version: 66.04
glider: 139
mission: 3
dive: 21
start: 2 5 109 4 48 6
data:
$ID,139
$MISSION,3
$DIVE,21
$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,166
$T_MISSION,190
$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,-1281601.8
$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,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2275
$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
$GPS1,044033,2109.484,-15802.142,29,2.5,48,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.1
$GPS2,044714,2109.466,-15802.114,9,1.6,9,9.8
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.222,0.041
$KALMAN_X,16000.6,-3004.3,-186.7,-19538.6,3693.2
$KALMAN_Y,3812.3,161.4,176.5,-16842.5,-291.8
$MHEAD_RNG_PITCHd_Wd,270.6,97554,-16.5,-8.032
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,63,0.00,0.00,-40.78,0.000,6,0.000,0.000,427,1932,1779
$GC,66,-1.18,-121.7,1.9,-1.9,8,109,11.98,2.38,-23.77,0.000,4,0.145,0.044,2594,3348,2772
$GC,272,-1.18,-121.7,34.4,-16.4,42,277,0.00,2.33,0.00,0.000,6,0.000,0.028,2593,1959,2772
$GC,533,-1.18,-121.7,82.7,-20.0,66,537,0.00,2.45,0.00,0.000,4,0.000,0.079,2594,543,2773
$GC,605,-1.18,-121.7,96.8,-18.7,72,609,0.00,2.17,0.00,0.000,6,0.000,0.038,2593,1918,2773
$GC,872,-1.18,-121.7,141.2,-15.1,97,876,0.00,2.38,0.00,0.000,4,0.000,0.044,2593,541,2773
$GC,912,-1.18,-121.7,146.8,-14.8,100,916,0.00,2.28,0.00,0.000,6,0.000,0.020,2593,1952,2774
$GC,1174,-1.18,-121.7,182.2,-13.3,124,1178,0.00,2.30,0.00,0.000,4,0.000,0.029,2593,3348,2774
$GC,1191,-1.18,-121.7,184.6,-13.0,125,1195,0.00,2.33,0.00,0.000,6,0.000,0.025,2593,1940,2774
$GC,1448,-1.18,-121.7,216.6,-12.4,143,1452,0.00,2.40,0.00,0.000,4,0.000,0.045,2593,540,2774
$GC,1503,-1.18,-121.7,223.9,-13.4,145,1509,0.00,2.30,0.00,0.000,6,0.000,0.025,2593,1958,2775
$GC,1819,-1.18,-121.7,260.9,-11.6,161,1823,0.00,2.45,0.00,0.000,4,0.000,0.047,2593,543,2775
$GC,1858,-1.18,-121.7,265.7,-12.2,163,1863,0.00,2.28,0.00,0.000,6,0.000,0.024,2593,1946,2775
$GC,2205,-1.18,-121.7,305.0,-11.5,179,2209,0.00,2.42,0.00,0.000,4,0.000,0.049,2593,549,2774
$GC,2237,-1.18,-121.7,308.8,-11.8,179,2244,0.00,2.30,0.00,0.000,6,0.000,0.025,2593,1949,2774
$GC,2568,-1.18,-121.7,343.0,-10.5,188,2572,0.00,2.45,0.00,0.000,4,0.000,0.051,2593,550,2773
$GC,2608,-1.18,-121.7,347.6,-12.4,189,2612,0.00,2.30,0.00,0.000,6,0.000,0.028,2593,1949,2772
$GC,2931,-1.18,-121.7,381.3,-10.4,197,2936,0.00,2.45,0.00,0.000,4,0.000,0.054,2593,552,2771
$GC,2998,-1.18,-121.7,388.3,-10.6,198,3002,0.00,2.33,0.00,0.000,6,0.000,0.029,2593,1951,2770
$STATE,3135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3135,begin apogee
$GC,3140,-0.31,0.0,401.3,9.4,202,3244,0.90,0.00,100.50,0.825,6,0.070,0.000,2785,1955,2275
$STATE,3245,end apogee,CONTROL_FINISHED_OK
$STATE,3245,begin climb
$GC,3247,1.18,121.7,403.5,0.0,204,3359,1.42,2.58,104.38,0.811,4,0.035,0.044,3116,3403,1777
$GC,3612,1.48,362.4,419.4,-2.6,212,3821,0.28,2.40,200.15,0.828,6,0.043,0.033,3181,2001,797
$GC,4164,1.48,362.4,346.6,17.2,226,4168,0.00,2.53,0.00,0.000,4,0.000,0.058,3181,595,791
$GC,4212,1.48,362.4,337.6,18.4,227,4217,0.00,2.40,0.00,0.000,6,0.000,0.031,3181,2003,789
$GC,4533,1.48,362.4,286.0,15.0,237,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2006,788
$GC,4842,1.48,362.4,241.0,14.4,252,4846,0.00,2.50,0.00,0.000,4,0.000,0.054,3181,598,787
$GC,4874,1.48,362.4,236.0,15.7,253,4880,0.00,2.38,0.00,0.000,6,0.000,0.031,3181,2007,787
$GC,5192,1.48,362.4,186.6,14.6,273,5196,0.00,2.50,0.00,0.000,4,0.000,0.052,3181,596,786
$GC,5304,1.48,362.4,167.2,17.3,282,5310,0.00,2.38,0.00,0.000,6,0.000,0.028,3181,1999,785
$GC,5565,1.48,362.4,129.6,13.7,307,5569,0.00,2.40,0.00,0.000,4,0.000,0.037,3181,3413,785
$GC,5626,1.48,362.4,121.1,14.0,312,5631,0.00,2.40,0.00,0.000,6,0.000,0.033,3181,1999,785
$GC,5887,1.48,362.4,88.8,12.0,336,5891,0.00,2.45,0.00,0.000,4,0.000,0.048,3181,587,785
$GC,5987,1.48,362.4,75.9,13.6,344,5993,0.00,2.33,0.00,0.000,6,0.000,0.024,3181,2016,785
$GC,6248,1.48,362.4,42.0,13.2,369,6252,0.00,2.47,0.00,0.000,4,0.000,0.045,3181,592,785
$GC,6270,1.48,362.4,38.1,17.2,371,6275,0.00,2.28,0.00,0.000,6,0.000,0.022,3181,2004,785
$STATE,6502,end climb,SURFACE_DEPTH_REACHED
$STATE,6502,begin surface coast
$FINISH,0.5,1.023715
$STATE,6548,end surface coast,CONTROL_FINISHED_OK
$STATE,6548,begin surface
$SM_CCo,6569,30.00,0.528,0,0,644,400.08
$SM_GC,1.30,0.00,0.00,30.00,0.000,0.000,0.528,428,1915,644,-11.16,-0.99,400.08
$IRIDIUM_FIX,2104.07,-15803.33,020598,030334
$TT8_MAMPS,0.029146
$HUMID,1679
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,21.80
$XPDR_PINGS,15
$24V_AH,23.4,5.663
$10V_AH,10.2,2.406
$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,26.475,76.350,405.025,30.000,0.000,28.154,25.724,242.242,3.750,0.000,0.000,11.238,772.175,4298.483,464.067,1034.062,429.894,33.327,1026.783,0.000,1025.217,0.000,0.538,0.000
$DEVICE_MAMPS,144.963,79.001,828.360,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.448,275.528,417.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22215,416
$CAP_FILE_SIZE,66151,1
$CFSIZE,260165632,257560576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050209,063913,2109.643,-15802.989,29,1.9,29,9.8