version: 66.04
glider: 139
mission: 3
dive: 23
start: 2 5 109 8 54 12
data:
$ID,139
$MISSION,3
$DIVE,23
$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,-1281646.5
$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,1925
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$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,2250
$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
$GPS1,083924,2109.721,-15803.946,64,1.7,64,9.8
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.4
$GPS2,085320,2109.774,-15803.955,10,1.6,10,9.8
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.214,-0.071
$KALMAN_X,14584.2,-554.4,-378.6,-23558.7,1971.7
$KALMAN_Y,4522.0,190.6,-295.9,-16542.8,692.3
$MHEAD_RNG_PITCHd_Wd,241.9,94429,-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,-121.7,0.0,0.0,0,52,0.00,0.00,-29.45,0.000,6,0.000,0.000,433,1915,1460
$GC,55,-1.18,-121.7,1.4,-1.5,6,86,11.93,2.33,-11.98,0.000,4,0.151,0.049,2594,543,1767
$GC,341,-1.18,-121.7,31.1,-14.8,56,356,0.00,2.25,-10.85,0.000,6,0.000,0.020,2595,1942,2750
$GC,615,-1.18,-121.7,77.9,-20.4,81,619,0.00,2.40,0.00,0.000,4,0.000,0.044,2594,548,2751
$GC,726,-1.18,-121.7,101.4,-18.6,90,733,0.00,2.22,0.00,0.000,6,0.000,0.020,2595,1914,2751
$GC,987,-1.18,-121.7,143.1,-14.3,115,991,0.00,2.35,0.00,0.000,4,0.000,0.044,2595,543,2752
$GC,1078,-1.18,-121.7,154.5,-12.2,123,1082,0.00,2.22,0.00,0.000,6,0.000,0.020,2595,1934,2752
$GC,1340,-1.18,-121.7,185.5,-11.6,147,1344,0.00,2.40,0.00,0.000,4,0.000,0.044,2595,539,2752
$GC,1356,-1.18,-121.7,187.4,-11.0,148,1360,0.00,2.22,0.00,0.000,6,0.000,0.021,2595,1930,2753
$GC,1613,-1.18,-121.7,217.8,-11.4,165,1617,0.00,2.40,0.00,0.000,4,0.000,0.045,2594,540,2753
$GC,1651,-1.18,-121.7,222.5,-11.8,166,1658,0.00,2.25,0.00,0.000,6,0.000,0.022,2595,1915,2753
$GC,1967,-1.18,-121.7,259.2,-11.0,182,1971,0.00,2.38,0.00,0.000,4,0.000,0.048,2595,542,2752
$GC,2050,-1.18,-121.7,269.0,-11.3,185,2056,0.00,2.25,0.00,0.000,6,0.000,0.024,2594,1920,2752
$GC,2385,-1.18,-121.7,307.5,-12.4,201,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1924,2751
$GC,2710,-1.18,-121.7,346.3,-11.3,209,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1924,2749
$GC,3036,-1.18,-121.7,375.3,-8.0,217,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1924,2747
$STATE,3358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3358,begin apogee
$GC,3364,-0.31,0.0,402.5,8.2,225,3468,0.77,0.00,100.95,0.828,6,0.123,0.000,2771,1925,2250
$STATE,3468,end apogee,CONTROL_FINISHED_OK
$STATE,3469,begin climb
$GC,3471,1.18,121.7,404.1,0.0,227,3583,1.50,2.58,104.62,0.811,4,0.045,0.044,3109,3374,1753
$GC,3601,1.51,391.7,409.3,-3.9,230,3838,0.32,2.38,223.32,0.808,6,0.041,0.033,3189,1998,652
$GC,4160,1.51,391.7,333.9,17.4,244,4164,0.00,2.38,0.00,0.000,4,0.000,0.038,3189,3369,647
$GC,4340,1.51,391.7,306.0,16.7,248,4344,0.00,2.42,0.00,0.000,6,0.000,0.038,3189,1972,647
$GC,4661,1.51,391.7,243.0,20.3,262,4665,0.00,2.50,0.00,0.000,4,0.000,0.056,3189,567,645
$GC,4678,1.51,391.7,239.6,20.6,263,4682,0.00,2.38,0.00,0.000,6,0.000,0.031,3189,1976,645
$GC,4996,1.51,391.7,180.3,17.9,283,5001,0.00,2.53,0.00,0.000,4,0.000,0.056,3189,567,644
$GC,5176,1.51,391.7,146.4,18.2,298,5183,0.00,2.35,0.00,0.000,6,0.000,0.028,3189,1983,643
$GC,5438,1.51,391.7,109.6,13.3,323,5442,0.00,2.50,0.00,0.000,4,0.000,0.081,3189,563,642
$GC,5521,1.51,391.7,97.9,13.8,330,5526,0.00,2.35,0.00,0.000,6,0.000,0.025,3189,1986,642
$GC,5783,1.51,391.7,60.7,15.5,354,5787,0.00,2.47,0.00,0.000,4,0.000,0.046,3189,564,642
$GC,5804,1.51,391.7,56.5,18.7,355,5811,0.00,2.35,0.00,0.000,6,0.000,0.023,3188,1987,641
$GC,6071,1.51,391.7,19.2,16.1,386,6077,0.00,2.45,0.00,0.000,4,0.000,0.078,3189,564,642
$GC,6117,1.51,391.7,10.9,17.8,394,6124,0.00,2.28,0.00,0.000,6,0.000,0.022,3189,1985,642
$STATE,6145,end climb,SURFACE_DEPTH_REACHED
$STATE,6145,begin surface coast
$FINISH,1.3,1.023705
$STATE,6180,end surface coast,CONTROL_FINISHED_OK
$STATE,6180,begin surface
$SM_CCo,6201,6.45,0.448,0,0,619,400.08
$SM_GC,1.49,0.00,0.00,6.45,0.000,0.000,0.448,431,1886,619,-11.15,-1.10,400.08
$IRIDIUM_FIX,2101.76,-15805.48,020598,080857
$TT8_MAMPS,0.029146
$HUMID,1692
$INTERNAL_PRESSURE,9.48909
$TCM_TEMP,21.60
$XPDR_PINGS,18
$24V_AH,23.4,5.905
$10V_AH,10.2,2.509
$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,26.425,61.700,428.900,6.450,0.000,90.989,147.564,363.829,4.500,0.000,0.000,11.586,735.950,4158.350,450.008,961.795,735.294,33.328,975.606,0.000,953.986,0.000,0.541,0.000
$DEVICE_MAMPS,151.099,80.535,827.593,447.928,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,271.840,265.882,419.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22223,405
$CAP_FILE_SIZE,65066,2
$CFSIZE,260165632,257499136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050209,103903,2109.592,-15804.726,45,1.7,45,9.8