version: 66.04
glider: 139
mission: 3
dive: 7
start: 2 4 109 5 27 39
data:
$ID,139
$MISSION,3
$DIVE,7
$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,-1281254
$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,38
$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
$GPS1,052152,2115.387,-15757.093,13,3.3,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.8
$GPS2,052649,2115.397,-15757.086,8,1.8,13,9.8
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,WPT1
$TGT_LATLONG,2109.515,-15754.628
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.137,-0.200
$KALMAN_X,1444.7,242.6,70.1,177.3,735.0
$KALMAN_Y,1794.7,471.8,43.4,-4025.1,757.4
$MHEAD_RNG_PITCHd_Wd,204.6,11692,-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,14,-1.39,-121.7,0.0,0.0,0,80,0.00,0.00,-63.17,0.000,2,0.000,0.000,426,2211,2350
$GC,83,-1.39,-121.7,3.6,-8.1,11,114,11.95,2.47,-11.15,0.000,4,0.153,0.090,2594,780,3000
$GC,244,-1.39,-121.7,38.5,-18.5,35,248,0.00,2.33,0.00,0.000,6,0.000,0.021,2594,2210,3001
$GC,510,-1.39,-121.7,82.4,-16.6,60,514,0.00,2.42,0.00,0.000,4,0.000,0.044,2594,800,3001
$GC,611,-1.39,-121.7,100.3,-18.3,68,617,0.00,2.25,0.00,0.000,6,0.000,0.059,2595,2204,3001
$GC,871,-1.39,-121.7,139.9,-12.8,93,875,0.00,2.40,0.00,0.000,4,0.000,0.043,2594,792,3001
$GC,1029,-1.39,-121.7,162.4,-14.7,107,1033,0.00,2.28,0.00,0.000,6,0.000,0.021,2594,2202,3002
$GC,1292,-1.39,-121.7,195.1,-11.5,131,1296,0.00,2.40,0.00,0.000,4,0.000,0.043,2594,797,3003
$GC,1414,-1.39,-121.7,209.9,-9.4,137,1420,0.00,2.28,0.00,0.000,6,0.000,0.022,2594,2202,3003
$STATE,1707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1707,begin apogee
$GC,1712,-0.31,0.0,240.9,9.0,152,1813,1.10,0.00,97.72,0.668,6,0.064,0.000,2834,2204,2500
$STATE,1814,end apogee,CONTROL_FINISHED_OK
$STATE,1814,begin climb
$GC,1817,1.39,121.7,243.9,0.0,157,1925,1.60,2.42,100.62,0.662,4,0.028,0.038,3221,3600,2003
$GC,2177,1.82,469.9,276.5,-9.1,173,2469,0.35,2.35,283.40,0.694,6,0.050,0.029,3305,2202,584
$GC,2789,1.82,469.9,167.2,23.7,209,2793,0.00,2.47,0.00,0.000,4,0.000,0.051,3305,794,579
$GC,2817,1.82,469.9,159.9,26.7,211,2821,0.00,2.35,0.00,0.000,6,0.000,0.028,3305,2197,578
$GC,3078,1.82,469.9,100.4,21.9,235,3082,0.00,2.45,0.00,0.000,4,0.000,0.048,3305,796,577
$GC,3184,1.82,469.9,73.2,26.1,244,3190,0.00,2.33,0.00,0.000,6,0.000,0.025,3305,2211,576
$GC,3450,1.82,469.9,11.5,24.2,275,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2215,576
$STATE,3471,end climb,SURFACE_DEPTH_REACHED
$STATE,3471,begin surface coast
$FINISH,0.6,1.023704
$STATE,3495,end surface coast,CONTROL_FINISHED_OK
$STATE,3495,begin surface
$SM_CCo,3576,0.00,0.000,0,0,574,472.45
$SM_GC,1.27,12.48,0.00,0.00,0.031,0.000,0.000,428,2214,574,-11.33,0.40,472.45
$IRIDIUM_FIX,2108.69,-15755.17,010598,040430
$TT8_MAMPS,0.029146
$HUMID,1713
$INTERNAL_PRESSURE,9.53792
$TCM_TEMP,21.10
$XPDR_PINGS,19
$24V_AH,23.5,3.967
$10V_AH,10.2,1.765
$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,27.475,33.200,481.750,0.000,0.000,28.484,26.714,150.605,4.750,0.000,0.000,15.170,492.324,1899.476,457.320,735.797,299.707,33.324,887.448,0.000,726.278,0.000,0.541,0.000
$DEVICE_MAMPS,152.633,89.739,694.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,187.104,205.147,320.662,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15972,283
$CAP_FILE_SIZE,40297,1
$CFSIZE,260165632,258056192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,062802,2114.940,-15756.998,12,1.7,12,9.8