version: 66.04
glider: 139
mission: 3
dive: 24
start: 2 5 109 10 46 40
data:
$ID,139
$MISSION,3
$DIVE,24
$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,-1281669.4
$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,48
$R_STBD_OVSHOOT,60
$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
$GPS1,103903,2109.592,-15804.726,45,1.7,45,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.1
$GPS2,104549,2109.606,-15804.723,20,1.8,20,9.8
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.221,-0.049
$KALMAN_X,14506.8,325.1,-461.6,-25607.2,1819.4
$KALMAN_Y,4525.7,261.3,5.4,-17227.0,453.1
$MHEAD_RNG_PITCHd_Wd,247.8,93082,-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,14,-1.18,-121.7,0.0,0.0,0,74,0.00,0.00,-57.35,0.000,2,0.000,0.000,431,1888,2262
$GC,77,-1.18,-121.7,3.5,-5.6,10,104,12.05,2.40,-8.35,0.000,4,0.150,0.089,2593,540,2748
$GC,233,-1.18,-121.7,42.6,-22.1,32,240,0.03,2.20,0.00,0.000,6,0.186,0.021,2600,1911,2750
$GC,494,-1.18,-121.7,86.9,-15.5,57,499,0.00,2.38,0.00,0.000,4,0.000,0.044,2600,539,2749
$GC,523,-1.18,-121.7,91.8,-17.5,59,527,0.00,2.25,0.00,0.000,6,0.000,0.020,2600,1945,2750
$GC,785,-1.18,-121.7,126.6,-12.7,83,789,0.00,2.42,0.00,0.000,4,0.000,0.043,2600,538,2750
$GC,828,-1.18,-121.7,133.7,-16.6,86,835,0.00,2.25,0.00,0.000,6,0.000,0.020,2600,1916,2751
$GC,1091,-1.18,-121.7,170.0,-12.9,111,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1922,2752
$GC,1345,-1.18,-121.7,201.3,-13.1,135,1349,0.00,2.38,0.00,0.000,4,0.000,0.044,2599,536,2753
$GC,1366,-1.18,-121.7,204.3,-13.0,136,1370,0.00,2.25,0.00,0.000,6,0.000,0.021,2600,1930,2753
$GC,1693,-1.18,-121.7,238.1,-9.4,152,1697,0.00,2.40,0.00,0.000,4,0.000,0.047,2600,542,2753
$GC,1737,-1.18,-121.7,243.0,-11.5,154,1741,0.00,2.25,0.00,0.000,6,0.000,0.023,2600,1927,2753
$GC,2063,-1.18,-121.7,281.2,-12.4,170,2067,0.00,2.33,0.00,0.000,4,0.000,0.036,2600,3324,2753
$GC,2086,-1.18,-121.7,284.0,-13.0,171,2091,0.00,2.30,0.00,0.000,6,0.000,0.030,2600,1948,2752
$GC,2410,-1.18,-121.7,326.7,-13.0,182,2414,0.00,2.47,0.00,0.000,4,0.000,0.051,2600,522,2751
$GC,2476,-1.18,-121.7,334.9,-11.3,183,2480,0.00,2.30,0.00,0.000,6,0.000,0.026,2600,1923,2751
$GC,2818,-1.18,-121.7,370.3,-10.5,192,2822,0.00,2.38,0.00,0.000,4,0.000,0.041,2600,3320,2750
$GC,2834,-1.18,-121.7,372.1,-10.4,192,2838,0.00,2.35,0.00,0.000,6,0.000,0.032,2600,1925,2749
$STATE,3099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3099,begin apogee
$GC,3104,-0.31,0.0,400.1,10.5,199,3209,0.88,0.00,101.47,0.827,6,0.068,0.000,2787,1925,2250
$STATE,3210,end apogee,CONTROL_FINISHED_OK
$STATE,3210,begin climb
$GC,3212,1.18,121.7,402.8,0.0,201,3324,1.42,2.42,104.15,0.810,4,0.036,0.051,3117,571,1753
$GC,3576,1.47,356.0,414.9,-2.3,209,3790,0.25,2.38,197.27,0.816,6,0.047,0.031,3177,1979,797
$GC,4126,1.47,356.0,343.2,17.3,223,4130,0.00,2.42,0.00,0.000,4,0.000,0.044,3177,3372,792
$GC,4312,1.47,356.0,314.3,16.1,227,4316,0.00,2.40,0.00,0.000,6,0.000,0.070,3177,1975,791
$GC,4633,1.47,356.0,262.1,16.8,240,4637,0.00,2.50,0.00,0.000,4,0.000,0.056,3177,567,790
$GC,4654,1.47,356.0,258.1,18.2,241,4658,0.00,2.38,0.00,0.000,6,0.000,0.031,3177,1971,789
$GC,4981,1.47,356.0,210.0,14.2,257,4985,0.00,2.50,0.00,0.000,4,0.000,0.053,3177,561,788
$GC,5001,1.47,356.0,206.5,16.2,258,5006,0.00,2.38,0.00,0.000,6,0.000,0.029,3177,1979,788
$GC,5329,1.47,356.0,160.6,14.1,286,5333,0.00,2.50,0.00,0.000,4,0.000,0.051,3177,562,787
$GC,5383,1.47,356.0,149.9,17.6,290,5390,0.00,2.38,0.00,0.000,6,0.000,0.027,3177,1975,786
$GC,5645,1.47,356.0,116.7,10.8,315,5649,0.00,2.47,0.00,0.000,4,0.000,0.048,3177,563,786
$GC,5762,1.47,356.0,100.6,13.0,325,5767,0.00,2.33,0.00,0.000,6,0.000,0.025,3177,1980,785
$GC,6023,1.47,356.0,69.3,11.5,349,6027,0.00,2.45,0.00,0.000,4,0.000,0.080,3178,562,786
$GC,6051,1.47,356.0,65.4,13.9,351,6057,0.00,2.30,0.00,0.000,6,0.000,0.023,3177,1987,786
$GC,6312,1.47,356.0,35.6,10.4,376,6316,0.00,2.45,0.00,0.000,4,0.000,0.042,3177,564,786
$GC,6351,1.47,356.0,31.0,13.5,379,6356,0.00,2.30,0.00,0.000,6,0.000,0.022,3177,1972,786
$STATE,6556,end climb,SURFACE_DEPTH_REACHED
$STATE,6556,begin surface coast
$FINISH,0.4,1.001963
$STATE,6608,end surface coast,CONTROL_FINISHED_OK
$STATE,6608,begin surface
$SM_CCo,6630,35.47,0.527,0,0,618,400.08
$SM_GC,1.24,0.00,0.00,35.47,0.000,0.000,0.527,426,1891,618,-11.17,-0.96,400.08
$IRIDIUM_FIX,2101.76,-15805.48,020598,080820
$TT8_MAMPS,0.029146
$HUMID,1650
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,22.10
$XPDR_PINGS,17
$24V_AH,23.4,6.019
$10V_AH,10.1,2.560
$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,26.550,75.925,402.900,35.475,0.000,30.444,28.683,227.620,4.250,0.000,0.000,22.282,788.007,4322.549,467.367,1071.577,417.780,33.327,1038.968,0.000,1047.321,0.000,0.538,0.000
$DEVICE_MAMPS,185.614,88.972,826.826,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.306,276.987,424.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22290,423
$CAP_FILE_SIZE,66494,1
$CFSIZE,260165632,257458176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050209,123906,2109.620,-15805.458,37,1.2,42,9.8