version: 66.04
glider: 139
mission: 3
dive: 22
start: 2 5 109 6 46 15
data:
$ID,139
$MISSION,3
$DIVE,22
$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,-1281634.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,50
$R_STBD_OVSHOOT,48
$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
$GPS1,063913,2109.643,-15802.989,29,1.9,29,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.6
$GPS2,064525,2109.647,-15802.986,30,1.5,30,9.8
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.226,-0.007
$KALMAN_X,15336.5,-1819.9,-241.7,-21507.4,2886.1
$KALMAN_Y,4104.4,196.3,-205.5,-16455.6,123.3
$MHEAD_RNG_PITCHd_Wd,258.4,96078,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,75,0.00,0.00,-57.83,0.000,2,0.000,0.000,428,1915,2299
$GC,78,-1.18,-121.7,3.5,-5.8,10,105,12.05,2.35,-8.02,0.000,4,0.156,0.092,2591,560,2773
$GC,218,-1.18,-121.7,41.2,-20.5,30,222,0.00,2.25,0.00,0.000,6,0.000,0.020,2592,1964,2774
$GC,484,-1.18,-121.7,95.2,-18.1,55,489,0.00,2.42,0.00,0.000,4,0.000,0.044,2591,564,2773
$GC,517,-1.18,-121.7,101.3,-17.9,57,523,0.00,2.25,0.00,0.000,6,0.000,0.025,2591,1957,2774
$GC,778,-1.18,-121.7,143.7,-16.4,82,782,0.00,2.40,0.00,0.000,4,0.000,0.045,2591,567,2775
$GC,833,-1.18,-121.7,153.2,-16.2,86,840,0.00,2.25,0.00,0.000,6,0.000,0.020,2591,1946,2776
$GC,1094,-1.18,-121.7,187.5,-13.2,111,1098,0.00,2.38,0.00,0.000,4,0.000,0.044,2591,568,2776
$GC,1150,-1.18,-121.7,194.7,-12.7,115,1156,0.00,2.25,0.00,0.000,6,0.000,0.060,2592,1960,2777
$GC,1404,-1.18,-121.7,223.4,-11.1,130,1408,0.00,2.30,0.00,0.000,4,0.000,0.034,2591,3340,2777
$GC,1420,-1.18,-121.7,225.3,-11.5,130,1427,0.00,2.30,0.00,0.000,6,0.000,0.064,2591,1974,2777
$GC,1736,-1.18,-121.7,259.9,-10.9,146,1740,0.00,2.47,0.00,0.000,4,0.000,0.049,2591,544,2777
$GC,1820,-1.18,-121.7,269.4,-10.9,150,1824,0.00,2.28,0.00,0.000,6,0.000,0.025,2591,1942,2777
$GC,2145,-1.18,-121.7,304.4,-10.3,165,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1945,2776
$GC,2470,-1.18,-121.7,341.7,-11.4,173,2474,0.00,2.45,0.00,0.000,4,0.000,0.051,2591,540,2774
$GC,2519,-1.18,-121.7,347.5,-11.3,174,2523,0.00,2.33,0.00,0.000,6,0.000,0.028,2591,1950,2774
$GC,2838,-1.18,-121.7,378.1,-9.5,182,2842,0.00,2.47,0.00,0.000,4,0.000,0.053,2591,542,2773
$GC,2909,-1.18,-121.7,386.1,-11.2,183,2914,0.00,2.38,0.00,0.000,6,0.000,0.030,2591,1950,2773
$STATE,3040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3040,begin apogee
$GC,3046,-0.31,0.0,400.9,11.3,187,3151,0.93,0.00,101.10,0.825,6,0.071,0.000,2789,2023,2275
$STATE,3151,end apogee,CONTROL_FINISHED_OK
$STATE,3152,begin climb
$GC,3154,1.18,121.7,404.6,0.0,189,3266,1.40,2.58,104.28,0.813,4,0.033,0.050,3115,594,1778
$GC,3434,1.43,327.8,417.0,-1.1,195,3616,0.22,2.35,171.90,0.820,6,0.046,0.031,3170,1986,937
$GC,3937,1.43,327.8,355.6,14.9,208,3942,0.00,2.50,0.00,0.000,4,0.000,0.088,3170,593,932
$GC,4026,1.43,327.8,341.3,16.4,210,4030,0.00,2.40,0.00,0.000,6,0.000,0.032,3170,2000,928
$GC,4350,1.43,327.8,295.2,13.2,218,4355,0.00,2.45,0.00,0.000,4,0.000,0.044,3170,3410,928
$GC,4377,1.43,327.8,291.3,14.6,219,4382,0.00,2.42,0.00,0.000,6,0.000,0.036,3170,2002,928
$GC,4699,1.43,327.8,241.8,15.4,235,4703,0.00,2.42,0.00,0.000,4,0.000,0.038,3171,3410,927
$GC,4731,1.43,327.8,236.7,15.4,236,4738,0.00,2.45,0.00,0.000,6,0.000,0.035,3170,1998,927
$GC,5049,1.43,327.8,189.2,13.9,255,5053,0.00,2.47,0.00,0.000,4,0.000,0.053,3170,594,926
$GC,5081,1.43,327.8,184.2,14.7,257,5087,0.00,2.38,0.00,0.000,6,0.000,0.028,3170,2013,926
$GC,5343,1.43,327.8,149.9,11.8,282,5347,0.00,2.50,0.00,0.000,4,0.000,0.049,3170,590,926
$GC,5427,1.43,327.8,139.1,13.1,289,5431,0.00,2.35,0.00,0.000,6,0.000,0.027,3171,2004,924
$GC,5689,1.43,327.8,112.5,9.8,313,5693,0.00,2.47,0.00,0.000,4,0.000,0.047,3170,587,924
$GC,5818,1.43,327.8,97.1,11.9,324,5822,0.00,2.33,0.00,0.000,6,0.000,0.025,3170,2004,923
$GC,6079,1.48,367.2,75.3,6.3,348,6115,0.00,2.50,31.52,0.585,4,0.000,0.044,3170,591,777
$GC,6157,1.48,367.2,66.5,12.6,355,6161,0.00,2.33,0.00,0.000,6,0.000,0.022,3171,2005,775
$GC,6418,1.48,367.2,33.7,13.8,379,6422,0.00,2.45,0.00,0.000,4,0.000,0.044,3170,591,775
$GC,6462,1.48,367.2,27.0,15.3,384,6469,0.00,2.30,0.00,0.000,6,0.000,0.021,3170,2012,775
$STATE,6597,end climb,SURFACE_DEPTH_REACHED
$STATE,6597,begin surface coast
$FINISH,0.4,1.023706
$STATE,6637,end surface coast,CONTROL_FINISHED_OK
$STATE,6637,begin surface
$SM_CCo,6659,27.65,0.521,0,0,644,400.08
$SM_GC,0.98,0.00,0.00,27.65,0.000,0.000,0.521,433,1915,644,-11.14,-1.05,400.08
$IRIDIUM_FIX,2101.76,-15800.33,020598,040400
$TT8_MAMPS,0.028379
$HUMID,1653
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,21.50
$XPDR_PINGS,13
$24V_AH,23.4,5.773
$10V_AH,10.1,2.456
$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,26.550,81.325,408.800,27.650,0.000,28.165,31.003,186.367,3.250,0.000,0.000,31.890,768.541,4393.533,469.668,1043.679,379.522,33.324,1035.461,0.000,1015.070,0.000,0.539,0.000
$DEVICE_MAMPS,156.468,92.040,824.525,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.235,274.163,404.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22226,415
$CAP_FILE_SIZE,66712,1
$CFSIZE,260165632,257523712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050209,083924,2109.721,-15803.946,64,1.7,64,9.8