version: 66.04
glider: 139
mission: 3
dive: 10
start: 2 4 109 9 33 41
data:
$ID,139
$MISSION,3
$DIVE,10
$D_SURF,6
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,148
$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,-1281331.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2860
$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,53
$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,2450
$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
$GPS1,092707,2114.381,-15757.724,33,1.5,33,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.0
$GPS2,093249,2114.383,-15757.683,13,1.1,13,9.8
$SPEED_LIMITS,0.156,0.234
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.178,-0.153
$KALMAN_X,3614.8,636.5,225.8,-3569.3,1299.3
$KALMAN_Y,2608.3,730.8,-134.6,-6792.7,660.3
$MHEAD_RNG_PITCHd_Wd,219.5,10742,-18.2,-9.009
$D_GRID,400
$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,-1.29,-121.7,0.0,0.0,0,75,0.00,0.00,-58.35,0.000,2,0.000,0.000,426,2116,2331
$GC,78,-1.29,-121.7,3.7,-7.4,10,110,11.88,2.38,-10.38,0.000,4,0.146,0.060,2575,770,2949
$GC,241,-1.29,-121.7,42.5,-18.8,32,245,0.00,2.25,0.00,0.000,6,0.000,0.021,2575,2158,2950
$GC,503,-1.29,-121.7,91.1,-17.3,56,507,0.00,2.40,0.00,0.000,4,0.000,0.044,2574,762,2949
$GC,557,-1.29,-121.7,101.4,-17.1,60,564,0.00,2.28,0.00,0.000,6,0.000,0.021,2575,2153,2951
$GC,819,-1.29,-121.7,143.9,-16.6,85,823,0.00,2.38,0.00,0.000,4,0.000,0.044,2574,769,2952
$GC,929,-1.29,-121.7,162.1,-14.6,94,936,0.00,2.25,0.00,0.000,6,0.000,0.021,2575,2145,2953
$GC,1191,-1.29,-121.7,199.5,-14.7,119,1195,0.00,2.38,0.00,0.000,4,0.000,0.044,2574,764,2952
$GC,1302,-1.29,-121.7,217.9,-16.4,124,1306,0.00,2.25,0.00,0.000,6,0.000,0.021,2575,2153,2953
$GC,1628,-1.29,-121.7,265.3,-14.5,140,1632,0.00,2.38,0.00,0.000,4,0.000,0.045,2574,772,2953
$GC,1773,-1.29,-121.7,283.4,-13.5,146,1778,0.00,2.25,0.00,0.000,6,0.000,0.025,2575,2145,2953
$GC,2112,-1.29,-121.7,328.9,-13.4,158,2116,0.00,2.38,0.00,0.000,4,0.000,0.048,2575,773,2953
$GC,2207,-1.29,-121.7,341.6,-12.5,160,2211,0.00,2.28,0.00,0.000,6,0.000,0.027,2574,2153,2953
$GC,2525,-1.29,-121.7,378.5,-12.3,168,2529,0.00,2.42,0.00,0.000,4,0.000,0.051,2574,766,2951
$GC,2676,-1.29,-121.7,398.0,-12.6,171,2680,0.00,2.30,0.00,0.000,6,0.000,0.030,2574,2147,2950
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2695,-0.31,0.0,400.2,13.0,171,2799,0.98,0.00,100.62,0.817,6,0.070,0.000,2789,2149,2450
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin climb
$GC,2802,1.29,121.7,405.0,0.0,174,2914,1.52,2.58,103.68,0.802,4,0.028,0.048,3154,3585,1954
$GC,3043,1.68,439.7,424.7,-6.7,179,3316,0.32,2.35,264.90,0.815,6,0.053,0.068,3225,2214,657
$GC,3624,1.68,439.7,332.2,22.2,194,3628,0.00,2.40,0.00,0.000,4,0.000,0.073,3225,3592,652
$GC,3804,1.68,439.7,296.2,19.8,198,3808,0.00,2.42,0.00,0.000,6,0.000,0.037,3225,2187,651
$GC,4124,1.68,439.7,233.0,18.7,214,4128,0.00,2.50,0.00,0.000,4,0.000,0.055,3225,777,649
$GC,4274,1.68,439.7,202.8,18.9,220,4281,0.00,2.40,0.00,0.000,6,0.000,0.031,3225,2179,648
$GC,4598,1.68,439.7,141.7,17.5,250,4603,0.00,2.47,0.00,0.000,4,0.000,0.048,3225,768,648
$GC,4676,1.68,439.7,127.6,17.8,256,4683,0.00,2.40,0.00,0.000,6,0.000,0.028,3225,2187,647
$GC,4938,1.68,439.7,85.3,16.5,281,4942,0.00,2.45,0.00,0.000,4,0.000,0.046,3225,776,647
$GC,4966,1.68,439.7,80.4,17.1,283,4970,0.00,2.35,0.00,0.000,6,0.000,0.025,3225,2199,647
$GC,5227,1.68,439.7,35.6,17.9,307,5231,0.00,2.47,0.00,0.000,4,0.000,0.044,3225,769,647
$GC,5255,1.68,439.7,30.6,18.2,309,5259,0.00,2.33,0.00,0.000,6,0.000,0.023,3225,2193,647
$STATE,5399,end climb,SURFACE_DEPTH_REACHED
$STATE,5399,begin surface coast
$FINISH,0.7,1.023689
$STATE,5433,end surface coast,CONTROL_FINISHED_OK
$STATE,5433,begin surface
$SM_CCo,5515,0.00,0.000,0,0,646,442.52
$SM_GC,1.35,12.07,0.00,0.00,0.030,0.000,0.000,430,2106,646,-11.11,-1.24,442.52
$IRIDIUM_FIX,2106.38,-15755.17,010598,080843
$TT8_MAMPS,0.029146
$HUMID,1705
$INTERNAL_PRESSURE,9.50862
$TCM_TEMP,21.50
$XPDR_PINGS,7
$24V_AH,23.4,4.320
$10V_AH,10.1,1.893
$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,26.775,61.750,469.200,0.000,0.000,27.392,33.334,176.816,1.750,0.000,0.000,16.435,654.693,3391.002,466.313,989.817,353.197,33.307,1017.081,0.000,974.455,0.000,0.539,0.000
$DEVICE_MAMPS,145.730,72.865,816.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.337,223.535,339.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16029,340
$CAP_FILE_SIZE,57793,0
$CFSIZE,260165632,257941504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,110636,2113.899,-15757.841,9,2.0,25,9.8