version: 66.04
glider: 139
mission: 3
dive: 14
start: 2 4 109 16 26 53
data:
$ID,139
$MISSION,3
$DIVE,14
$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,-1281388.6
$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,61
$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,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
$GPS1,161525,2112.346,-15757.782,53,0.9,53,9.8
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.9
$GPS2,162601,2112.325,-15757.632,14,1.2,14,9.8
$SPEED_LIMITS,0.156,0.234
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.227,-0.056
$KALMAN_X,10189.2,-45.0,99.5,-9240.4,2766.6
$KALMAN_Y,5638.3,-1334.5,-4.2,-11692.1,1625.7
$MHEAD_RNG_PITCHd_Wd,246.3,7394,-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,-121.7,0.0,0.0,0,74,0.00,0.00,-57.53,0.000,2,0.000,0.000,427,2108,2287
$GC,77,-1.29,-121.7,3.3,-6.4,10,108,11.90,2.33,-11.60,0.000,4,0.148,0.057,2573,770,2948
$GC,182,-1.29,-121.7,32.8,-21.7,27,186,0.00,2.25,0.00,0.000,6,0.000,0.021,2573,2157,2949
$GC,443,-1.29,-121.7,81.5,-17.7,51,447,0.00,2.40,0.00,0.000,4,0.000,0.044,2573,770,2949
$GC,517,-1.29,-121.7,95.0,-18.1,57,521,0.00,2.25,0.00,0.000,6,0.000,0.021,2574,2158,2950
$GC,778,-1.29,-121.7,136.4,-15.3,81,782,0.00,2.38,0.00,0.000,4,0.000,0.044,2573,779,2950
$GC,878,-1.29,-121.7,153.2,-16.1,89,884,0.00,2.22,0.00,0.000,6,0.000,0.050,2573,2152,2951
$GC,1139,-1.29,-121.7,188.2,-12.6,114,1143,0.00,2.35,0.00,0.000,4,0.000,0.043,2573,776,2951
$GC,1256,-1.29,-121.7,203.3,-13.0,124,1260,0.00,2.25,0.00,0.000,6,0.000,0.061,2573,2155,2951
$GC,1582,-1.29,-121.7,242.8,-11.8,140,1587,0.00,2.40,0.00,0.000,4,0.000,0.051,2573,772,2952
$GC,1682,-1.29,-121.7,255.5,-12.9,144,1689,0.00,2.30,0.00,0.000,6,0.000,0.061,2573,2149,2952
$GC,1998,-1.29,-121.7,296.8,-12.5,160,2002,0.00,2.38,0.00,0.000,4,0.000,0.048,2573,780,2952
$GC,2127,-1.29,-121.7,313.5,-12.9,164,2131,0.00,2.28,0.00,0.000,6,0.000,0.027,2573,2157,2951
$GC,2450,-1.29,-121.7,351.4,-11.3,172,2454,0.00,2.40,0.00,0.000,4,0.000,0.050,2573,774,2948
$GC,2579,-1.29,-121.7,367.6,-11.9,174,2585,0.00,2.30,0.00,0.000,6,0.000,0.029,2573,2157,2948
$STATE,2907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2908,begin apogee
$GC,2913,-0.31,0.0,404.7,11.9,183,3016,0.40,0.00,99.90,0.826,6,0.124,0.000,2669,2160,2450
$STATE,3016,end apogee,CONTROL_FINISHED_OK
$STATE,3016,begin climb
$GC,3019,1.29,121.7,410.2,0.0,185,3131,2.15,2.40,103.90,0.811,4,0.060,0.047,3143,815,1953
$GC,3153,1.66,423.4,417.4,-5.9,188,3418,0.35,2.35,251.90,0.805,6,0.034,0.031,3229,2187,722
$GC,3742,1.66,423.4,323.9,22.3,202,3747,0.00,2.45,0.00,0.000,4,0.000,0.054,3229,813,718
$GC,3842,1.66,423.4,300.3,22.1,204,3847,0.00,2.35,0.00,0.000,6,0.000,0.032,3229,2190,716
$GC,4160,1.66,423.4,237.8,20.3,219,4164,0.00,2.45,0.00,0.000,4,0.000,0.052,3229,813,715
$GC,4245,1.66,423.4,219.9,20.9,223,4249,0.00,2.33,0.00,0.000,6,0.000,0.031,3229,2185,714
$GC,4566,1.66,423.4,159.9,17.5,248,4570,0.00,2.42,0.00,0.000,4,0.000,0.049,3229,812,714
$GC,4628,1.66,423.4,146.9,21.0,253,4633,0.00,2.30,0.00,0.000,6,0.000,0.028,3229,2188,713
$GC,4891,1.66,423.4,100.7,14.7,277,4895,0.00,2.40,0.00,0.000,4,0.000,0.047,3229,815,713
$GC,4930,1.66,423.4,93.3,18.3,280,4934,0.00,2.28,0.00,0.000,6,0.000,0.027,3229,2188,712
$GC,5191,1.66,423.4,53.4,15.1,304,5195,0.00,2.38,0.00,0.000,4,0.000,0.044,3230,813,711
$GC,5302,1.66,423.4,35.1,18.0,313,5308,0.00,2.30,0.00,0.000,6,0.000,0.024,3229,2193,712
$STATE,5497,end climb,SURFACE_DEPTH_REACHED
$STATE,5497,begin surface coast
$FINISH,0.5,1.011252
$STATE,5536,end surface coast,CONTROL_FINISHED_OK
$STATE,5536,begin surface
$SM_CCo,5617,0.00,0.000,0,0,710,426.58
$SM_GC,1.41,12.15,0.00,0.00,0.031,0.000,0.000,429,2194,710,-11.12,1.24,426.58
$IRIDIUM_FIX,2106.38,-15755.17,010598,161659
$TT8_MAMPS,0.029146
$HUMID,1713
$INTERNAL_PRESSURE,9.48909
$TCM_TEMP,21.20
$XPDR_PINGS,14
$24V_AH,23.4,4.832
$10V_AH,10.1,2.077
$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,26.950,60.875,455.700,0.000,0.000,61.808,61.607,337.941,3.500,0.000,0.000,15.958,661.044,3605.646,461.858,946.555,575.464,33.317,987.380,0.000,928.990,0.000,0.538,0.000
$DEVICE_MAMPS,148.031,61.360,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.043,229.910,354.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19108,352
$CAP_FILE_SIZE,60893,1
$CFSIZE,260165632,257806336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040209,180113,2111.938,-15758.224,8,1.3,8,9.8