version: 66.04
glider: 139
mission: 3
dive: 50
start: 2 10 109 14 54 38
data:
$ID,139
$MISSION,3
$DIVE,50
$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,-1287182.2
$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,46
$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
$GPS1,144401,2105.750,-15851.974,40,1.3,40,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.4
$GPS2,145348,2105.755,-15851.822,13,1.4,13,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,HOLD
$TGT_LATLONG,2103.360,-15848.614
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.230,-0.109
$KALMAN_X,5756.5,815.6,195.9,-17727.0,103.2
$KALMAN_Y,306.7,188.3,513.8,5545.6,-745.8
$MHEAD_RNG_PITCHd_Wd,105.4,7101,-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,13,begin dive
$GC,15,-1.21,-146.0,0.0,0.0,0,69,0.00,0.00,-51.85,0.000,2,0.000,0.000,428,1865,2229
$GC,72,-1.21,-146.0,3.2,-5.2,9,104,11.85,2.40,-9.98,0.000,4,0.150,0.055,2590,502,2799
$GC,161,-1.21,-146.0,28.8,-21.2,24,167,0.00,2.25,0.00,0.000,6,0.000,0.020,2590,1906,2799
$GC,358,-1.21,-146.0,68.4,-19.6,43,362,0.00,2.42,0.00,0.000,4,0.000,0.044,2590,507,2800
$GC,376,-1.21,-146.0,71.7,-20.0,44,380,0.00,2.22,0.00,0.000,6,0.000,0.019,2590,1904,2799
$GC,638,-1.21,-146.0,117.7,-17.2,68,642,0.00,2.42,0.00,0.000,4,0.000,0.045,2590,502,2800
$GC,667,-1.21,-146.0,122.7,-17.8,70,671,0.00,2.20,0.00,0.000,6,0.000,0.019,2590,1885,2800
$GC,927,-1.21,-146.0,160.4,-14.2,94,931,0.00,2.30,0.00,0.000,4,0.000,0.031,2590,3278,2801
$GC,990,-1.21,-146.0,168.5,-11.9,99,994,0.00,2.28,0.00,0.000,6,0.000,0.028,2590,1907,2801
$GC,1250,-1.21,-146.0,203.4,-13.3,122,1254,0.00,2.45,0.00,0.000,4,0.000,0.079,2590,478,2801
$GC,1299,-1.21,-146.0,210.3,-12.6,124,1303,0.00,2.30,0.00,0.000,6,0.000,0.021,2590,1886,2802
$GC,1620,-1.21,-146.0,249.5,-11.9,140,1624,0.00,2.33,0.00,0.000,4,0.000,0.033,2590,3283,2801
$GC,1637,-1.21,-146.0,251.5,-12.0,141,1642,0.00,2.33,0.00,0.000,6,0.000,0.028,2590,1885,2802
$GC,1964,-1.21,-146.0,292.2,-12.2,157,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1885,2801
$GC,2290,-1.21,-146.0,328.3,-11.1,167,2294,0.00,2.42,0.00,0.000,4,0.000,0.051,2590,488,2800
$GC,2334,-1.21,-146.0,333.7,-12.9,168,2338,0.00,2.28,0.00,0.000,6,0.000,0.025,2590,1882,2800
$GC,2658,-1.21,-146.0,369.6,-10.7,176,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1886,2798
$STATE,2980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2980,begin apogee
$GC,2987,-0.31,0.0,400.3,9.3,184,3111,0.95,0.00,121.45,0.829,6,0.070,0.000,2793,1991,2200
$STATE,3112,end apogee,CONTROL_FINISHED_OK
$STATE,3112,begin climb
$GC,3115,1.21,146.0,406.4,0.0,187,3247,1.42,2.58,124.82,0.817,4,0.033,0.080,3127,564,1603
$GC,3455,1.33,240.3,405.8,5.1,195,3541,0.10,2.35,79.40,0.816,6,0.057,0.031,3155,1952,1220
$GC,3865,1.33,240.3,360.9,11.7,205,3869,0.00,2.47,0.00,0.000,4,0.000,0.047,3155,3372,1213
$GC,3931,1.33,240.3,353.2,10.6,206,3935,0.00,2.42,0.00,0.000,6,0.000,0.035,3155,1968,1213
$GC,4279,1.33,240.3,318.4,10.0,215,4283,0.00,2.50,0.00,0.000,4,0.000,0.054,3155,558,1210
$GC,4322,1.33,240.3,313.5,11.5,216,4326,0.00,2.40,0.00,0.000,6,0.000,0.031,3155,1973,1208
$GC,4649,1.33,240.3,280.1,9.7,228,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1978,1208
$GC,4958,1.33,240.3,247.8,10.8,243,4963,0.00,2.42,0.00,0.000,4,0.000,0.044,3155,3378,1207
$GC,5092,1.33,240.3,232.8,10.8,249,5096,0.00,2.40,0.00,0.000,6,0.000,0.034,3155,1967,1207
$GC,5420,1.37,270.2,207.0,7.8,265,5449,0.00,2.47,24.35,0.708,4,0.000,0.037,3155,3379,1098
$GC,5541,1.37,270.2,194.8,11.0,272,5545,0.00,2.40,0.00,0.000,6,0.000,0.032,3155,1969,1097
$GC,5802,1.39,288.0,170.4,8.3,296,5824,0.00,2.50,16.23,0.660,4,0.000,0.048,3155,556,1023
$GC,5852,1.39,288.0,165.8,9.7,300,5859,0.00,2.42,0.00,0.000,6,0.000,0.027,3155,1984,1021
$GC,6114,1.39,288.0,141.7,9.7,325,6118,0.00,2.35,0.00,0.000,4,0.000,0.038,3155,3371,1021
$GC,6254,1.39,288.0,127.9,9.6,337,6259,0.00,2.38,0.00,0.000,6,0.000,0.030,3155,1959,1021
$GC,6516,1.43,318.6,107.2,7.7,361,6548,0.00,2.45,26.08,0.611,4,0.000,0.045,3155,565,900
$GC,6639,1.43,318.6,94.7,12.0,372,6643,0.00,2.33,0.00,0.000,6,0.000,0.023,3155,1978,897
$GC,6900,1.45,340.7,70.8,8.1,396,6921,0.00,0.00,19.15,0.564,6,0.000,0.000,3155,1983,810
$GC,7175,1.45,340.7,44.9,9.9,422,7179,0.00,2.45,0.00,0.000,4,0.000,0.043,3155,561,810
$GC,7220,1.45,340.7,39.9,11.3,426,7224,0.00,2.30,0.00,0.000,6,0.000,0.021,3155,1979,808
$GC,7490,1.45,340.7,12.4,10.7,465,7496,0.00,2.42,0.00,0.000,4,0.000,0.041,3154,557,809
$GC,7542,1.45,340.7,6.7,11.3,474,7548,0.00,2.28,0.00,0.000,6,0.000,0.021,3155,1975,809
$STATE,7552,end climb,SURFACE_DEPTH_REACHED
$STATE,7552,begin surface coast
$FINISH,0.7,1.023454
$STATE,7615,end surface coast,CONTROL_FINISHED_OK
$STATE,7615,begin surface
$SM_CCo,7637,16.75,0.505,0,0,732,360.10
$SM_GC,1.01,0.00,0.00,16.75,0.000,0.000,0.505,427,1881,732,-11.19,-0.25,360.10
$IRIDIUM_FIX,2059.45,-15853.11,070598,141431
$TT8_MAMPS,0.029146
$HUMID,1629
$INTERNAL_PRESSURE,9.53792
$TCM_TEMP,22.50
$XPDR_PINGS,12
$24V_AH,23.5,9.828
$10V_AH,10.2,4.702
$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,26.050,81.175,411.475,16.750,0.000,53.741,56.583,295.892,3.000,0.000,0.000,14.537,885.425,5167.559,473.882,1151.272,556.546,33.342,1074.969,0.000,1138.474,0.000,0.540,0.000
$DEVICE_MAMPS,149.565,79.768,829.127,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.748,253.796,485.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25413,487
$CAP_FILE_SIZE,75099,2
$CFSIZE,260165632,255901696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100209,145348,2105.755,-15851.822,13,1.4,13,9.8