version: 66.04
glider: 139
mission: 3
dive: 51
start: 2 10 109 17 46 40
data:
$ID,139
$MISSION,3
$DIVE,51
$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,-1288991.9
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,32
$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
$GPS1,145348,2105.755,-15851.822,13,1.4,13,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,145348,2105.755,-15851.822,13,1.4,13,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,SOUTH
$TGT_LATLONG,2105.463,-15858.408
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.245,-0.070
$KALMAN_X,6339.0,210.0,322.3,-15682.4,-452.2
$KALMAN_Y,1009.3,299.9,-1046.3,4582.0,853.5
$MHEAD_RNG_PITCHd_Wd,244.2,11392,-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,-146.0,0.0,0.0,0,69,0.00,0.00,-52.65,0.000,2,0.000,0.000,426,1881,2302
$GC,72,-1.21,-146.0,4.2,-9.0,9,99,11.82,2.45,-8.27,0.000,4,0.145,0.054,2593,485,2799
$GC,216,-1.21,-146.0,41.5,-18.9,29,223,0.00,2.28,0.00,0.000,6,0.000,0.020,2593,1889,2800
$GC,477,-1.21,-146.0,89.5,-17.3,54,481,0.00,2.28,0.00,0.000,4,0.000,0.027,2593,3283,2799
$GC,494,-1.21,-146.0,92.3,-17.5,55,498,0.00,2.30,0.00,0.000,6,0.000,0.026,2593,1890,2799
$GC,755,-1.21,-146.0,139.0,-16.9,79,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1889,2799
$GC,1010,-1.21,-146.0,176.8,-14.8,103,1014,0.00,2.40,0.00,0.000,4,0.000,0.074,2593,480,2799
$GC,1049,-1.21,-146.0,183.0,-15.4,106,1053,0.00,2.28,0.00,0.000,6,0.000,0.020,2593,1903,2800
$GC,1315,-1.21,-146.0,220.2,-14.0,124,1319,0.00,2.10,0.00,0.000,4,0.000,0.050,2593,3210,2799
$GC,1360,-1.21,-146.0,225.8,-12.1,126,1364,0.00,2.17,0.00,0.000,6,0.000,0.028,2593,1889,2799
$GC,1687,-1.21,-146.0,264.9,-12.3,142,1691,0.00,2.40,0.00,0.000,4,0.000,0.047,2593,487,2799
$GC,1714,-1.21,-146.0,268.3,-12.2,143,1718,0.00,2.25,0.00,0.000,6,0.000,0.022,2593,1887,2799
$GC,2040,-1.21,-146.0,305.6,-11.1,158,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1892,2798
$GC,2365,-1.21,-146.0,338.6,-10.0,166,2369,0.00,2.35,0.00,0.000,4,0.000,0.037,2593,3286,2796
$GC,2397,-1.21,-146.0,342.0,-10.0,166,2404,0.00,2.35,0.00,0.000,6,0.000,0.031,2593,1885,2796
$GC,2728,-1.21,-146.0,376.1,-10.3,175,2732,0.00,2.42,0.00,0.000,4,0.000,0.053,2593,481,2794
$GC,2766,-1.21,-146.0,380.3,-11.1,175,2772,0.00,2.30,0.00,0.000,6,0.000,0.028,2593,1881,2794
$STATE,2973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2973,begin apogee
$GC,2979,-0.31,0.0,401.3,10.0,181,3103,0.93,0.00,120.40,0.828,6,0.067,0.000,2792,1989,2200
$STATE,3104,end apogee,CONTROL_FINISHED_OK
$STATE,3104,begin climb
$GC,3106,1.21,146.0,406.1,0.0,184,3237,1.45,2.42,123.70,0.813,4,0.034,0.044,3129,3357,1603
$GC,3492,1.27,187.8,397.6,7.3,192,3532,0.00,2.40,35.45,0.796,6,0.000,0.052,3129,1961,1434
$GC,3859,1.28,203.2,366.8,8.4,201,3878,0.00,2.47,13.82,0.750,4,0.000,0.041,3129,3345,1370
$GC,3996,1.28,203.2,354.1,10.1,204,4001,0.00,2.35,0.00,0.000,6,0.000,0.035,3129,1970,1369
$GC,4321,1.33,238.1,328.7,7.6,212,4356,0.00,2.45,30.65,0.786,4,0.000,0.041,3129,3355,1228
$GC,4396,1.35,256.8,322.9,8.2,212,4420,0.12,2.40,17.62,0.751,6,0.054,0.036,3164,1965,1152
$GC,4730,1.35,256.8,288.9,9.6,223,4734,0.00,2.40,0.00,0.000,4,0.000,0.040,3164,3351,1146
$GC,4836,1.35,256.8,277.0,11.9,228,4840,0.00,2.38,0.00,0.000,6,0.000,0.036,3164,1968,1145
$GC,5163,1.35,256.8,243.2,9.4,244,5167,0.00,2.47,0.00,0.000,4,0.000,0.052,3164,559,1143
$GC,5201,1.35,256.8,239.3,9.8,246,5206,0.00,2.33,0.00,0.000,6,0.000,0.030,3164,1949,1142
$GC,5528,1.35,257.3,206.5,9.0,262,5532,0.00,2.45,0.00,0.000,4,0.000,0.041,3164,3379,1142
$GC,5605,1.35,257.3,199.0,9.6,265,5612,0.00,2.40,0.00,0.000,6,0.000,0.031,3164,1957,1141
$GC,5931,1.35,257.3,168.7,9.6,296,5935,0.00,2.40,0.00,0.000,4,0.000,0.035,3164,3372,1140
$GC,6072,1.35,257.3,154.5,9.3,308,6076,0.00,2.38,0.00,0.000,6,0.000,0.031,3164,1958,1140
$GC,6332,1.35,257.3,130.4,9.8,332,6336,0.00,2.40,0.00,0.000,4,0.000,0.046,3164,564,1140
$GC,6406,1.38,278.3,124.0,8.1,338,6428,0.00,2.30,17.10,0.614,6,0.000,0.024,3164,1984,1064
$GC,6684,1.40,295.5,102.5,8.3,364,6706,0.00,2.50,15.43,0.585,4,0.000,0.044,3164,561,994
$GC,6751,1.40,295.5,95.9,10.6,370,6756,0.00,2.33,0.00,0.000,6,0.000,0.023,3164,1975,993
$GC,7012,1.40,295.5,69.0,9.9,394,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1980,992
$GC,7267,1.40,295.5,44.5,9.4,418,7271,0.00,1.80,0.00,0.000,4,0.000,0.057,3164,3094,992
$GC,7351,1.40,297.0,36.9,8.9,425,7358,0.00,1.90,0.00,0.000,6,0.000,0.027,3164,1962,992
$GC,7622,1.40,297.0,12.5,9.6,467,7628,0.00,2.38,0.00,0.000,4,0.000,0.043,3164,558,992
$GC,7640,1.40,297.0,10.7,9.3,470,7647,0.00,2.28,0.00,0.000,6,0.000,0.020,3164,1983,992
$STATE,7690,end climb,SURFACE_DEPTH_REACHED
$STATE,7690,begin surface coast
$FINISH,0.7,1.022662
$STATE,7770,end surface coast,CONTROL_FINISHED_OK
$STATE,7772,begin surface
$SM_CCo,7793,52.95,0.522,0,0,731,360.10
$SM_GC,1.50,0.00,0.00,52.95,0.000,0.000,0.522,430,1859,731,-11.18,-0.88,360.10
$IRIDIUM_FIX,2057.14,-15853.94,070598,141450
$TT8_MAMPS,0.029146
$HUMID,1618
$INTERNAL_PRESSURE,9.54769
$TCM_TEMP,22.70
$XPDR_PINGS,13
$24V_AH,23.5,9.948
$10V_AH,10.2,4.805
$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,26.075,84.200,374.175,52.950,0.000,82.259,222.466,251.938,3.250,0.000,0.000,904.749,904.555,5339.934,474.562,2087.659,714.776,33.333,1098.702,0.000,1186.599,0.000,0.540,0.000
$DEVICE_MAMPS,144.963,74.399,827.593,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.856,258.183,493.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25418,493
$CAP_FILE_SIZE,78021,4
$CFSIZE,260165632,255856640
$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