version: 66.04
glider: 139
mission: 3
dive: 16
start: 2 4 109 19 54 52
data:
$ID,139
$MISSION,3
$DIVE,16
$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,-1281468
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2855
$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,2050
$C_ROLL_CLIMB,2145
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2420
$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
$GPS1,194559,2111.958,-15758.986,8,1.6,11,9.8
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.2
$GPS2,195400,2111.955,-15758.944,60,1.0,60,9.8
$SPEED_LIMITS,0.156,0.234
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.232,-0.030
$KALMAN_X,11773.0,-51.6,-124.2,-12861.5,2053.9
$KALMAN_Y,4219.4,-539.4,-50.9,-11711.5,235.1
$MHEAD_RNG_PITCHd_Wd,252.9,5769,-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,15,-1.29,-121.7,0.0,0.0,0,69,0.00,0.00,-52.35,0.000,2,0.000,0.000,430,2029,2266
$GC,72,-1.29,-121.7,3.2,-5.2,9,104,11.90,2.42,-11.45,0.000,4,0.149,0.058,2570,659,2919
$GC,219,-1.29,-121.7,40.5,-22.8,30,225,0.00,2.28,0.00,0.000,6,0.000,0.021,2571,2068,2920
$GC,481,-1.29,-121.7,94.5,-20.0,55,485,0.00,2.45,0.00,0.000,4,0.000,0.046,2570,658,2920
$GC,558,-1.29,-121.7,111.0,-18.8,61,565,0.00,2.28,0.00,0.000,6,0.000,0.025,2570,2061,2920
$GC,819,-1.29,-121.7,154.5,-16.2,86,823,0.00,2.42,0.00,0.000,4,0.000,0.044,2570,656,2921
$GC,885,-1.29,-121.7,165.9,-16.8,91,891,0.00,2.25,0.00,0.000,6,0.000,0.021,2570,2050,2922
$GC,1156,-1.29,-121.7,207.0,-15.0,115,1161,0.00,2.40,0.00,0.000,4,0.000,0.044,2570,657,2922
$GC,1234,-1.29,-121.7,218.2,-12.6,118,1241,0.00,2.28,0.00,0.000,6,0.000,0.022,2570,2037,2923
$GC,1549,-1.29,-121.7,261.5,-13.6,134,1553,0.00,2.38,0.00,0.000,4,0.000,0.046,2570,660,2923
$GC,1605,-1.29,-121.7,268.9,-13.0,136,1609,0.00,2.28,0.00,0.000,6,0.000,0.024,2570,2045,2923
$GC,1925,-1.29,-121.7,306.4,-11.2,151,1929,0.00,2.42,0.00,0.000,4,0.000,0.049,2569,655,2923
$GC,2025,-1.29,-121.7,318.5,-12.1,153,2029,0.00,2.30,0.00,0.000,6,0.000,0.026,2570,2048,2922
$GC,2338,-1.29,-121.7,357.7,-12.7,161,2342,0.00,2.42,0.00,0.000,4,0.000,0.051,2570,663,2921
$GC,2416,-1.29,-121.7,367.8,-11.9,162,2422,0.00,2.30,0.00,0.000,6,0.000,0.065,2570,2046,2920
$STATE,2704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2704,begin apogee
$GC,2710,-0.31,0.0,401.6,11.8,170,2813,0.47,0.00,100.30,0.826,6,0.114,0.000,2681,2172,2420
$STATE,2814,end apogee,CONTROL_FINISHED_OK
$STATE,2814,begin climb
$GC,2816,1.29,121.7,406.5,0.0,172,2927,2.08,0.00,104.15,0.811,6,0.060,0.000,3139,2172,1923
$GC,3265,1.56,342.4,423.3,-1.9,183,3459,0.22,2.45,184.27,0.831,4,0.046,0.045,3199,3522,1023
$GC,3695,1.56,342.4,371.3,14.9,193,3699,0.00,2.20,0.00,0.000,6,0.000,0.071,3199,2223,1019
$GC,4024,1.56,342.4,321.7,14.1,201,4028,0.00,2.62,0.00,0.000,4,0.000,0.055,3199,751,1016
$GC,4067,1.56,342.4,314.8,16.0,202,4071,0.00,2.35,0.00,0.000,6,0.000,0.033,3199,2126,1014
$GC,4395,1.56,342.4,268.9,13.9,215,4399,0.00,2.45,0.00,0.000,4,0.000,0.053,3199,753,1013
$GC,4461,1.56,342.4,258.1,17.2,218,4465,0.00,2.38,0.00,0.000,6,0.000,0.033,3200,2149,1013
$GC,4788,1.56,342.4,212.8,14.3,234,4792,0.00,2.45,0.00,0.000,4,0.000,0.051,3199,758,1012
$GC,4843,1.56,342.4,204.8,14.6,236,4847,0.00,2.35,0.00,0.000,6,0.000,0.030,3200,2151,1011
$GC,5174,1.56,342.4,166.6,12.6,265,5178,0.00,2.45,0.00,0.000,4,0.000,0.048,3199,753,1011
$GC,5315,1.56,342.4,146.1,13.7,277,5319,0.00,2.33,0.00,0.000,6,0.000,0.028,3199,2149,1009
$GC,5576,1.56,342.4,115.4,10.1,301,5580,0.00,2.42,0.00,0.000,4,0.000,0.045,3199,756,1009
$GC,5704,1.56,342.4,100.8,9.8,312,5709,0.00,2.30,0.00,0.000,6,0.000,0.025,3199,2152,1009
$GC,5966,1.56,342.4,74.0,10.5,336,5970,0.00,2.35,0.00,0.000,4,0.000,0.035,3199,3547,1009
$GC,6028,1.56,342.4,67.1,10.4,341,6032,0.00,2.30,0.00,0.000,6,0.000,0.026,3200,2158,1009
$GC,6289,1.56,342.4,40.0,10.8,365,6293,0.00,2.42,0.00,0.000,4,0.000,0.043,3200,740,1010
$GC,6339,1.56,342.4,33.8,12.9,369,6344,0.00,2.30,0.00,0.000,6,0.000,0.022,3200,2157,1010
$STATE,6573,end climb,SURFACE_DEPTH_REACHED
$STATE,6573,begin surface coast
$FINISH,0.5,1.023666
$STATE,6623,end surface coast,CONTROL_FINISHED_OK
$STATE,6623,begin surface
$SM_CCo,6645,45.53,0.530,0,0,789,400.08
$SM_GC,1.02,0.00,0.00,45.53,0.000,0.000,0.530,426,2042,789,-11.17,-0.23,400.08
$IRIDIUM_FIX,2104.07,-15756.04,010598,181842
$TT8_MAMPS,0.029146
$HUMID,1654
$INTERNAL_PRESSURE,9.51839
$TCM_TEMP,22.10
$XPDR_PINGS,11
$24V_AH,23.4,5.064
$10V_AH,10.2,2.175
$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,26.675,71.325,388.725,45.525,0.000,27.214,28.926,269.708,2.750,0.000,0.000,61.688,783.305,4331.937,462.716,1133.195,458.310,33.309,1037.629,0.000,1074.481,0.000,0.539,0.000
$DEVICE_MAMPS,148.798,70.564,830.661,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.647,272.333,414.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22239,416
$CAP_FILE_SIZE,66498,3
$CFSIZE,260165632,257728512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,214806,2111.572,-15759.997,65,0.9,65,9.8