version: 66.04
glider: 139
mission: 3
dive: 52
start: 2 10 109 20 34 8
data:
$ID,139
$MISSION,3
$DIVE,52
$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,-1290802.9
$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,45
$R_STBD_OVSHOOT,53
$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,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.4
$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,-0.140,-0.212
$KALMAN_X,6921.5,-528.2,25.8,-17855.5,-248.1
$KALMAN_Y,1711.9,480.0,-1075.4,3960.1,2017.0
$MHEAD_RNG_PITCHd_Wd,203.7,11392,-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,-52.12,0.000,2,0.000,0.000,429,1862,2230
$GC,73,-1.21,-146.0,3.3,-5.4,9,104,11.68,2.40,-10.02,0.000,4,0.148,0.056,2589,495,2798
$GC,190,-1.21,-146.0,33.3,-19.1,28,194,0.00,2.22,0.00,0.000,6,0.000,0.019,2589,1895,2799
$GC,450,-1.21,-146.0,83.4,-19.1,52,454,0.00,2.28,0.00,0.000,4,0.000,0.028,2589,3285,2799
$GC,480,-1.21,-146.0,88.4,-18.1,54,484,0.00,2.30,0.00,0.000,6,0.000,0.028,2589,1898,2799
$GC,740,-1.21,-146.0,132.9,-16.0,78,745,0.00,2.40,0.00,0.000,4,0.000,0.075,2589,475,2799
$GC,785,-1.21,-146.0,139.9,-15.5,81,791,0.00,2.25,0.00,0.000,6,0.000,0.019,2589,1892,2798
$GC,1045,-1.21,-146.0,175.8,-14.7,106,1049,0.00,2.28,0.00,0.000,4,0.000,0.028,2589,3283,2799
$GC,1067,-1.21,-146.0,179.2,-15.3,107,1073,0.00,2.30,0.00,0.000,6,0.000,0.026,2589,1890,2799
$GC,1326,-1.21,-146.0,213.3,-12.9,127,1330,0.00,2.40,0.00,0.000,4,0.000,0.044,2589,481,2799
$GC,1358,-1.21,-146.0,217.9,-13.6,128,1365,0.00,2.28,0.00,0.000,6,0.000,0.021,2589,1885,2799
$GC,1674,-1.21,-146.0,254.8,-11.8,144,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1889,2799
$GC,1984,-1.21,-146.0,287.9,-10.7,159,1988,0.00,2.42,0.00,0.000,4,0.000,0.083,2589,486,2798
$GC,2000,-1.21,-146.0,289.8,-10.5,160,2004,0.00,2.28,0.00,0.000,6,0.000,0.024,2589,1896,2798
$GC,2343,-1.21,-146.0,328.5,-11.7,171,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1900,2796
$GC,2668,-1.21,-146.0,363.8,-10.7,179,2672,0.00,2.45,0.00,0.000,4,0.000,0.051,2589,490,2794
$GC,2701,-1.21,-146.0,367.3,-10.3,179,2707,0.00,2.28,0.00,0.000,6,0.000,0.027,2589,1878,2794
$STATE,3030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3030,begin apogee
$GC,3036,-0.31,0.0,400.9,10.1,188,3159,0.95,0.00,120.07,0.825,6,0.067,0.000,2794,1988,2200
$STATE,3160,end apogee,CONTROL_FINISHED_OK
$STATE,3160,begin climb
$GC,3163,1.21,146.0,406.3,0.0,191,3294,1.42,2.42,123.97,0.811,4,0.074,0.044,3130,3355,1603
$GC,3505,1.34,247.5,404.7,4.8,199,3597,0.10,2.38,85.50,0.810,6,0.059,0.034,3159,1969,1191
$GC,3909,1.34,247.5,362.7,11.7,209,3913,0.00,2.50,0.00,0.000,4,0.000,0.055,3159,559,1183
$GC,3999,1.34,247.5,351.4,12.4,211,4004,0.00,2.35,0.00,0.000,6,0.000,0.031,3159,1949,1180
$GC,4323,1.34,247.5,317.3,10.5,219,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1954,1179
$GC,4630,1.34,247.5,287.6,9.6,229,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1954,1178
$GC,4938,1.34,247.5,252.4,12.0,244,4943,0.00,2.45,0.00,0.000,4,0.000,0.043,3159,3372,1177
$GC,5010,1.34,247.5,243.9,11.5,247,5014,0.00,2.40,0.00,0.000,6,0.000,0.035,3159,1964,1177
$GC,5332,1.34,247.5,209.5,10.2,263,5336,0.00,2.42,0.00,0.000,4,0.000,0.038,3159,3380,1175
$GC,5473,1.34,247.5,195.8,9.1,271,5478,0.00,2.40,0.00,0.000,6,0.000,0.031,3159,1955,1175
$GC,5735,1.38,279.3,175.5,7.7,295,5764,0.00,0.00,25.25,0.679,6,0.000,0.000,3159,1955,1060
$GC,6019,1.38,279.3,146.6,11.3,322,6023,0.00,2.42,0.00,0.000,4,0.000,0.035,3159,3383,1057
$GC,6276,1.38,279.3,121.1,9.3,344,6283,0.00,2.38,0.00,0.000,6,0.000,0.041,3159,1964,1057
$GC,6538,1.40,299.9,100.3,8.2,369,6561,0.00,2.45,17.90,0.594,4,0.000,0.039,3159,3378,977
$GC,6573,1.41,306.1,97.3,8.8,372,6585,0.00,2.38,6.93,0.505,6,0.000,0.028,3159,1968,951
$GC,6840,1.41,306.1,73.4,9.2,397,6844,0.00,1.83,0.00,0.000,4,0.000,0.049,3159,3094,949
$GC,6991,1.44,332.2,60.1,7.9,410,7020,0.00,1.90,22.80,0.559,6,0.000,0.027,3159,1962,845
$GC,7277,1.44,332.2,34.4,9.7,437,7281,0.00,2.40,0.00,0.000,4,0.000,0.044,3159,557,843
$GC,7351,1.44,332.2,25.9,11.5,446,7357,0.00,2.30,0.00,0.000,6,0.000,0.021,3159,1990,842
$STATE,7543,end climb,SURFACE_DEPTH_REACHED
$STATE,7543,begin surface coast
$FINISH,0.6,0.996885
$STATE,7610,end surface coast,CONTROL_FINISHED_OK
$STATE,7610,begin surface
$SM_CCo,7631,23.12,0.512,0,0,731,360.10
$SM_GC,1.81,0.00,0.00,23.12,0.000,0.000,0.512,430,1862,731,-11.18,-0.79,360.10
$IRIDIUM_FIX,2057.14,-15848.80,070598,171732
$TT8_MAMPS,0.029146
$HUMID,1635
$INTERNAL_PRESSURE,9.55745
$TCM_TEMP,22.60
$XPDR_PINGS,16
$24V_AH,23.5,10.052
$10V_AH,10.2,4.903
$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,25.925,70.200,402.425,23.125,0.000,24.360,25.770,163.096,4.000,0.000,0.000,904.661,878.639,5118.356,464.621,2036.964,365.676,33.342,1062.607,0.000,1144.599,0.000,0.540,0.000
$DEVICE_MAMPS,148.031,82.836,825.292,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.712,260.422,491.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25385,492
$CAP_FILE_SIZE,70610,5
$CFSIZE,260165632,255823872
$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