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1395,begin apogee
$GC,1400,-0.33,0.0,108.2,7.7,237,1476,0.95,0.00,69.20,0.853,6,0.080,0.000,3093,2168,3598
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,1.23,97.3,110.2,0.0,250,1563,1.58,3.05,74.35,0.835,4,0.052,0.061,3436,566,3201
$GC,1607,1.23,97.3,103.7,7.8,271,1613,0.00,2.88,0.00,0.000,6,0.000,0.043,3436,2151,3199
$GC,1749,1.23,97.3,92.2,7.6,296,1755,0.00,2.97,0.00,0.000,4,0.000,0.061,3436,563,3200
$GC,1806,1.23,97.3,87.5,8.2,306,1814,0.00,2.90,0.00,0.000,6,0.000,0.042,3436,2154,3199
$GC,1951,1.23,100.8,76.7,7.3,331,1957,0.00,0.00,4.10,0.548,6,0.000,0.000,3436,2155,3187
$GC,2093,1.24,107.4,66.3,7.1,356,2105,0.00,2.97,6.93,0.683,4,0.000,0.059,3436,571,3159
$GC,2190,1.24,107.4,58.6,7.9,373,2197,0.00,2.85,0.00,0.000,6,0.000,0.041,3436,2158,3159
$GC,2332,1.25,110.2,48.5,7.3,398,2339,0.00,0.00,3.88,0.532,6,0.000,0.000,3436,2159,3148
$GC,2475,1.25,116.4,38.4,7.1,423,2490,0.00,3.00,6.40,0.671,4,0.000,0.058,3437,575,3122
$GC,2535,1.25,116.8,34.1,7.4,433,2542,0.00,2.83,0.00,0.000,6,0.000,0.040,3436,2152,3123
$GC,2611,1.28,136.6,29.2,6.4,446,2635,0.00,3.03,16.50,0.772,4,0.000,0.059,3436,571,3041
$GC,2677,1.28,136.6,24.2,7.7,457,2683,0.00,2.85,0.00,0.000,6,0.000,0.040,3436,2162,3040
$GC,2752,1.28,136.6,18.2,7.9,470,2758,0.00,2.88,0.00,0.000,4,0.000,0.051,3436,3743,3040
$GC,2788,1.28,136.6,15.4,7.9,476,2794,0.00,2.80,0.00,0.000,6,0.000,0.034,3436,2154,3040
$GC,2863,1.29,150.0,10.0,6.8,489,2882,0.05,2.97,11.60,0.739,4,0.083,0.059,3459,567,2986
$STATE,2937,end climb,SURFACE_DEPTH_REACHED
$STATE,2938,begin surface coast
$FINISH,3.4,1.021223
$STATE,2950,end surface coast,CONTROL_FINISHED_OK
$STATE,2950,begin surface
$SM_CCo,2975,235.38,0.792,0,0,1152,600.00
$SM_GC,0.91,0.00,0.00,235.38,0.000,0.000,0.792,674,2175,1152,-11.49,0.14,600.00
$IRIDIUM_FIX,4751.72,-12340.51,120998,020252
$TT8_MAMPS,0.029913
$HUMID,1826
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,177.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,37.8
$24V_AH,23.3,1.390
$10V_AH,10.8,1.002
$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,27.525,74.825,192.950,235.375,0.000,50.252,61.279,274.887,1.000,0.000,0.000,11.357,776.431,892.349,563.423,1015.476,538.032,33.359,1064.004,0.000,1016.293,0.000,9.967,0.000
$DEVICE_MAMPS,142.662,61.360,852.904,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.160,696.850,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22170,504
$CAP_FILE_SIZE,63696,0
$CFSIZE,260165632,258560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,032301,4806.185,-12222.112,7,1.6,12,18.3