version: 66.04
glider: 139
mission: 3
dive: 28
start: 2 5 109 19 5 7
data:
$ID,139
$MISSION,3
$DIVE,28
$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,150
$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,320
$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,-1281752.8
$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,24
$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,2220
$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
$GPS1,185825,2109.318,-15808.030,11,1.2,28,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.1
$GPS2,190416,2109.365,-15808.033,15,1.4,15,9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.210,-0.126
$KALMAN_X,17412.2,-65.0,31.3,-34336.8,956.0
$KALMAN_Y,6637.6,-312.4,-283.8,-18923.0,1163.4
$MHEAD_RNG_PITCHd_Wd,229.2,87344,-14.9,-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,-1.11,-146.0,0.0,0.0,0,75,0.00,0.00,-57.85,0.000,2,0.000,0.000,431,1942,2264
$GC,78,-1.11,-146.0,3.2,-5.0,10,110,12.05,2.50,-9.80,0.000,4,0.154,0.052,2607,519,2819
$GC,251,-1.11,-146.0,40.1,-16.1,35,255,0.00,2.28,0.00,0.000,6,0.000,0.054,2607,1927,2820
$GC,517,-1.11,-146.0,86.3,-18.7,60,521,0.00,2.45,0.00,0.000,4,0.000,0.045,2607,513,2820
$GC,556,-1.11,-146.0,93.8,-19.4,63,560,0.00,2.28,0.00,0.000,6,0.000,0.020,2607,1932,2820
$GC,822,-1.11,-146.0,134.6,-14.5,88,826,0.00,2.45,0.00,0.000,4,0.000,0.044,2606,515,2821
$GC,867,-1.11,-146.0,141.5,-14.7,91,873,0.00,2.25,0.00,0.000,6,0.000,0.020,2607,1922,2821
$GC,1127,-1.11,-146.0,176.5,-11.5,116,1132,0.00,2.42,0.00,0.000,4,0.000,0.067,2606,514,2821
$GC,1178,-1.11,-146.0,182.8,-11.9,120,1182,0.00,2.28,0.00,0.000,6,0.000,0.021,2606,1926,2821
$GC,1436,-1.11,-146.0,212.8,-12.0,139,1440,0.00,2.42,0.00,0.000,4,0.000,0.045,2606,514,2822
$GC,1481,-1.11,-146.0,218.6,-13.7,141,1485,0.00,2.28,0.00,0.000,6,0.000,0.021,2606,1929,2822
$GC,1807,-1.11,-146.0,259.8,-12.3,157,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1932,2822
$GC,2116,-1.11,-146.0,294.3,-10.5,172,2120,0.00,2.45,0.00,0.000,4,0.000,0.054,2607,521,2822
$GC,2160,-1.11,-146.0,299.1,-10.3,174,2164,0.00,2.28,0.00,0.000,6,0.000,0.025,2606,1919,2821
$GC,2502,-1.11,-146.0,334.2,-10.6,183,2507,0.00,2.45,0.00,0.000,4,0.000,0.051,2606,517,2820
$GC,2524,-1.11,-146.0,336.3,-9.5,183,2528,0.00,2.33,0.00,0.000,6,0.000,0.028,2606,1929,2820
$GC,2867,-1.11,-146.0,364.2,-7.7,192,2871,0.00,2.47,0.00,0.000,4,0.000,0.052,2606,518,2818
$GC,2939,-1.11,-146.0,370.0,-8.1,193,2943,0.00,2.33,0.00,0.000,6,0.000,0.029,2606,1924,2817
$GC,3275,-1.11,-146.0,398.1,-8.8,202,3279,0.00,2.47,0.00,0.000,4,0.000,0.054,2606,520,2815
$STATE,3295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3295,begin apogee
$GC,3303,-0.31,0.0,400.3,9.9,202,3428,0.80,0.00,121.93,0.832,6,0.068,0.000,2781,1975,2220
$STATE,3429,end apogee,CONTROL_FINISHED_OK
$STATE,3429,begin climb
$GC,3431,1.11,146.0,404.4,0.0,205,3564,1.35,2.55,124.78,0.815,4,0.031,0.051,3097,566,1623
$GC,3821,1.21,230.0,400.9,4.9,214,3898,0.10,2.40,70.93,0.815,6,0.058,0.032,3128,1978,1282
$GC,4223,1.21,230.0,365.7,9.4,223,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1978,1274
$GC,4547,1.22,232.8,338.4,7.9,231,4551,0.00,2.50,0.00,0.000,4,0.000,0.054,3127,571,1272
$GC,4618,1.22,232.8,332.5,8.3,232,4623,0.00,2.38,0.00,0.000,6,0.000,0.032,3127,1971,1270
$GC,4956,1.22,236.6,307.3,7.9,241,4966,0.00,2.42,5.25,0.601,4,0.000,0.044,3128,3378,1254
$GC,4999,1.22,236.6,302.9,9.6,242,5003,0.00,2.40,0.00,0.000,6,0.000,0.035,3128,1977,1254
$GC,5328,1.22,236.6,265.4,12.1,257,5332,0.00,2.42,0.00,0.000,4,0.000,0.040,3128,3385,1253
$GC,5349,1.22,236.6,262.7,12.0,258,5353,0.00,2.42,0.00,0.000,6,0.000,0.034,3127,1965,1253
$GC,5676,1.22,236.6,229.9,8.4,274,5680,0.00,2.42,0.00,0.000,4,0.000,0.039,3128,3379,1252
$GC,5725,1.22,237.6,226.0,8.0,276,5729,0.00,2.40,0.00,0.000,6,0.000,0.033,3127,1963,1252
$GC,6046,1.29,289.1,206.3,6.1,292,6096,0.00,0.00,45.60,0.722,6,0.000,0.000,3128,1963,1040
$GC,6417,1.29,289.1,171.1,9.4,323,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1963,1036
$GC,6672,1.29,289.1,147.6,8.7,347,6677,0.00,2.45,0.00,0.000,4,0.000,0.050,3127,563,1035
$GC,6734,1.29,289.1,141.1,10.6,352,6738,0.00,2.35,0.00,0.000,6,0.000,0.026,3128,1988,1033
$GC,7000,1.29,289.1,117.7,8.6,377,7004,0.00,2.50,0.00,0.000,4,0.000,0.048,3128,561,1033
$GC,7077,1.29,289.1,110.0,9.3,383,7084,0.00,2.33,0.00,0.000,6,0.000,0.024,3128,1979,1032
$GC,7338,1.33,324.8,91.5,6.7,408,7374,0.00,2.53,29.75,0.601,4,0.000,0.044,3127,573,894
$GC,7517,1.33,324.8,76.3,9.1,424,7522,0.00,2.30,0.00,0.000,6,0.000,0.022,3127,1983,891
$GC,7778,1.34,333.0,55.2,7.7,448,7791,0.00,2.55,7.85,0.492,4,0.000,0.045,3127,561,861
$GC,7819,1.34,333.0,51.8,8.9,451,7825,0.00,2.35,0.00,0.000,6,0.000,0.021,3128,1979,860
$GC,8083,1.34,333.0,26.4,9.9,479,8090,0.00,2.42,0.00,0.000,4,0.000,0.069,3127,568,860
$GC,8124,1.34,333.0,21.8,11.1,486,8131,0.00,2.28,0.00,0.000,6,0.000,0.021,3128,1984,860
$STATE,8292,end climb,SURFACE_DEPTH_REACHED
$STATE,8294,begin surface coast
$FINISH,0.3,1.023766
$STATE,8355,end surface coast,CONTROL_FINISHED_OK
$STATE,8355,begin surface
$SM_CCo,8436,0.00,0.000,0,0,858,334.10
$SM_GC,1.45,11.62,0.00,0.00,0.028,0.000,0.000,424,1896,858,-11.10,-0.82,334.10
$IRIDIUM_FIX,2101.76,-15805.48,020598,171711
$TT8_MAMPS,0.029146
$HUMID,1611
$INTERNAL_PRESSURE,9.52815
$TCM_TEMP,22.40
$XPDR_PINGS,17
$24V_AH,23.4,6.469
$10V_AH,10.2,2.777
$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,25.925,91.325,406.075,0.000,0.000,28.961,30.923,176.698,4.250,0.000,0.000,16.539,951.810,5743.148,447.777,1246.802,389.479,33.333,1099.742,0.000,1228.249,0.000,0.539,0.000
$DEVICE_MAMPS,154.167,69.030,832.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.378,348.041,522.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28502,527
$CAP_FILE_SIZE,76621,4
$CFSIZE,260165632,257294336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050209,212736,2108.976,-15809.065,72,1.2,78,9.8