version: 66.04
glider: 139
mission: 3
dive: 26
start: 2 5 109 14 55 29
data:
$ID,139
$MISSION,3
$DIVE,26
$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,-1281719
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,144207,2109.571,-15806.244,33,1.1,33,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.0
$GPS2,145437,2109.583,-15806.196,12,1.3,12,9.8
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.224,-0.031
$KALMAN_X,14956.2,1029.9,138.9,-29909.9,638.9
$KALMAN_Y,5410.9,-26.0,189.7,-18052.9,173.0
$MHEAD_RNG_PITCHd_Wd,252.3,90540,-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,-121.7,0.0,0.0,0,68,0.00,0.00,-47.20,0.000,6,0.000,0.000,428,1909,1920
$GC,71,-1.18,-121.7,2.4,-2.7,9,108,11.95,2.42,-16.85,0.000,4,0.152,0.054,2593,531,2748
$GC,244,-1.18,-121.7,34.0,-18.8,38,248,0.00,2.25,0.00,0.000,6,0.000,0.020,2594,1924,2749
$GC,504,-1.18,-121.7,88.3,-21.3,62,508,0.00,2.40,0.00,0.000,4,0.000,0.044,2594,533,2749
$GC,537,-1.18,-121.7,94.6,-19.5,64,544,0.00,2.28,0.00,0.000,6,0.000,0.020,2594,1936,2749
$GC,798,-1.18,-121.7,138.2,-14.7,89,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1941,2749
$GC,1053,-1.18,-121.7,173.5,-13.9,113,1057,0.00,2.40,0.00,0.000,4,0.000,0.043,2594,533,2750
$GC,1108,-1.18,-121.7,181.6,-14.5,117,1115,0.00,2.22,0.00,0.000,6,0.000,0.020,2594,1916,2750
$GC,1377,-1.18,-121.7,215.3,-11.8,137,1381,0.00,2.38,0.00,0.000,4,0.000,0.044,2593,532,2750
$GC,1404,-1.18,-121.7,218.7,-12.8,138,1408,0.00,2.25,0.00,0.000,6,0.000,0.021,2594,1936,2750
$GC,1730,-1.18,-121.7,256.6,-11.4,154,1734,0.00,2.40,0.00,0.000,4,0.000,0.046,2593,535,2750
$GC,1746,-1.18,-121.7,258.7,-11.3,154,1753,0.00,2.28,0.00,0.000,6,0.000,0.023,2594,1927,2751
$GC,2062,-1.18,-121.7,294.6,-10.8,170,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1930,2750
$GC,2367,-1.18,-121.7,329.2,-11.5,179,2371,0.00,2.42,0.00,0.000,4,0.000,0.051,2594,536,2749
$GC,2428,-1.18,-121.7,336.7,-11.6,180,2432,0.00,2.28,0.00,0.000,6,0.000,0.027,2594,1901,2748
$GC,2776,-1.18,-121.7,371.6,-9.5,189,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1906,2746
$GC,3101,-1.18,-121.7,398.9,-8.9,197,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1906,2745
$STATE,3139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3139,begin apogee
$GC,3145,-0.31,0.0,402.8,9.3,198,3249,0.90,0.00,100.62,0.828,6,0.069,0.000,2786,1986,2250
$STATE,3250,end apogee,CONTROL_FINISHED_OK
$STATE,3250,begin climb
$GC,3252,1.18,121.7,405.7,0.0,200,3365,1.42,2.53,104.82,0.812,4,0.035,0.050,3118,581,1752
$GC,3617,1.42,320.5,415.8,-0.7,208,3793,0.20,2.35,166.48,0.823,6,0.047,0.031,3167,1971,943
$GC,4123,1.42,320.5,351.3,14.7,221,4128,0.00,2.47,0.00,0.000,4,0.000,0.055,3166,585,936
$GC,4173,1.42,320.5,343.5,15.4,222,4177,0.00,2.35,0.00,0.000,6,0.000,0.032,3166,1967,934
$GC,4492,1.42,320.5,299.4,14.5,230,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1971,933
$GC,4801,1.42,320.5,252.4,15.8,245,4805,0.00,2.45,0.00,0.000,4,0.000,0.043,3166,3386,932
$GC,4834,1.42,320.5,247.1,15.0,246,4841,0.00,2.42,0.00,0.000,6,0.000,0.036,3167,1992,932
$GC,5150,1.42,320.5,194.2,15.8,263,5155,0.00,2.53,0.00,0.000,4,0.000,0.053,3166,563,931
$GC,5196,1.42,320.5,187.4,15.8,267,5200,0.00,2.38,0.00,0.000,6,0.000,0.029,3167,1979,930
$GC,5457,1.42,320.5,152.2,12.7,291,5461,0.00,2.47,0.00,0.000,4,0.000,0.049,3167,564,930
$GC,5484,1.42,320.5,148.6,12.5,293,5490,0.00,2.35,0.00,0.000,6,0.000,0.028,3167,1982,929
$GC,5745,1.42,320.5,121.6,9.9,318,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1987,929
$GC,6000,1.43,327.2,99.8,7.7,342,6010,0.00,0.00,4.70,0.453,6,0.000,0.000,3167,1987,915
$GC,6265,1.43,327.2,76.6,10.6,367,6269,0.00,2.45,0.00,0.000,4,0.000,0.044,3167,565,916
$GC,6342,1.43,327.2,66.7,13.6,373,6349,0.00,2.33,0.00,0.000,6,0.000,0.022,3167,1974,914
$GC,6603,1.43,327.2,39.7,10.6,398,6608,0.00,2.42,0.00,0.000,4,0.000,0.043,3167,566,915
$GC,6621,1.43,327.2,37.7,11.8,399,6625,0.00,2.30,0.00,0.000,6,0.000,0.021,3167,1993,915
$GC,6892,1.43,327.2,11.6,11.9,440,6898,0.00,2.45,0.00,0.000,4,0.000,0.044,3166,561,916
$GC,6916,1.43,327.2,8.4,12.9,444,6922,0.00,2.25,0.00,0.000,6,0.000,0.021,3167,1972,915
$STATE,6937,end climb,SURFACE_DEPTH_REACHED
$STATE,6938,begin surface coast
$FINISH,0.4,1.007363
$STATE,6989,end surface coast,CONTROL_FINISHED_OK
$STATE,6989,begin surface
$SM_CCo,7011,60.55,0.522,0,0,619,400.08
$SM_GC,1.30,0.00,0.00,60.55,0.000,0.000,0.522,425,1900,619,-11.18,-0.68,400.08
$IRIDIUM_FIX,2101.76,-15805.48,020598,141457
$TT8_MAMPS,0.029146
$HUMID,1639
$INTERNAL_PRESSURE,9.51839
$TCM_TEMP,22.30
$XPDR_PINGS,14
$24V_AH,23.4,6.255
$10V_AH,10.2,2.667
$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,26.300,66.625,376.625,60.550,0.000,76.223,87.816,345.764,3.500,0.000,0.000,14.039,815.987,4832.891,482.004,1034.485,652.096,33.335,1034.298,0.000,1023.682,0.000,0.540,0.000
$DEVICE_MAMPS,151.866,72.098,827.593,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,306.566,299.903,463.348,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22290,457
$CAP_FILE_SIZE,70076,0
$CFSIZE,260165632,257376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050209,165437,2109.396,-15807.101,38,1.4,38,9.8