version: 66.04
glider: 139
mission: 3
dive: 49
start: 2 10 109 12 29 34
data:
$ID,139
$MISSION,3
$DIVE,49
$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,-1287167.1
$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,33
$R_STBD_OVSHOOT,50
$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
$GPS1,122244,2104.860,-15853.494,6,1.9,6,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.8
$GPS2,122843,2104.900,-15853.401,9,1.7,14,9.7
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,HOLD
$TGT_LATLONG,2103.360,-15848.614
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.240,0.085
$KALMAN_X,5410.3,1128.9,-413.3,-19819.9,1101.0
$KALMAN_Y,-1616.3,-353.9,2369.1,4590.9,-1868.7
$MHEAD_RNG_PITCHd_Wd,60.7,8752,-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,14,-1.21,-146.0,0.0,0.0,0,68,0.00,0.00,-51.88,0.000,2,0.000,0.000,428,1876,2216
$GC,71,-1.21,-146.0,3.3,-5.4,9,103,11.90,2.40,-10.15,0.000,4,0.144,0.041,2591,3283,2798
$GC,293,-1.21,-146.0,48.9,-17.0,38,300,0.00,2.35,0.00,0.000,6,0.000,0.030,2591,1901,2799
$GC,554,-1.21,-146.0,96.3,-18.2,63,558,0.00,2.42,0.00,0.000,4,0.000,0.044,2591,487,2800
$GC,615,-1.21,-146.0,107.6,-18.2,68,619,0.00,2.28,0.00,0.000,6,0.000,0.020,2591,1899,2800
$GC,876,-1.21,-146.0,145.2,-14.2,92,879,0.00,2.30,0.00,0.000,4,0.000,0.066,2591,3284,2801
$GC,936,-1.21,-146.0,153.8,-13.1,97,943,0.00,2.33,0.00,0.000,6,0.000,0.028,2591,1892,2801
$GC,1197,-1.21,-146.0,189.3,-12.7,122,1202,0.00,2.42,0.00,0.000,4,0.000,0.045,2591,473,2802
$GC,1270,-1.21,-146.0,198.3,-11.4,128,1275,0.00,2.30,0.00,0.000,6,0.000,0.021,2591,1901,2802
$GC,1535,-1.21,-146.0,229.3,-11.8,141,1539,0.00,2.30,0.00,0.000,4,0.000,0.033,2591,3282,2802
$GC,1562,-1.21,-146.0,232.6,-11.5,142,1566,0.00,2.33,0.00,0.000,6,0.000,0.027,2591,1881,2802
$GC,1889,-1.21,-146.0,269.6,-11.3,158,1893,0.00,2.35,0.00,0.000,4,0.000,0.031,2591,3285,2802
$GC,1912,-1.21,-146.0,272.4,-11.7,159,1916,0.00,2.33,0.00,0.000,6,0.000,0.029,2591,1893,2802
$GC,2237,-1.21,-146.0,309.2,-10.3,173,2241,0.00,2.45,0.00,0.000,4,0.000,0.049,2591,477,2801
$GC,2321,-1.21,-146.0,318.3,-11.1,175,2325,0.00,2.30,0.00,0.000,6,0.000,0.026,2591,1882,2801
$GC,2650,-1.21,-146.0,353.9,-10.6,183,2654,0.00,2.40,0.00,0.000,4,0.000,0.041,2591,3294,2800
$GC,2676,-1.21,-146.0,356.7,-10.3,183,2681,0.00,2.38,0.00,0.000,6,0.000,0.041,2591,1891,2799
$GC,3013,-1.21,-146.0,388.3,-9.3,192,3017,0.00,2.47,0.00,0.000,4,0.000,0.054,2591,476,2796
$GC,3035,-1.21,-146.0,390.7,-10.9,192,3039,0.00,2.35,0.00,0.000,6,0.000,0.030,2591,1892,2796
$STATE,3131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3131,begin apogee
$GC,3137,-0.31,0.0,400.9,10.4,195,3262,0.95,0.00,121.80,0.839,6,0.070,0.000,2794,1987,2200
$STATE,3263,end apogee,CONTROL_FINISHED_OK
$STATE,3263,begin climb
$GC,3266,1.21,146.0,407.1,0.0,198,3399,1.48,2.47,124.85,0.821,4,0.032,0.046,3134,3351,1603
$GC,3601,1.30,213.3,405.2,6.2,206,3665,0.00,2.38,57.38,0.815,6,0.000,0.034,3133,1968,1330
$GC,4003,1.30,213.3,367.3,10.0,216,4007,0.00,2.42,0.00,0.000,4,0.000,0.041,3133,3354,1322
$GC,4188,1.30,213.3,348.9,9.6,220,4192,0.00,2.38,0.00,0.000,6,0.000,0.037,3133,1966,1321
$GC,4507,1.33,237.1,322.4,8.0,228,4532,0.00,2.45,20.35,0.776,4,0.000,0.041,3133,3351,1232
$GC,4577,1.34,247.1,316.6,8.6,229,4592,0.00,2.40,10.12,0.712,6,0.000,0.036,3134,1966,1192
$GC,4913,1.34,247.1,284.5,9.6,241,4917,0.00,2.50,0.00,0.000,4,0.000,0.055,3133,557,1188
$GC,4953,1.34,247.1,280.3,10.8,243,4957,0.00,2.38,0.00,0.000,6,0.000,0.031,3133,1956,1186
$GC,5279,1.34,247.1,248.8,9.7,259,5283,0.00,2.45,0.00,0.000,4,0.000,0.047,3133,3378,1185
$GC,5350,1.34,247.1,242.1,9.5,262,5355,0.00,2.42,0.00,0.000,6,0.000,0.035,3133,1961,1185
$GC,5677,1.38,284.2,213.3,7.5,278,5712,0.12,0.00,31.92,0.729,6,0.054,0.000,3166,1961,1040
$GC,6013,1.38,284.2,179.2,9.5,303,6017,0.00,2.45,0.00,0.000,4,0.000,0.051,3166,561,1035
$GC,6045,1.38,284.2,175.5,11.0,305,6051,0.00,2.38,0.00,0.000,6,0.000,0.028,3166,1979,1034
$GC,6308,1.38,284.2,148.2,10.9,330,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1984,1034
$GC,6561,1.38,284.2,125.6,9.2,354,6565,0.00,2.38,0.00,0.000,4,0.000,0.038,3166,3382,1034
$GC,6634,1.38,284.2,118.5,10.7,360,6638,0.00,2.38,0.00,0.000,6,0.000,0.029,3166,1965,1034
$GC,6896,1.42,309.6,95.5,8.0,384,6922,0.00,2.45,21.38,0.604,4,0.000,0.044,3166,566,937
$GC,6968,1.42,309.6,89.0,9.8,390,6972,0.00,2.33,0.00,0.000,6,0.000,0.023,3166,1978,934
$GC,7229,1.42,309.6,65.4,9.6,414,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1984,934
$GC,7484,1.42,309.6,41.2,9.4,438,7488,0.00,2.45,0.00,0.000,4,0.000,0.075,3166,558,934
$GC,7527,1.42,309.6,36.5,10.9,441,7534,0.00,2.33,0.00,0.000,6,0.000,0.021,3166,1974,934
$GC,7800,1.42,309.6,10.7,9.7,484,7806,0.00,2.42,0.00,0.000,4,0.000,0.042,3166,556,934
$GC,7846,1.42,309.6,6.1,9.9,492,7852,0.00,2.28,0.00,0.000,6,0.000,0.021,3167,1974,934
$STATE,7856,end climb,SURFACE_DEPTH_REACHED
$STATE,7857,begin surface coast
$FINISH,0.6,0.999786
$STATE,7925,end surface coast,CONTROL_FINISHED_OK
$STATE,7925,begin surface
$SM_CCo,7947,41.35,0.525,0,0,732,360.10
$SM_GC,1.15,0.00,0.00,41.35,0.000,0.000,0.525,429,1864,732,-11.18,-0.71,360.10
$IRIDIUM_FIX,2054.83,-15856.09,070598,101038
$TT8_MAMPS,0.029146
$HUMID,1610
$INTERNAL_PRESSURE,9.53792
$TCM_TEMP,22.70
$XPDR_PINGS,10
$24V_AH,23.5,9.712
$10V_AH,10.2,4.645
$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,26.225,90.775,387.800,41.350,0.000,24.366,33.999,182.343,2.500,0.000,0.000,16.331,929.932,5298.831,491.759,1224.565,396.680,33.349,1122.819,0.000,1210.147,0.000,0.539,0.000
$DEVICE_MAMPS,144.196,75.166,839.098,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.278,266.012,505.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25378,506
$CAP_FILE_SIZE,75779,2
$CFSIZE,260165632,255942656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100209,144401,2105.750,-15851.974,40,1.3,40,9.7