version: 66.04
glider: 139
mission: 3
dive: 9
start: 2 4 109 8 1 57
data:
$ID,139
$MISSION,3
$DIVE,9
$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,-1281314.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,2150
$C_ROLL_CLIMB,2185
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,41
$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
$GPS1,075523,2114.672,-15757.299,8,3.0,27,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.7
$GPS2,080106,2114.685,-15757.285,26,1.6,26,9.8
$SPEED_LIMITS,0.157,0.235
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.203,-0.117
$KALMAN_X,2999.4,499.4,122.3,-2027.9,1458.8
$KALMAN_Y,2130.7,883.8,-141.2,-5902.1,650.9
$MHEAD_RNG_PITCHd_Wd,230.2,11525,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.29,-121.7,0.0,0.0,0,81,0.00,0.00,-63.47,0.000,2,0.000,0.000,427,2208,2372
$GC,84,-1.29,-121.7,3.6,-6.9,11,115,11.85,2.25,-10.10,0.000,4,0.145,0.055,2583,3546,2973
$GC,236,-1.29,-121.7,35.7,-14.5,34,240,0.00,2.35,0.00,0.000,6,0.000,0.028,2583,2139,2974
$GC,496,-1.29,-121.7,82.9,-17.5,58,500,0.00,2.40,0.00,0.000,4,0.000,0.046,2583,741,2975
$GC,603,-1.29,-121.7,101.7,-16.9,67,608,0.00,2.30,0.00,0.000,6,0.000,0.021,2583,2161,2975
$GC,866,-1.29,-121.7,144.2,-15.0,91,870,0.00,2.45,0.00,0.000,4,0.000,0.044,2583,738,2976
$GC,999,-1.29,-121.7,164.1,-14.5,102,1006,0.00,2.33,0.00,0.000,6,0.000,0.021,2583,2153,2977
$GC,1261,-1.29,-121.7,200.4,-12.7,127,1265,0.00,2.42,0.00,0.000,4,0.000,0.044,2582,738,2978
$GC,1390,-1.29,-121.7,219.4,-15.2,133,1394,0.00,2.30,0.00,0.000,6,0.000,0.022,2583,2157,2978
$GC,1716,-1.29,-121.7,264.1,-11.0,149,1720,0.00,2.45,0.00,0.000,4,0.000,0.047,2582,737,2978
$GC,1860,-1.29,-121.7,279.9,-10.5,155,1867,0.00,2.30,0.00,0.000,6,0.000,0.025,2583,2143,2978
$GC,2195,-1.29,-121.7,314.9,-10.8,169,2199,0.00,2.42,0.00,0.000,4,0.000,0.049,2582,746,2977
$GC,2311,-1.29,-121.7,329.6,-12.2,171,2315,0.00,2.33,0.00,0.000,6,0.000,0.028,2582,2150,2977
$STATE,2483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2483,begin apogee
$GC,2489,-0.31,0.0,350.1,11.8,176,2592,1.02,0.00,100.20,0.780,6,0.066,0.000,2804,2153,2475
$STATE,2593,end apogee,CONTROL_FINISHED_OK
$STATE,2593,begin climb
$GC,2595,1.29,121.7,353.3,0.0,178,2706,1.50,2.58,102.78,0.769,4,0.031,0.046,3161,3578,1978
$GC,2831,1.69,441.8,371.9,-6.8,183,3105,0.35,2.38,263.92,0.781,6,0.044,0.032,3243,2182,673
$GC,3425,1.69,441.8,283.3,20.5,199,3429,0.00,2.50,0.00,0.000,4,0.000,0.057,3243,781,669
$GC,3464,1.69,441.8,274.4,22.5,201,3468,0.00,2.40,0.00,0.000,6,0.000,0.034,3243,2183,667
$GC,3790,1.69,441.8,210.5,18.7,217,3794,0.00,2.50,0.00,0.000,4,0.000,0.054,3243,780,666
$GC,3918,1.69,441.8,183.9,19.0,226,3922,0.00,2.38,0.00,0.000,6,0.000,0.031,3243,2192,665
$GC,4185,1.69,441.8,134.1,18.8,251,4189,0.00,2.47,0.00,0.000,4,0.000,0.048,3243,780,664
$GC,4224,1.69,441.8,127.2,18.3,254,4228,0.00,2.35,0.00,0.000,6,0.000,0.028,3243,2190,663
$GC,4484,1.69,441.8,82.5,17.3,278,4489,0.00,2.47,0.00,0.000,4,0.000,0.046,3243,771,664
$GC,4517,1.69,441.8,75.9,19.5,280,4524,0.00,2.38,0.00,0.000,6,0.000,0.025,3244,2188,663
$GC,4779,1.69,441.8,31.3,16.4,305,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2192,664
$STATE,4922,end climb,SURFACE_DEPTH_REACHED
$STATE,4922,begin surface coast
$FINISH,0.5,1.023694
$STATE,4960,end surface coast,CONTROL_FINISHED_OK
$STATE,4960,begin surface
$SM_CCo,5042,0.00,0.000,0,0,664,444.48
$SM_GC,1.45,12.23,0.00,0.00,0.033,0.000,0.000,426,2115,664,-11.17,-0.99,444.48
$IRIDIUM_FIX,2106.38,-15755.17,010598,060612
$TT8_MAMPS,0.029146
$HUMID,1717
$INTERNAL_PRESSURE,9.50862
$TCM_TEMP,21.40
$XPDR_PINGS,6
$24V_AH,23.4,4.199
$10V_AH,10.2,1.849
$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,26.950,52.750,466.900,0.000,0.000,24.989,25.532,175.877,1.500,0.000,0.000,29.252,624.492,3040.933,464.440,920.402,332.001,33.307,970.310,0.000,893.844,0.000,0.539,0.000
$DEVICE_MAMPS,144.963,94.341,780.806,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.882,226.203,350.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15905,336
$CAP_FILE_SIZE,53307,1
$CFSIZE,260165632,257978368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,092707,2114.381,-15757.724,33,1.5,33,9.8