version: 66.04
glider: 139
mission: 3
dive: 53
start: 2 10 109 23 8 46
data:
$ID,139
$MISSION,3
$DIVE,53
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,60
$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,400
$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,20
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1292032.4
$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,49
$R_STBD_OVSHOOT,48
$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,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.3
$GPS2,230830,2103.414,-15851.168,320,1.5,321,9.7
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,HEADING
$TGT_LATLONG,2108.814,-15841.141
$TGT_RADIUS,1852.000
$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,50.3,20000,-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,-51.83,0.000,2,0.000,0.000,430,1863,2220
$GC,71,-1.21,-146.0,3.0,-4.8,9,97,11.80,2.35,-6.15,0.000,4,0.145,0.040,2592,3293,2557
$GC,142,-1.21,-146.0,21.9,-16.2,21,150,0.00,2.30,-3.20,0.000,6,0.000,0.028,2592,1900,2799
$GC,345,-1.21,-146.0,57.6,-17.2,44,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1900,2801
$GC,599,-1.21,-146.0,101.5,-15.6,68,603,0.00,2.42,0.00,0.000,4,0.000,0.046,2592,478,2800
$GC,662,-1.21,-146.0,110.6,-13.6,73,666,0.00,2.25,0.00,0.000,6,0.000,0.019,2592,1897,2801
$GC,923,-1.21,-146.0,145.0,-13.8,97,927,0.00,2.28,0.00,0.000,4,0.000,0.030,2592,3285,2801
$GC,1056,-1.21,-146.0,163.3,-12.3,108,1063,0.00,2.33,0.00,0.000,6,0.000,0.027,2592,1893,2801
$GC,1317,-1.21,-146.0,197.4,-11.5,133,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1893,2801
$GC,1576,-1.21,-146.0,227.2,-12.0,147,1580,0.00,2.40,0.00,0.000,4,0.000,0.047,2592,487,2801
$GC,1648,-1.21,-146.0,236.3,-12.4,150,1652,0.00,2.25,0.00,0.000,6,0.000,0.021,2592,1888,2801
$GC,1969,-1.21,-146.0,271.7,-11.2,166,1973,0.00,2.42,0.00,0.000,4,0.000,0.081,2592,484,2801
$GC,2032,-1.21,-146.0,279.1,-11.6,169,2036,0.00,2.28,0.00,0.000,6,0.000,0.024,2592,1895,2800
$GC,2355,-1.21,-146.0,313.2,-9.8,182,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1899,2799
$GC,2680,-1.21,-146.0,347.3,-10.6,190,2685,0.00,2.45,0.00,0.000,4,0.000,0.051,2592,486,2796
$GC,2702,-1.21,-146.0,349.8,-11.3,190,2706,0.00,2.28,0.00,0.000,6,0.000,0.027,2592,1888,2796
$GC,3044,-1.21,-146.0,384.9,-9.9,199,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1893,2794
$STATE,3245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3245,begin apogee
$GC,3251,-0.31,0.0,403.6,9.1,204,3375,0.93,0.00,120.80,0.830,6,0.068,0.000,2792,1986,2200
$STATE,3376,end apogee,CONTROL_FINISHED_OK
$STATE,3376,begin climb
$GC,3378,1.21,146.0,408.1,0.0,207,3510,1.45,2.40,124.30,0.813,4,0.040,0.044,3130,3346,1603
$GC,3731,1.33,243.8,403.8,5.0,215,3821,0.00,2.35,82.65,0.811,6,0.000,0.034,3129,1973,1205
$GC,4130,1.33,243.8,367.8,10.1,225,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1973,1198
$GC,4454,1.33,243.8,334.7,10.3,233,4458,0.00,2.40,0.00,0.000,4,0.000,0.041,3130,3356,1196
$GC,4509,1.33,243.8,328.4,11.1,234,4513,0.00,2.38,0.00,0.000,6,0.000,0.036,3130,1971,1196
$GC,4824,1.33,243.8,295.2,10.7,243,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1971,1194
$GC,5132,1.33,243.8,263.7,9.1,258,5136,0.00,2.38,0.00,0.000,4,0.000,0.040,3130,3355,1193
$GC,5210,1.34,246.9,256.3,8.9,261,5216,0.00,2.35,0.00,0.000,6,0.000,0.035,3130,1970,1192
$GC,5525,1.34,246.9,229.5,9.7,277,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1970,1191
$GC,5834,1.36,264.4,202.3,8.3,292,5856,0.12,2.55,16.27,0.693,4,0.052,0.051,3164,563,1122
$GC,5873,1.37,270.0,198.8,8.8,293,5884,0.00,2.33,6.28,0.575,6,0.000,0.029,3164,1950,1099
$GC,6141,1.37,270.0,172.0,10.6,318,6145,0.00,2.42,0.00,0.000,4,0.000,0.041,3165,3374,1096
$GC,6270,1.37,270.0,158.3,9.8,329,6274,0.00,2.35,0.00,0.000,6,0.000,0.031,3164,1968,1096
$GC,6536,1.39,286.6,136.0,8.3,354,6556,0.00,0.00,15.12,0.627,6,0.000,0.000,3164,1967,1031
$GC,6810,1.39,286.6,109.4,9.7,380,6814,0.00,2.38,0.00,0.000,4,0.000,0.031,3164,3381,1029
$GC,6840,1.39,286.6,106.6,10.2,382,6845,0.00,2.35,0.00,0.000,6,0.000,0.038,3164,1962,1029
$GC,7101,1.45,334.4,85.1,7.0,406,7148,0.00,2.50,40.83,0.599,4,0.000,0.045,3164,560,835
$GC,7194,1.45,334.4,77.2,10.1,414,7201,0.00,2.33,0.00,0.000,6,0.000,0.022,3164,1981,832
$GC,7455,1.45,334.4,50.7,10.4,439,7459,0.00,2.45,0.00,0.000,4,0.000,0.043,3164,559,832
$GC,7471,1.45,334.4,48.9,10.7,440,7478,0.00,2.33,0.00,0.000,6,0.000,0.021,3164,1971,831
$GC,7738,1.45,334.4,22.1,10.5,471,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1977,831
$STATE,7883,end climb,SURFACE_DEPTH_REACHED
$STATE,7883,begin surface coast
$FINISH,0.6,1.011877
$STATE,7945,end surface coast,CONTROL_FINISHED_OK
$STATE,7945,begin surface
$SM_CCo,7966,52.97,0.525,0,0,569,400.08
$SM_GC,1.20,0.00,0.00,52.97,0.000,0.000,0.525,431,1867,569,-11.17,-0.65,400.08
$IRIDIUM_FIX,2057.14,-15850.95,070598,202033
$TT8_MAMPS,0.029146
$HUMID,1638
$INTERNAL_PRESSURE,9.52815
$TCM_TEMP,22.50
$XPDR_PINGS,9
$24V_AH,23.5,10.163
$10V_AH,10.2,4.988
$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,26.075,66.475,406.250,52.975,0.000,24.632,27.254,192.041,2.250,0.000,0.000,323.572,897.513,5439.009,496.703,1448.007,400.801,0.000,1090.527,0.000,1136.691,0.000,0.541,0.000
$DEVICE_MAMPS,144.963,80.535,829.894,524.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.942,270.259,502.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25393,508
$CAP_FILE_SIZE,70569,1
$CFSIZE,260165632,255782912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110209,012325,2104.211,-15849.791,9,2.7,1201,9.7