version: 66.04
glider: 139
mission: 3
dive: 8
start: 2 4 109 6 34 26
data:
$ID,139
$MISSION,3
$DIVE,8
$D_SURF,6
$D_FLARE,3
$D_TGT,350
$D_ABORT,450
$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,129
$T_MISSION,150
$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,400
$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,-1281284.4
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2870
$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,30
$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,2475
$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
$GPS1,062802,2114.940,-15756.998,12,1.7,12,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.2
$GPS2,063336,2114.946,-15756.990,12,1.7,28,9.8
$SPEED_LIMITS,0.157,0.235
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.202,-0.120
$KALMAN_X,2277.6,232.1,68.7,-479.5,1423.1
$KALMAN_Y,1646.0,799.4,-1.2,-4982.6,632.5
$MHEAD_RNG_PITCHd_Wd,229.5,12178,-18.3,-9.044
$D_GRID,350
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.29,-121.7,0.0,0.0,0,82,0.00,0.00,-63.65,0.000,2,0.000,0.000,427,2213,2347
$GC,85,-1.29,-121.7,3.4,-5.9,11,116,11.75,2.47,-11.00,0.000,4,0.148,0.056,2582,804,2973
$GC,318,-1.29,-121.7,53.2,-18.1,41,324,0.00,2.30,0.00,0.000,6,0.000,0.021,2582,2205,2974
$GC,580,-1.29,-121.7,101.2,-18.5,66,584,0.00,2.42,0.00,0.000,4,0.000,0.048,2582,797,2975
$GC,687,-1.29,-121.7,122.0,-18.7,75,691,0.00,2.28,0.00,0.000,6,0.000,0.021,2582,2208,2975
$GC,948,-1.29,-121.7,161.0,-13.1,99,952,0.00,2.42,0.00,0.000,4,0.000,0.043,2582,791,2976
$GC,1081,-1.29,-121.7,179.7,-13.4,110,1088,0.00,2.30,0.00,0.000,6,0.000,0.021,2582,2195,2976
$GC,1350,-1.29,-121.7,212.8,-11.5,131,1354,0.00,2.40,0.00,0.000,4,0.000,0.066,2582,796,2977
$GC,1479,-1.29,-121.7,228.5,-12.2,137,1483,0.00,2.28,0.00,0.000,6,0.000,0.024,2582,2194,2977
$GC,1805,-1.29,-121.7,266.5,-11.9,153,1809,0.00,2.42,0.00,0.000,4,0.000,0.048,2582,791,2977
$GC,1990,-1.29,-121.7,289.7,-12.3,161,1994,0.00,2.30,0.00,0.000,6,0.000,0.028,2581,2197,2977
$GC,2328,-1.29,-121.7,330.4,-11.9,172,2332,0.00,2.42,0.00,0.000,4,0.000,0.051,2582,800,2975
$GC,2478,-1.29,-121.7,349.4,-11.8,175,2482,0.00,2.35,0.00,0.000,6,0.000,0.030,2582,2220,2974
$STATE,2486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2486,begin apogee
$GC,2492,-0.31,0.0,350.7,11.5,175,2594,0.98,0.00,99.45,0.781,6,0.068,0.000,2797,2221,2475
$STATE,2595,end apogee,CONTROL_FINISHED_OK
$STATE,2595,begin climb
$GC,2598,1.29,121.7,355.3,0.0,178,2708,1.52,2.47,102.35,0.769,4,0.031,0.046,3160,3595,1978
$GC,2747,1.71,459.2,367.8,-7.7,181,3036,0.38,2.40,278.02,0.774,6,0.044,0.066,3248,2201,602
$GC,3354,1.71,459.2,275.6,22.8,199,3358,0.00,2.53,0.00,0.000,4,0.000,0.059,3248,794,597
$GC,3534,1.71,459.2,229.4,23.3,207,3538,0.00,2.40,0.00,0.000,6,0.000,0.034,3248,2202,595
$GC,3860,1.71,459.2,161.3,18.9,232,3864,0.00,2.50,0.00,0.000,4,0.000,0.051,3248,793,594
$GC,3966,1.71,459.2,138.2,22.8,241,3971,0.00,2.38,0.00,0.000,6,0.000,0.030,3248,2209,593
$GC,4228,1.71,459.2,91.0,18.5,265,4232,0.00,2.50,0.00,0.000,4,0.000,0.048,3248,785,593
$GC,4324,1.71,459.2,72.1,20.5,273,4328,0.00,2.35,0.00,0.000,6,0.000,0.026,3248,2206,593
$GC,4586,1.71,459.2,25.8,14.7,299,4592,0.00,2.42,0.00,0.000,4,0.000,0.044,3248,793,593
$GC,4644,1.71,459.2,14.6,19.9,309,4650,0.00,2.30,0.00,0.000,6,0.000,0.024,3248,2205,593
$STATE,4683,end climb,SURFACE_DEPTH_REACHED
$STATE,4683,begin surface coast
$FINISH,0.7,1.023795
$STATE,4712,end surface coast,CONTROL_FINISHED_OK
$STATE,4712,begin surface
$SM_CCo,4794,0.00,0.000,0,0,592,461.90
$SM_GC,1.38,12.25,0.00,0.00,0.033,0.000,0.000,427,2208,592,-11.17,0.23,461.90
$IRIDIUM_FIX,2108.69,-15759.46,010598,050503
$TT8_MAMPS,0.029146
$HUMID,1742
$INTERNAL_PRESSURE,9.50862
$TCM_TEMP,21.10
$XPDR_PINGS,11
$24V_AH,23.4,4.084
$10V_AH,10.2,1.806
$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,26.875,52.625,479.825,0.000,0.000,27.434,27.309,172.487,2.750,0.000,0.000,29.808,602.251,2803.414,471.926,927.810,333.523,33.329,985.518,0.000,897.798,0.000,0.539,0.000
$DEVICE_MAMPS,148.031,65.962,780.806,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,214.618,217.481,335.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16006,321
$CAP_FILE_SIZE,51667,1
$CFSIZE,260165632,258015232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,075523,2114.672,-15757.299,8,3.0,27,9.8