version: 66.04
glider: 139
mission: 3
dive: 17
start: 2 4 109 21 58 1
data:
$ID,139
$MISSION,3
$DIVE,17
$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,-1281482.5
$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,2020
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2400
$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
$GPS1,214806,2111.572,-15759.997,65,0.9,65,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.9
$GPS2,215708,2111.559,-15759.981,12,1.2,12,9.8
$SPEED_LIMITS,0.156,0.234
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.145,-0.184
$KALMAN_X,12450.3,-608.7,-158.6,-14736.9,1276.4
$KALMAN_Y,3809.4,-505.0,-218.3,-11901.9,138.7
$MHEAD_RNG_PITCHd_Wd,208.5,4739,-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,-121.5,0.0,0.0,0,69,0.00,0.00,-52.10,0.000,2,0.000,0.000,426,2042,2282
$GC,72,-1.29,-121.7,3.3,-6.1,9,104,11.90,2.50,-10.55,0.000,4,0.146,0.053,2568,622,2900
$GC,271,-1.29,-121.7,54.3,-21.4,34,278,0.00,2.30,0.00,0.000,6,0.000,0.020,2568,2026,2901
$GC,533,-1.29,-121.7,106.6,-20.4,59,537,0.00,2.45,0.00,0.000,4,0.000,0.047,2568,620,2901
$GC,582,-1.29,-121.7,117.6,-22.6,63,589,0.00,2.28,0.00,0.000,6,0.000,0.020,2568,2025,2901
$GC,845,-1.29,-121.7,163.3,-17.5,88,849,0.00,2.42,0.00,0.000,4,0.000,0.050,2568,625,2902
$GC,899,-1.29,-121.7,174.3,-19.4,92,906,0.00,2.30,0.00,0.000,6,0.000,0.058,2568,2024,2902
$GC,1168,-1.29,-121.7,217.1,-15.0,113,1173,0.00,2.42,0.00,0.000,4,0.000,0.044,2568,621,2902
$GC,1246,-1.29,-121.7,228.2,-13.6,116,1253,0.00,2.30,0.00,0.000,6,0.000,0.021,2569,2018,2903
$GC,1561,-1.29,-121.7,268.6,-12.1,132,1566,0.00,2.42,0.00,0.000,4,0.000,0.047,2568,622,2903
$GC,1618,-1.29,-121.7,275.6,-11.9,134,1624,0.00,2.28,0.00,0.000,6,0.000,0.024,2568,2025,2903
$GC,1932,-1.29,-121.7,311.3,-11.1,148,1936,0.00,2.45,0.00,0.000,4,0.000,0.049,2568,620,2903
$GC,1986,-1.29,-121.7,317.6,-11.7,149,1990,0.00,2.30,0.00,0.000,6,0.000,0.025,2569,2017,2903
$GC,2299,-1.29,-121.7,349.4,-10.0,157,2303,0.00,2.45,0.00,0.000,4,0.000,0.051,2568,619,2901
$GC,2371,-1.29,-121.7,357.9,-12.6,158,2375,0.00,2.33,0.00,0.000,6,0.000,0.028,2568,2019,2900
$STATE,2706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2706,begin apogee
$GC,2712,-0.31,0.0,400.8,13.0,167,2816,1.02,0.00,100.65,0.821,6,0.070,0.000,2787,2119,2400
$STATE,2817,end apogee,CONTROL_FINISHED_OK
$STATE,2817,begin climb
$GC,2819,1.29,121.7,405.4,0.0,169,2931,1.50,2.42,104.30,0.806,4,0.028,0.045,3149,3478,1903
$GC,2993,1.71,463.7,421.7,-7.9,173,3287,0.35,2.35,284.27,0.812,6,0.042,0.032,3229,2109,508
$GC,3595,1.71,463.7,321.9,24.3,188,3599,0.00,2.55,0.00,0.000,4,0.000,0.089,3229,692,504
$GC,3780,1.71,463.7,274.1,24.1,194,3784,0.00,2.38,0.00,0.000,6,0.000,0.032,3229,2082,502
$GC,4095,1.71,463.7,205.2,20.2,209,4099,0.00,2.47,0.00,0.000,4,0.000,0.054,3229,698,501
$GC,4186,1.71,463.7,185.0,22.3,215,4192,0.00,2.38,0.00,0.000,6,0.000,0.030,3229,2104,500
$GC,4446,1.71,463.7,134.2,19.6,240,4450,0.00,2.47,0.00,0.000,4,0.000,0.050,3230,695,499
$GC,4485,1.71,463.7,126.3,20.1,243,4489,0.00,2.35,0.00,0.000,6,0.000,0.027,3229,2106,499
$GC,4751,1.71,463.7,78.3,19.7,268,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2110,499
$GC,5007,1.71,463.7,32.6,17.8,292,5011,0.00,2.47,0.00,0.000,4,0.000,0.046,3229,685,499
$GC,5108,1.71,463.7,11.9,20.0,308,5114,0.00,2.33,0.00,0.000,6,0.000,0.023,3229,2105,499
$STATE,5135,end climb,SURFACE_DEPTH_REACHED
$STATE,5135,begin surface coast
$FINISH,0.9,1.023664
$STATE,5165,end surface coast,CONTROL_FINISHED_OK
$STATE,5165,begin surface
$SM_CCo,5247,0.00,0.000,0,0,499,466.32
$SM_GC,1.33,12.12,0.00,0.00,0.031,0.000,0.000,433,1999,499,-11.08,-0.59,466.32
$IRIDIUM_FIX,2101.76,-15758.18,010598,212131
$TT8_MAMPS,0.029146
$HUMID,1692
$INTERNAL_PRESSURE,9.47932
$TCM_TEMP,21.20
$XPDR_PINGS,16
$24V_AH,23.4,5.196
$10V_AH,10.1,2.219
$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,26.900,57.625,489.225,0.000,0.000,57.524,69.719,234.500,4.000,0.000,0.000,13.828,599.045,3369.292,483.678,847.444,487.058,33.321,975.920,0.000,834.298,0.000,0.539,0.000
$DEVICE_MAMPS,146.497,88.972,820.690,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,212.363,204.787,310.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15988,318
$CAP_FILE_SIZE,54881,0
$CFSIZE,260165632,257712128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,232613,2110.968,-15800.748,10,1.8,10,9.8