version: 66.04
glider: 139
mission: 3
dive: 2
start: 2 4 109 1 10 5
data:
$ID,139
$MISSION,3
$DIVE,2
$D_SURF,6
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,90
$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,40
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51904
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,504.1488
$N_FILEKB,8
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1281137.4
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2904
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2546
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.263241
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8723097
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,010532,2116.312,-15758.296,10,1.4,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.2
$GPS2,010920,2116.319,-15758.297,13,1.1,13,9.8
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,WPT1
$TGT_LATLONG,2109.515,-15754.628
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.196
$KALMAN_X,-61.2,-61.2,-61.2,34.7,-168.3
$KALMAN_Y,46.7,46.7,46.7,-148.9,128.6
$MHEAD_RNG_PITCHd_Wd,134.4,14105,-19.9,-10.000
$D_GRID,120
$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,-1.39,-121.7,0.0,0.0,0,86,0.00,0.00,-69.30,0.000,2,0.000,0.000,425,2201,2363
$GC,89,-1.39,-121.7,3.2,-6.6,12,109,11.85,2.40,-0.30,0.000,4,0.150,0.048,2594,783,2380
$GC,216,-1.39,-121.7,30.1,-13.8,34,229,0.00,2.30,-7.47,0.000,6,0.000,0.021,2595,2208,3046
$GC,482,-1.39,-121.7,71.9,-15.5,59,486,0.00,2.40,0.00,0.000,4,0.000,0.044,2595,796,3047
$GC,573,-1.39,-121.7,86.7,-15.6,67,577,0.00,2.28,0.00,0.000,6,0.000,0.021,2595,2210,3047
$STATE,799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,799,begin apogee
$GC,805,-0.31,0.0,120.6,14.2,88,903,1.12,0.00,94.82,0.583,6,0.067,0.000,2839,2214,2546
$STATE,904,end apogee,CONTROL_FINISHED_OK
$STATE,904,begin climb
$GC,906,1.39,121.7,124.3,0.0,98,1014,1.55,2.45,97.47,0.576,4,0.026,0.039,3214,793,2048
$GC,1266,1.78,439.1,149.8,-7.4,130,1527,0.35,2.28,252.07,0.593,6,0.036,0.061,3306,2198,755
$GC,1781,1.78,439.1,81.8,20.4,179,1785,0.00,2.33,0.00,0.000,4,0.000,0.031,3306,3597,752
$GC,2039,1.78,439.1,31.8,18.7,201,2045,0.00,2.35,0.00,0.000,6,0.000,0.026,3306,2197,752
$STATE,2166,end climb,SURFACE_DEPTH_REACHED
$STATE,2166,begin surface coast
$FINISH,0.5,1.023706
$STATE,2197,end surface coast,CONTROL_FINISHED_OK
$STATE,2197,begin surface
$SM_CCo,2218,39.75,0.502,0,0,490,504.34
$SM_GC,1.39,0.00,0.00,39.75,0.000,0.000,0.502,421,2191,490,-11.42,-0.23,504.34
$IRIDIUM_FIX,2106.38,-15759.46,010598,010159
$TT8_MAMPS,0.029146
$HUMID,1602
$INTERNAL_PRESSURE,9.62581
$TCM_TEMP,22.90
$XPDR_PINGS,56
$24V_AH,23.6,3.473
$10V_AH,10.2,1.594
$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,27.225,18.775,444.375,39.750,0.000,0.000,0.000,0.000,14.000,0.000,0.000,14.614,352.546,918.965,451.122,558.656,43.938,30.181,793.824,0.000,550.725,0.000,0.542,0.000
$DEVICE_MAMPS,150.332,60.593,592.891,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,147.160,159.601,285.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12794,228
$CAP_FILE_SIZE,35768,0
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,014849,2116.327,-15757.998,10,1.3,28,9.8