version: 66.04
glider: 139
mission: 3
dive: 30
start: 2 6 109 0 3 27
data:
$ID,139
$MISSION,3
$DIVE,30
$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,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,-1281827.9
$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,26
$R_STBD_OVSHOOT,53
$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
$GPS1,235606,2108.613,-15810.177,24,1.7,24,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.2
$GPS2,000237,2108.618,-15810.161,40,1.0,40,9.8
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.235,-0.069
$KALMAN_X,19137.6,-1091.8,-286.2,-38384.1,1500.2
$KALMAN_Y,7182.3,-204.4,116.8,-21356.1,632.4
$MHEAD_RNG_PITCHd_Wd,243.7,83571,-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,14,-1.11,-146.0,0.0,0.0,0,75,0.00,0.00,-58.30,0.000,2,0.000,0.000,428,1930,2239
$GC,78,-1.11,-146.0,3.3,-5.1,10,110,12.20,2.50,-10.10,0.000,4,0.157,0.090,2608,522,2819
$GC,274,-1.11,-146.0,44.7,-17.4,37,278,0.00,2.28,0.00,0.000,6,0.000,0.020,2608,1932,2820
$GC,535,-1.11,-146.0,91.6,-16.7,61,539,0.00,2.45,0.00,0.000,4,0.000,0.043,2608,514,2820
$GC,563,-1.11,-146.0,96.5,-17.1,63,567,0.00,2.28,0.00,0.000,6,0.000,0.020,2608,1935,2820
$GC,825,-1.11,-146.0,133.9,-12.5,87,829,0.00,2.45,0.00,0.000,4,0.000,0.044,2608,512,2821
$GC,864,-1.11,-146.0,139.4,-14.1,90,868,0.00,2.25,0.00,0.000,6,0.000,0.020,2608,1919,2821
$GC,1124,-1.11,-146.0,172.1,-13.1,114,1128,0.00,2.40,0.00,0.000,4,0.000,0.044,2608,521,2821
$GC,1141,-1.11,-146.0,174.6,-14.0,115,1146,0.00,2.25,0.00,0.000,6,0.000,0.021,2608,1933,2822
$GC,1410,-1.11,-146.0,211.6,-13.3,136,1414,0.00,2.45,0.00,0.000,4,0.000,0.046,2608,515,2822
$GC,1432,-1.11,-146.0,214.6,-13.6,137,1436,0.00,2.25,0.00,0.000,6,0.000,0.021,2607,1920,2822
$GC,1759,-1.11,-146.0,253.3,-12.2,153,1763,0.00,2.42,0.00,0.000,4,0.000,0.047,2608,518,2822
$GC,1798,-1.11,-146.0,258.4,-13.0,155,1802,0.00,2.28,0.00,0.000,6,0.000,0.023,2608,1923,2822
$GC,2124,-1.11,-146.0,293.4,-9.6,171,2128,0.00,2.45,0.00,0.000,4,0.000,0.049,2608,515,2822
$GC,2169,-1.11,-146.0,297.8,-9.8,173,2173,0.00,2.30,0.00,0.000,6,0.000,0.025,2608,1920,2822
$GC,2491,-1.11,-146.0,329.9,-10.8,182,2495,0.00,2.45,0.00,0.000,4,0.000,0.050,2608,517,2820
$GC,2541,-1.11,-146.0,335.8,-12.0,183,2545,0.00,2.33,0.00,0.000,6,0.000,0.027,2607,1930,2820
$GC,2859,-1.11,-146.0,371.7,-11.0,191,2863,0.00,2.30,0.00,0.000,4,0.000,0.084,2608,602,2818
$GC,2892,-1.11,-146.0,375.7,-11.9,191,2898,0.00,2.17,0.00,0.000,6,0.000,0.028,2608,1925,2818
$STATE,3140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3140,begin apogee
$GC,3145,-0.31,0.0,403.8,11.2,198,3270,0.82,0.00,121.80,0.819,6,0.069,0.000,2783,1928,2220
$STATE,3271,end apogee,CONTROL_FINISHED_OK
$STATE,3271,begin climb
$GC,3273,1.11,146.0,410.5,0.0,201,3406,1.35,2.42,125.00,0.806,4,0.033,0.083,3097,573,1622
$GC,3663,1.14,166.6,402.6,7.3,210,3687,0.00,2.35,17.25,0.764,6,0.000,0.029,3097,1971,1540
$GC,4030,1.21,228.9,376.8,5.7,219,4086,0.00,0.00,54.78,0.799,6,0.000,0.000,3097,1971,1287
$GC,4395,1.21,228.9,349.8,8.2,228,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1971,1280
$GC,4720,1.23,242.5,324.5,7.5,236,4739,0.12,2.53,11.98,0.723,4,0.052,0.044,3135,3377,1230
$GC,4870,1.23,242.5,310.1,9.8,239,4874,0.00,2.40,0.00,0.000,6,0.000,0.035,3135,1975,1230
$GC,5200,1.23,242.5,277.6,9.1,253,5204,0.00,2.47,0.00,0.000,4,0.000,0.054,3134,561,1228
$GC,5222,1.23,242.5,275.4,9.8,254,5227,0.00,2.38,0.00,0.000,6,0.000,0.030,3134,1978,1226
$GC,5549,1.23,242.5,247.2,8.2,270,5553,0.00,2.38,0.00,0.000,4,0.000,0.042,3134,3376,1226
$GC,5604,1.23,242.5,242.3,8.6,272,5608,0.00,2.38,0.00,0.000,6,0.000,0.032,3135,1973,1226
$GC,5925,1.29,288.0,218.5,6.4,288,5970,0.00,2.45,39.17,0.714,4,0.000,0.035,3135,3372,1046
$GC,5993,1.29,288.0,212.9,9.1,291,5998,0.00,2.40,0.00,0.000,6,0.000,0.032,3135,1972,1045
$GC,6315,1.29,288.0,184.0,8.6,315,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1973,1042
$GC,6570,1.29,288.0,158.8,10.1,339,6575,0.00,2.45,0.00,0.000,4,0.000,0.064,3134,570,1041
$GC,6622,1.29,288.0,153.6,10.3,343,6626,0.00,2.33,0.00,0.000,6,0.000,0.025,3135,1983,1039
$GC,6883,1.29,288.0,131.2,8.2,367,6887,0.00,2.47,0.00,0.000,4,0.000,0.068,3134,564,1039
$GC,6926,1.29,288.0,127.1,9.1,370,6933,0.00,2.35,0.00,0.000,6,0.000,0.024,3135,1979,1039
$GC,7188,1.30,302.1,108.1,7.5,395,7210,0.00,2.28,12.43,0.573,4,0.000,0.066,3135,3324,987
$GC,7260,1.30,302.1,102.0,8.2,401,7266,0.00,2.28,0.00,0.000,6,0.000,0.028,3136,1972,987
$GC,7521,1.34,334.7,83.2,6.8,426,7555,0.00,2.45,28.27,0.578,4,0.000,0.029,3135,3376,855
$GC,7623,1.34,334.7,74.8,9.5,435,7628,0.00,2.35,0.00,0.000,6,0.000,0.028,3135,1973,854
$GC,7884,1.34,334.7,49.2,10.0,459,7888,0.00,2.42,0.00,0.000,4,0.000,0.045,3134,564,853
$GC,7958,1.34,334.7,40.9,11.7,465,7962,0.00,2.28,0.00,0.000,6,0.000,0.021,3135,1980,853
$GC,8227,1.34,334.7,13.3,9.5,504,8234,0.00,2.45,0.00,0.000,4,0.000,0.079,3134,565,852
$GC,8287,1.34,334.7,6.1,12.6,514,8293,0.00,2.28,0.00,0.000,6,0.000,0.021,3135,1976,852
$STATE,8297,end climb,SURFACE_DEPTH_REACHED
$STATE,8297,begin surface coast
$FINISH,0.4,1.023682
$STATE,8361,end surface coast,CONTROL_FINISHED_OK
$STATE,8361,begin surface
$SM_CCo,8382,53.58,0.517,0,0,589,400.08
$SM_GC,0.91,0.00,0.00,53.58,0.000,0.000,0.517,425,1883,589,-11.18,-1.19,400.08
$IRIDIUM_FIX,2059.45,-15801.19,020598,212118
$TT8_MAMPS,0.029146
$HUMID,1604
$INTERNAL_PRESSURE,9.51839
$TCM_TEMP,22.20
$XPDR_PINGS,19
$24V_AH,23.4,6.710
$10V_AH,10.2,2.899
$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,26.200,94.850,410.675,53.575,0.000,28.306,27.960,190.026,4.750,0.000,0.000,41.666,958.826,5670.141,530.113,1262.257,397.369,33.336,1175.505,0.000,1219.209,0.000,0.539,0.000
$DEVICE_MAMPS,157.235,89.739,819.156,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.969,346.282,513.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28543,527
$CAP_FILE_SIZE,78803,3
$CFSIZE,260165632,257208320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060209,022509,2108.300,-15811.478,8,2.3,27,9.8