version: 66.04
glider: 136
mission: 3
dive: 23
start: 6 18 109 15 55 47
data:
$ID,136
$MISSION,3
$DIVE,23
$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,-79043.922
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,154848,4807.754,-12223.600,13,1.6,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.3
$GPS2,155454,4807.738,-12223.557,14,1.6,18,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.172,0.095
$KALMAN_X,348.0,284.2,115.1,-1898.4,122.1
$KALMAN_Y,2413.6,-562.4,-181.0,-264.1,54.2
$MHEAD_RNG_PITCHd_Wd,280.5,732,-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,-81.18,0.000,2,0.000,0.000,676,2336,3408
$GC,102,-1.23,-97.3,3.7,-4.2,14,134,12.30,2.85,-12.55,0.000,4,0.145,0.057,2881,768,3961
$GC,320,-1.23,-97.3,20.3,-7.1,52,327,0.00,2.80,0.00,0.000,6,0.000,0.038,2882,2347,3963
$GC,395,-1.23,-97.3,25.8,-7.8,65,402,0.00,2.83,0.00,0.000,4,0.000,0.048,2882,3919,3963
$GC,419,-1.23,-97.3,28.1,-8.4,69,426,0.00,2.70,0.00,0.000,6,0.000,0.026,2881,2351,3963
$GC,496,-1.23,-97.3,34.8,-9.1,82,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2351,3963
$GC,569,-1.23,-97.3,41.7,-9.0,95,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2351,3963
$GC,710,-1.23,-97.3,54.7,-9.0,120,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2351,3964
$GC,850,-1.23,-97.3,67.3,-8.8,145,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2351,3964
$GC,990,-1.23,-97.3,79.7,-8.6,170,997,0.00,2.83,0.00,0.000,4,0.000,0.047,2881,3917,3963
$GC,1025,-1.23,-97.3,82.9,-9.0,176,1031,0.00,2.72,0.00,0.000,6,0.000,0.029,2881,2344,3963
$GC,1167,-1.23,-97.3,94.6,-8.0,201,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2344,3963
$STATE,1299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1299,begin apogee
$GC,1306,-0.33,0.0,105.2,7.6,225,1382,0.95,0.00,69.25,0.844,6,0.083,0.000,3076,1848,3598
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1385,1.23,97.3,107.4,0.0,239,1467,1.58,3.03,74.18,0.828,4,0.057,0.048,3417,3448,3201
$GC,1498,1.24,101.6,101.7,7.2,259,1510,0.00,2.88,5.12,0.598,6,0.000,0.038,3417,1850,3183
$GC,1647,1.24,101.6,90.3,7.5,285,1653,0.00,3.03,0.00,0.000,4,0.000,0.069,3417,267,3182
$GC,1710,1.24,101.6,84.8,8.7,296,1716,0.00,2.85,0.00,0.000,6,0.000,0.039,3417,1853,3182
$GC,1852,1.24,108.9,74.2,7.1,321,1863,0.00,0.00,6.88,0.670,6,0.000,0.000,3417,1853,3154
$GC,1999,1.25,116.2,63.6,7.1,347,2012,0.00,2.97,7.25,0.680,4,0.000,0.049,3417,3447,3124
$GC,2069,1.25,116.2,58.2,8.0,359,2075,0.00,2.85,0.00,0.000,6,0.000,0.037,3417,1849,3123
$GC,2210,1.27,129.6,48.2,6.8,384,2227,0.00,0.00,11.77,0.736,6,0.000,0.000,3417,1849,3069
$GC,2363,1.28,136.1,37.6,7.1,411,2376,0.05,3.03,6.50,0.660,4,0.082,0.065,3440,259,3042
$GC,2418,1.28,136.1,33.0,8.7,420,2425,0.00,2.85,0.00,0.000,6,0.000,0.037,3440,1857,3042
$GC,2494,1.28,136.1,26.8,7.8,433,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1857,3042
$GC,2570,1.28,136.1,20.8,8.2,446,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1857,3042
$GC,2645,1.28,136.1,15.1,7.5,459,2652,0.00,2.83,0.00,0.000,4,0.000,0.047,3440,3435,3041
$GC,2703,1.28,136.1,10.8,7.6,469,2710,0.00,2.83,0.00,0.000,6,0.000,0.035,3440,1840,3041
$GC,2779,1.35,193.0,6.9,4.5,482,2828,0.00,3.00,43.67,0.775,4,0.000,0.044,3440,3445,2810
$STATE,2877,end climb,SURFACE_DEPTH_REACHED
$STATE,2877,begin surface coast
$FINISH,3.8,1.019820
$STATE,3024,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3024,begin surface
$SM_CCo,3048,195.30,0.785,0,0,1315,560.02
$SM_GC,1.04,0.00,0.00,195.30,0.000,0.000,0.785,673,2331,1315,-11.42,-0.54,560.02
$IRIDIUM_FIX,4751.72,-12340.51,120998,141451
$TT8_MAMPS,0.03068
$HUMID,1820
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,203.80
$XPDR_PINGS,1
$24V_AH,23.3,2.857
$10V_AH,10.8,1.564
$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,27.350,51.700,224.625,195.300,0.000,22.398,29.658,194.032,0.250,0.000,0.000,20.497,793.355,1032.077,523.293,883.500,390.616,33.346,999.799,0.000,877.862,0.000,0.541,0.000
$DEVICE_MAMPS,144.963,69.030,843.700,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.947,365.256,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22264,525
$CAP_FILE_SIZE,54949,0
$CFSIZE,260165632,258142208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,165058,4807.902,-12223.881,9,99.0,28,18.3