version: 66.04
glider: 139
mission: 3
dive: 25
start: 2 5 109 12 46 51
data:
$ID,139
$MISSION,3
$DIVE,25
$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,-1281704.4
$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,51
$R_STBD_OVSHOOT,40
$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
$GPS1,123906,2109.620,-15805.458,37,1.2,42,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.8
$GPS2,124601,2109.621,-15805.437,32,1.3,32,9.8
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.223,-0.034
$KALMAN_X,14562.7,908.9,-217.5,-27725.1,1349.6
$KALMAN_Y,4917.5,144.0,246.5,-17716.6,262.3
$MHEAD_RNG_PITCHd_Wd,251.6,91855,-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,13,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,75,0.00,0.00,-57.72,0.000,2,0.000,0.000,426,1891,2261
$GC,78,-1.18,-121.7,3.3,-5.7,10,105,12.10,2.40,-8.45,0.000,4,0.156,0.090,2594,545,2749
$GC,267,-1.18,-121.7,49.6,-23.3,35,274,0.00,2.28,0.00,0.000,6,0.000,0.020,2594,1934,2750
$GC,528,-1.18,-121.7,96.5,-16.6,60,532,0.00,2.40,0.00,0.000,4,0.000,0.045,2594,545,2750
$GC,550,-1.18,-121.7,100.7,-18.9,61,556,0.00,2.22,0.00,0.000,6,0.000,0.021,2594,1945,2751
$GC,811,-1.18,-121.7,139.0,-14.4,86,815,0.00,2.42,0.00,0.000,4,0.000,0.044,2594,536,2751
$GC,831,-1.18,-121.7,142.3,-14.8,87,838,0.00,2.20,0.00,0.000,6,0.000,0.020,2594,1916,2751
$GC,1093,-1.18,-121.7,180.9,-14.1,112,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1920,2752
$GC,1345,-1.18,-121.7,213.2,-11.6,131,1349,0.00,2.38,0.00,0.000,4,0.000,0.044,2593,536,2753
$GC,1372,-1.18,-121.7,216.5,-12.0,132,1376,0.00,2.22,0.00,0.000,6,0.000,0.021,2594,1919,2753
$GC,1693,-1.18,-121.7,251.7,-12.2,148,1697,0.00,2.38,0.00,0.000,4,0.000,0.044,2593,539,2753
$GC,1709,-1.18,-121.7,253.6,-12.1,149,1713,0.00,2.22,0.00,0.000,6,0.000,0.023,2594,1925,2753
$GC,2036,-1.18,-121.7,291.7,-11.1,165,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1928,2753
$GC,2362,-1.18,-121.7,334.5,-13.5,175,2366,0.00,2.40,0.00,0.000,4,0.000,0.049,2593,546,2751
$GC,2422,-1.18,-121.7,342.9,-13.2,176,2426,0.00,2.28,0.00,0.000,6,0.000,0.026,2594,1913,2751
$GC,2770,-1.18,-121.7,384.7,-11.9,185,2774,0.00,2.38,0.00,0.000,4,0.000,0.040,2594,3324,2749
$GC,2796,-1.18,-121.7,387.5,-10.1,185,2801,0.00,2.33,0.00,0.000,6,0.000,0.034,2594,1948,2749
$STATE,2933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2934,begin apogee
$GC,2939,-0.31,0.0,400.4,9.4,189,3043,0.90,0.00,101.32,0.818,6,0.069,0.000,2786,1948,2250
$STATE,3044,end apogee,CONTROL_FINISHED_OK
$STATE,3044,begin climb
$GC,3047,1.18,121.7,402.7,0.0,191,3158,1.40,2.47,104.20,0.805,4,0.036,0.051,3110,569,1752
$GC,3411,1.43,322.3,411.4,-0.8,199,3589,0.25,2.38,167.23,0.818,6,0.044,0.031,3171,1975,936
$GC,3920,1.43,322.3,343.4,15.6,212,3924,0.00,2.53,0.00,0.000,4,0.000,0.056,3171,567,930
$GC,4049,1.43,322.3,323.8,14.8,215,4053,0.00,2.38,0.00,0.000,6,0.000,0.032,3171,1969,927
$GC,4380,1.43,322.3,281.6,13.1,226,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1973,926
$GC,4689,1.43,322.3,238.9,13.7,241,4693,0.00,2.50,0.00,0.000,4,0.000,0.052,3171,561,925
$GC,4715,1.43,322.3,234.8,14.5,242,4720,0.00,2.40,0.00,0.000,6,0.000,0.030,3171,1988,924
$GC,5039,1.43,322.3,195.0,11.2,260,5043,0.00,2.38,0.00,0.000,4,0.000,0.040,3171,3382,924
$GC,5079,1.43,322.3,190.4,11.9,263,5083,0.00,2.40,0.00,0.000,6,0.000,0.033,3171,1967,924
$GC,5340,1.43,322.3,155.8,10.2,287,5344,0.00,2.42,0.00,0.000,4,0.000,0.051,3172,568,923
$GC,5363,1.43,322.3,153.6,9.9,289,5367,0.00,2.35,0.00,0.000,6,0.000,0.027,3171,1985,922
$GC,5624,1.43,322.3,124.8,9.2,313,5628,0.00,2.35,0.00,0.000,4,0.000,0.036,3171,3379,922
$GC,5832,1.46,352.3,111.6,6.7,331,5865,0.00,2.35,24.27,0.612,6,0.000,0.028,3171,1971,812
$GC,6119,1.46,352.3,85.8,12.8,358,6122,0.00,2.03,0.00,0.000,4,0.000,0.081,3171,767,810
$GC,6198,1.46,352.3,75.7,13.3,365,6202,0.00,2.00,0.00,0.000,6,0.000,0.022,3171,2006,809
$GC,6464,1.46,352.3,42.0,13.7,390,6468,0.00,2.50,0.00,0.000,4,0.000,0.078,3171,562,809
$GC,6496,1.46,352.3,37.5,13.0,392,6503,0.00,2.33,0.00,0.000,6,0.000,0.021,3171,1975,809
$STATE,6739,end climb,SURFACE_DEPTH_REACHED
$STATE,6739,begin surface coast
$FINISH,0.5,1.023710
$STATE,6784,end surface coast,CONTROL_FINISHED_OK
$STATE,6784,begin surface
$SM_CCo,6805,39.58,0.522,0,0,618,400.08
$SM_GC,1.15,0.00,0.00,39.58,0.000,0.000,0.522,429,1907,618,-11.16,-0.51,400.08
$IRIDIUM_FIX,2101.76,-15803.33,020598,101034
$TT8_MAMPS,0.029146
$HUMID,1614
$INTERNAL_PRESSURE,9.51839
$TCM_TEMP,22.40
$XPDR_PINGS,12
$24V_AH,23.4,6.131
$10V_AH,10.2,2.612
$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,26.400,70.325,397.025,39.575,0.000,27.323,43.343,212.193,3.000,0.000,0.000,34.338,803.706,4475.148,465.358,1088.246,422.097,33.338,1036.296,0.000,1060.188,0.000,0.539,0.000
$DEVICE_MAMPS,155.701,89.739,817.622,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,293.969,291.564,433.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22204,438
$CAP_FILE_SIZE,65814,1
$CFSIZE,260165632,257421312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050209,144207,2109.571,-15806.244,33,1.1,33,9.8