version: 66.04
glider: 139
mission: 3
dive: 6
start: 2 4 109 4 25 28
data:
$ID,139
$MISSION,3
$DIVE,6
$D_SURF,6
$D_FLARE,3
$D_TGT,240
$D_ABORT,300
$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,80
$T_MISSION,100
$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,450
$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,-1281238.2
$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,32
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2500
$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
$GPS1,041914,2115.605,-15757.330,9,1.8,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.7
$GPS2,042440,2115.599,-15757.322,10,2.5,29,9.8
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,WPT1
$TGT_LATLONG,2109.515,-15754.628
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.052,-0.236
$KALMAN_X,850.2,198.1,52.9,426.4,581.3
$KALMAN_Y,823.1,501.2,226.0,-2887.7,329.0
$MHEAD_RNG_PITCHd_Wd,182.6,12191,-19.9,-10.000
$D_GRID,240
$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,-121.7,0.0,0.0,0,75,0.00,0.00,-57.85,0.000,2,0.000,0.000,427,2205,2165
$GC,78,-1.39,-121.7,3.0,-5.9,10,115,11.85,2.35,-15.68,0.000,4,0.143,0.074,2595,3594,2999
$GC,218,-1.39,-121.7,26.9,-11.6,34,224,0.00,2.30,0.00,0.000,6,0.000,0.027,2594,2200,2999
$GC,417,-1.39,-121.7,58.8,-17.2,55,421,0.00,2.40,0.00,0.000,4,0.000,0.046,2595,798,3000
$GC,568,-1.39,-121.7,86.2,-17.5,68,572,0.00,2.28,0.00,0.000,6,0.000,0.021,2595,2207,3000
$GC,829,-1.39,-121.7,127.2,-16.0,92,833,0.00,2.42,0.00,0.000,4,0.000,0.044,2595,789,3000
$GC,979,-1.39,-121.7,150.4,-14.5,105,986,0.00,2.28,0.00,0.000,6,0.000,0.021,2595,2200,3001
$GC,1240,-1.39,-121.7,182.3,-11.0,130,1244,0.00,2.38,0.00,0.000,4,0.000,0.044,2595,798,3002
$GC,1364,-1.39,-121.7,197.4,-12.0,141,1368,0.00,2.28,0.00,0.000,6,0.000,0.022,2595,2208,3002
$GC,1618,-1.39,-121.7,228.6,-11.6,154,1622,0.00,2.42,0.00,0.000,4,0.000,0.078,2594,793,3002
$STATE,1710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1710,begin apogee
$GC,1718,-0.31,0.0,240.3,12.2,158,1819,1.08,0.00,97.80,0.667,6,0.064,0.000,2834,2205,2499
$STATE,1820,end apogee,CONTROL_FINISHED_OK
$STATE,1820,begin climb
$GC,1822,1.39,121.7,245.5,0.0,163,1931,1.60,2.42,100.38,0.660,4,0.028,0.040,3224,3601,2003
$GC,1993,1.82,470.6,261.1,-9.1,171,2285,0.35,2.38,282.23,0.674,6,0.041,0.027,3317,2190,580
$GC,2598,1.82,470.6,149.5,24.4,209,2602,0.00,2.45,0.00,0.000,4,0.000,0.051,3317,792,577
$GC,2721,1.82,470.6,118.0,24.3,219,2728,0.00,2.35,0.00,0.000,6,0.000,0.027,3317,2204,575
$GC,2982,1.82,470.6,60.0,23.0,244,2987,0.00,2.45,0.00,0.000,4,0.000,0.047,3317,798,575
$GC,3011,1.82,470.6,53.1,25.5,246,3015,0.00,2.33,0.00,0.000,6,0.000,0.025,3317,2209,574
$STATE,3211,end climb,SURFACE_DEPTH_REACHED
$STATE,3212,begin surface coast
$FINISH,0.6,1.015219
$STATE,3235,end surface coast,CONTROL_FINISHED_OK
$STATE,3235,begin surface
$SM_CCo,3316,0.00,0.000,0,0,572,472.94
$SM_GC,1.38,12.50,0.00,0.00,0.031,0.000,0.000,426,2211,572,-11.33,0.31,472.94
$IRIDIUM_FIX,2108.69,-15757.32,010598,030330
$TT8_MAMPS,0.029146
$HUMID,1718
$INTERNAL_PRESSURE,9.54769
$TCM_TEMP,21.40
$XPDR_PINGS,17
$24V_AH,23.5,3.863
$10V_AH,10.2,1.728
$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,27.375,37.825,480.400,0.000,0.000,30.743,32.003,153.794,4.250,0.000,0.000,32.200,477.762,1687.058,454.402,724.640,307.458,33.318,874.342,0.000,698.562,0.000,0.540,0.000
$DEVICE_MAMPS,142.662,78.234,674.193,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,183.083,198.795,320.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12854,277
$CAP_FILE_SIZE,39640,0
$CFSIZE,260165632,258084864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,052152,2115.387,-15757.093,13,3.3,32,9.8