version: 66.04
glider: 139
mission: 3
dive: 48
start: 2 10 109 10 9 13
data:
$ID,139
$MISSION,3
$DIVE,48
$D_SURF,6
$D_FLARE,3
$D_TGT,400
$D_ABORT,1050
$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,148
$T_MISSION,150
$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,360
$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,-1287150.1
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2860
$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,1890
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2200
$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,3
$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
$GPS1,144714,2102.360,-15847.614,12,1.5,12,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-71.9
$GPS2,100825,2104.975,-15854.880,568,1.2,568,9.7
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,HOLD
$TGT_LATLONG,2103.360,-15848.614
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.206,-0.150
$KALMAN_X,4718.1,1029.8,-377.0,-21646.3,738.1
$KALMAN_Y,-1557.3,-268.9,1083.9,5880.8,627.0
$MHEAD_RNG_PITCHd_Wd,116.5,11233,-16.6,-9.009
$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,-1.21,-146.0,0.0,0.0,0,51,0.00,0.00,-29.92,0.000,6,0.000,0.000,427,1849,1574
$GC,54,-1.21,-146.0,1.6,-1.9,6,102,11.85,0.00,-33.67,0.000,6,0.144,0.000,2591,1851,2797
$GC,302,-1.21,-146.0,43.6,-19.6,44,306,0.00,2.38,0.00,0.000,4,0.000,0.029,2591,3286,2797
$GC,358,-1.21,-146.0,53.8,-16.9,49,363,0.00,2.30,0.00,0.000,6,0.000,0.064,2591,1912,2797
$GC,620,-1.21,-146.0,102.2,-17.4,73,624,0.00,2.45,0.00,0.000,4,0.000,0.077,2591,485,2798
$GC,641,-1.21,-146.0,106.6,-18.8,74,648,0.00,2.30,0.00,0.000,6,0.000,0.019,2591,1898,2798
$GC,903,-1.21,-146.0,144.7,-13.2,99,907,0.00,2.42,0.00,0.000,4,0.000,0.044,2591,486,2798
$GC,935,-1.21,-146.0,149.6,-14.2,101,942,0.00,2.25,0.00,0.000,6,0.000,0.019,2592,1895,2798
$GC,1198,-1.21,-146.0,186.2,-13.6,126,1202,0.00,2.30,0.00,0.000,4,0.000,0.031,2591,3282,2799
$GC,1287,-1.21,-146.0,197.5,-11.4,133,1293,0.00,2.33,0.00,0.000,6,0.000,0.027,2591,1884,2798
$GC,1541,-1.21,-146.0,227.8,-11.8,147,1545,0.00,2.33,0.00,0.000,4,0.000,0.029,2591,3281,2799
$GC,1580,-1.21,-146.0,232.0,-10.1,149,1584,0.00,2.33,0.00,0.000,6,0.000,0.028,2591,1882,2798
$GC,1907,-1.21,-146.0,264.4,-10.3,165,1911,0.00,2.40,0.00,0.000,4,0.000,0.047,2591,487,2797
$GC,1928,-1.21,-146.0,267.1,-11.5,166,1932,0.00,2.28,0.00,0.000,6,0.000,0.024,2591,1889,2798
$GC,2255,-1.21,-146.0,301.9,-10.5,182,2259,0.00,2.35,0.00,0.000,4,0.000,0.038,2591,3281,2796
$GC,2299,-1.21,-146.0,306.5,-10.2,183,2303,0.00,2.35,0.00,0.000,6,0.000,0.031,2591,1886,2795
$GC,2623,-1.21,-146.0,339.6,-10.4,191,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1886,2794
$GC,2948,-1.21,-146.0,375.0,-10.9,199,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1886,2791
$STATE,3189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3189,begin apogee
$GC,3195,-0.31,0.0,400.5,10.7,205,3320,0.95,0.00,120.90,0.835,6,0.070,0.000,2794,1980,2200
$STATE,3320,end apogee,CONTROL_FINISHED_OK
$STATE,3320,begin climb
$GC,3323,1.21,146.0,406.2,0.0,208,3455,1.45,2.45,124.72,0.821,4,0.035,0.041,3130,3361,1603
$GC,3712,1.31,222.7,401.5,5.9,217,3782,0.00,2.40,64.88,0.817,6,0.000,0.035,3129,1966,1292
$GC,4113,1.31,222.7,363.6,10.4,227,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1966,1284
$GC,4439,1.31,222.7,329.9,10.4,235,4443,0.00,2.42,0.00,0.000,4,0.000,0.042,3129,3358,1282
$GC,4583,1.31,222.7,314.1,9.9,238,4588,0.00,2.40,0.00,0.000,6,0.000,0.036,3129,1953,1281
$GC,4899,1.34,246.3,286.8,8.0,249,4924,0.10,2.50,19.85,0.761,4,0.061,0.042,3158,3357,1195
$GC,4986,1.34,246.3,277.6,10.5,253,4990,0.00,2.40,0.00,0.000,6,0.000,0.036,3158,1968,1194
$GC,5313,1.34,246.3,243.9,9.6,269,5317,0.00,2.40,0.00,0.000,4,0.000,0.041,3158,3355,1191
$GC,5413,1.34,246.3,234.0,9.9,273,5419,0.00,2.38,0.00,0.000,6,0.000,0.035,3158,1969,1191
$GC,5729,1.38,279.7,208.1,7.6,289,5764,0.00,2.47,28.98,0.726,4,0.000,0.038,3158,3352,1058
$GC,5820,1.38,279.7,199.1,10.8,293,5827,0.00,2.38,0.00,0.000,6,0.000,0.034,3158,1969,1057
$GC,6083,1.38,279.7,172.9,10.6,318,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1969,1055
$GC,6337,1.38,279.7,147.0,11.3,342,6341,0.00,2.38,0.00,0.000,4,0.000,0.035,3158,3361,1054
$GC,6560,1.38,279.7,123.3,10.2,361,6566,0.00,2.38,0.00,0.000,6,0.000,0.031,3159,1958,1053
$GC,6821,1.40,298.1,101.2,8.2,386,6841,0.00,0.00,15.77,0.605,6,0.000,0.000,3158,1958,983
$GC,7096,1.40,298.1,76.2,9.5,412,7100,0.00,2.40,0.00,0.000,4,0.000,0.077,3158,564,981
$GC,7136,1.40,298.1,72.1,10.2,415,7140,0.00,2.30,0.00,0.000,6,0.000,0.022,3158,1967,980
$GC,7397,1.43,321.8,50.5,8.0,439,7423,0.00,2.40,20.55,0.559,4,0.000,0.033,3158,3372,888
$GC,7446,1.45,341.6,46.7,8.2,443,7469,0.00,2.38,17.92,0.543,6,0.000,0.027,3158,1952,806
$GC,7729,1.45,341.6,20.1,10.0,478,7735,0.00,2.38,0.00,0.000,4,0.000,0.053,3158,564,804
$GC,7747,1.45,341.6,18.1,11.0,481,7754,0.00,2.30,0.00,0.000,6,0.000,0.021,3159,1987,804
$STATE,7859,end climb,SURFACE_DEPTH_REACHED
$STATE,7859,begin surface coast
$FINISH,0.7,1.011228
$STATE,7927,end surface coast,CONTROL_FINISHED_OK
$STATE,7927,begin surface
$SM_CCo,7949,15.62,0.505,0,0,731,360.10
$SM_GC,1.29,0.00,0.00,15.62,0.000,0.000,0.505,428,1877,731,-11.19,-0.37,360.10
$IRIDIUM_FIX,2054.83,-15850.95,070598,040432
$TT8_MAMPS,0.029146
$HUMID,1603
$INTERNAL_PRESSURE,9.51839
$TCM_TEMP,22.60
$XPDR_PINGS,14
$24V_AH,23.4,9.604
$10V_AH,10.2,4.588
$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,26.150,76.150,413.575,15.625,0.000,25.051,25.825,194.815,3.500,0.000,0.000,570.492,921.018,5311.495,470.219,1775.982,397.501,33.337,1103.737,0.000,1210.205,0.000,0.540,0.000
$DEVICE_MAMPS,144.196,77.467,835.263,505.453,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,344.307,273.293,518.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25379,513
$CAP_FILE_SIZE,74413,3
$CFSIZE,260165632,255983616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100209,122244,2104.860,-15853.494,6,1.9,6,9.7