version: 66.04
glider: 139
mission: 3
dive: 60
start: 2 11 109 8 12 14
data:
$ID,139
$MISSION,3
$DIVE,60
$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,-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,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,-1294893.8
$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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,080230,2105.379,-15848.044,144,1.4,146,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.8
$GPS2,081157,2105.351,-15848.027,17,2.0,17,9.8
$SPEED_LIMITS,0.156,0.255
$TGT_NAME,T1
$TGT_LATLONG,2107.000,-15848.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,351.1,3054,-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,-146.0,0.0,0.0,0,75,0.00,0.00,-57.92,0.000,2,0.000,0.000,430,1870,2231
$GC,78,-1.21,-146.0,3.5,-5.8,10,110,11.88,2.40,-9.95,0.000,4,0.144,0.040,2588,3288,2800
$GC,300,-1.21,-146.0,48.6,-15.1,39,307,0.00,2.35,0.00,0.000,6,0.000,0.029,2588,1903,2800
$GC,561,-1.21,-146.0,93.3,-16.9,64,565,0.00,2.42,0.00,0.000,4,0.000,0.045,2588,486,2801
$GC,617,-1.21,-146.0,103.6,-18.7,68,623,0.00,2.25,0.00,0.000,6,0.000,0.019,2588,1901,2801
$GC,878,-1.21,-146.0,144.4,-14.3,93,882,0.00,2.28,0.00,0.000,4,0.000,0.028,2588,3289,2801
$GC,894,-1.21,-146.0,146.7,-13.9,94,900,0.00,2.35,0.00,0.000,6,0.000,0.062,2588,1885,2801
$GC,1155,-1.21,-146.0,183.3,-14.5,119,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1884,2802
$GC,1406,-1.21,-146.0,215.6,-11.4,137,1410,0.00,2.40,0.00,0.000,4,0.000,0.078,2588,482,2803
$GC,1423,-1.21,-146.0,217.8,-12.0,138,1427,0.00,2.28,0.00,0.000,6,0.000,0.021,2588,1909,2803
$GC,1754,-1.21,-146.0,257.0,-11.3,154,1759,0.00,2.45,0.00,0.000,4,0.000,0.046,2588,486,2802
$GC,1781,-1.21,-146.0,260.5,-12.5,155,1786,0.00,2.25,0.00,0.000,6,0.000,0.022,2588,1884,2802
$GC,2103,-1.21,-146.0,296.6,-11.6,171,2107,0.00,2.33,0.00,0.000,4,0.000,0.035,2588,3280,2801
$GC,2129,-1.21,-146.0,299.7,-11.6,172,2133,0.00,2.33,0.00,0.000,6,0.000,0.031,2588,1887,2801
$GC,2466,-1.21,-146.0,335.7,-10.3,181,2470,0.00,2.42,0.00,0.000,4,0.000,0.051,2588,486,2800
$GC,2495,-1.21,-146.0,338.8,-11.5,181,2499,0.00,2.28,0.00,0.000,6,0.000,0.026,2588,1881,2800
$GC,2826,-1.21,-146.0,373.4,-10.3,189,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1884,2798
$STATE,3108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3108,begin apogee
$GC,3114,-0.31,0.0,400.1,9.4,196,3239,0.95,0.00,121.78,0.824,6,0.069,0.000,2792,1988,2200
$STATE,3239,end apogee,CONTROL_FINISHED_OK
$STATE,3240,begin climb
$GC,3242,1.21,146.0,405.0,0.0,199,3374,1.45,2.58,124.15,0.811,4,0.035,0.083,3128,561,1604
$GC,3631,1.36,266.8,401.4,4.0,208,3741,0.12,2.35,101.82,0.812,6,0.054,0.037,3161,1955,1111
$GC,4078,1.36,266.8,352.6,12.4,219,4082,0.00,2.47,0.00,0.000,4,0.000,0.054,3160,563,1104
$GC,4144,1.36,266.8,343.0,15.5,220,4148,0.00,2.38,0.00,0.000,6,0.000,0.031,3160,1972,1102
$GC,4485,1.36,266.8,300.7,11.8,229,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1976,1101
$GC,4794,1.36,266.8,264.5,12.9,243,4799,0.00,2.42,0.00,0.000,4,0.000,0.044,3160,3382,1099
$GC,4816,1.36,266.8,261.4,13.8,244,4820,0.00,2.42,0.00,0.000,6,0.000,0.035,3161,1961,1099
$GC,5137,1.36,266.8,222.9,11.0,260,5141,0.00,2.45,0.00,0.000,4,0.000,0.051,3161,560,1098
$GC,5199,1.36,266.8,215.7,12.1,263,5203,0.00,2.35,0.00,0.000,6,0.000,0.030,3160,1977,1095
$GC,5526,1.36,266.8,180.2,11.4,286,5530,0.00,2.38,0.00,0.000,4,0.000,0.040,3161,3379,1095
$GC,5558,1.36,266.8,176.4,11.2,288,5565,0.00,2.40,0.00,0.000,6,0.000,0.032,3161,1951,1095
$GC,5820,1.36,266.8,148.3,10.5,313,5824,0.00,2.42,0.00,0.000,4,0.000,0.035,3161,3383,1095
$GC,5850,1.36,266.8,145.4,10.5,315,5854,0.00,2.38,0.00,0.000,6,0.000,0.031,3161,1969,1095
$GC,6110,1.36,266.8,117.8,9.5,339,6115,0.00,2.42,0.00,0.000,4,0.000,0.047,3161,560,1095
$GC,6235,1.40,293.6,106.2,7.9,349,6263,0.00,2.33,20.55,0.614,6,0.000,0.024,3161,1989,1003
$GC,6519,1.41,303.3,83.2,8.6,376,6534,0.00,2.53,9.40,0.542,4,0.000,0.044,3160,561,962
$GC,6635,1.41,303.3,72.0,10.1,386,6642,0.00,2.33,0.00,0.000,6,0.000,0.023,3161,1965,961
$GC,6897,1.41,303.3,49.1,9.0,411,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1970,961
$GC,7154,1.41,303.3,24.7,9.4,439,7160,0.00,2.30,0.00,0.000,4,0.000,0.032,3161,3365,961
$GC,7178,1.41,303.3,22.3,10.0,443,7185,0.00,2.30,0.00,0.000,6,0.000,0.026,3161,1964,961
$STATE,7359,end climb,SURFACE_DEPTH_REACHED
$STATE,7359,begin surface coast
$FINISH,0.6,1.023388
$STATE,7431,end surface coast,CONTROL_FINISHED_OK
$STATE,7432,begin surface
$SM_CCo,7453,79.00,0.526,0,0,569,400.08
$SM_GC,1.32,0.00,0.00,79.00,0.000,0.000,0.526,431,1854,569,-11.17,-1.02,400.08
$IRIDIUM_FIX,2054.83,-15848.80,080598,080806
$TT8_MAMPS,0.029146
$HUMID,1649
$INTERNAL_PRESSURE,9.53792
$TCM_TEMP,22.40
$XPDR_PINGS,11
$24V_AH,23.5,10.522
$10V_AH,10.2,5.265
$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,26.125,76.225,377.700,79.000,0.000,53.477,59.784,269.592,2.750,0.000,0.000,20.374,869.956,5050.749,506.586,1124.167,540.516,0.000,1094.261,0.000,1112.378,0.000,0.542,0.000
$DEVICE_MAMPS,144.196,82.836,823.758,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.521,257.682,500.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25447,488
$CAP_FILE_SIZE,70892,1
$CFSIZE,260165632,255643648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110209,101838,2106.530,-15847.921,14,1.7,14,9.8