version: 66.04
glider: 139
mission: 3
dive: 90
start: 2 16 109 19 29 32
data:
$ID,139
$MISSION,3
$DIVE,90
$D_SURF,6
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,45
$T_MISSION,60
$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,-1338893.1
$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,53
$R_STBD_OVSHOOT,45
$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
$GPS1,192002,2121.000,-15815.822,11,1.9,11,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.0
$GPS2,192914,2121.022,-15815.808,14,1.9,14,9.8
$SPEED_LIMITS,0.154,0.253
$TGT_NAME,KAHE3
$TGT_LATLONG,2120.800,-15815.500
$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,118.0,671,-16.7,-8.889
$D_GRID,120
$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,-1.22,-140.0,0.0,0.0,0,75,0.00,0.00,-57.95,0.000,2,0.000,0.000,426,1858,2256
$GC,78,-1.22,-146.0,3.4,-6.6,10,103,11.88,0.00,-9.27,0.000,6,0.143,0.000,2588,1859,2800
$GC,306,-1.22,-146.0,55.7,-19.9,39,310,0.00,2.33,0.00,0.000,4,0.000,0.044,2587,512,2801
$GC,327,-1.22,-146.0,60.7,-20.8,40,333,0.00,2.28,0.00,0.000,6,0.000,0.020,2588,1908,2801
$GC,588,-1.22,-146.0,112.0,-18.5,65,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1912,2801
$STATE,639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,639,begin apogee
$GC,644,-0.31,0.0,120.6,16.1,70,765,0.98,0.00,116.85,0.590,6,0.075,0.000,2792,1912,2200
$STATE,765,end apogee,CONTROL_FINISHED_OK
$STATE,766,begin climb
$GC,768,1.22,146.0,125.9,0.0,82,896,1.48,2.38,120.47,0.581,4,0.043,0.040,3128,584,1602
$GC,1133,1.47,343.4,134.9,0.5,115,1305,0.22,2.25,160.25,0.579,6,0.036,0.019,3191,1989,799
$GC,1557,1.47,343.4,93.2,11.0,155,1561,0.00,2.42,0.00,0.000,4,0.000,0.076,3191,587,796
$GC,1663,1.47,343.4,80.0,12.4,164,1667,0.00,2.22,0.00,0.000,6,0.000,0.020,3191,1961,794
$GC,1924,1.47,343.4,46.0,12.8,188,1928,0.00,2.38,0.00,0.000,4,0.000,0.065,3191,588,793
$GC,1945,1.47,343.4,43.2,12.5,189,1952,0.00,2.28,0.00,0.000,6,0.000,0.020,3191,2004,794
$GC,2215,1.47,343.4,6.2,14.1,229,2221,0.00,2.42,0.00,0.000,4,0.000,0.047,3191,587,794
$STATE,2225,end climb,SURFACE_DEPTH_REACHED
$STATE,2225,begin surface coast
$FINISH,1.0,1.023571
$STATE,2249,end surface coast,CONTROL_FINISHED_OK
$STATE,2249,begin surface
$SM_CCo,2272,46.00,0.495,0,0,569,400.08
$SM_GC,1.26,0.00,0.00,46.00,0.000,0.000,0.495,426,1923,569,-11.19,0.93,400.08
$IRIDIUM_FIX,2113.32,-15814.06,130598,191932
$TT8_MAMPS,0.029146
$HUMID,1588
$INTERNAL_PRESSURE,9.57698
$TCM_TEMP,23.10
$XPDR_PINGS,6
$24V_AH,23.6,14.838
$10V_AH,10.2,8.391
$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,26.325,23.100,397.575,46.000,0.000,47.694,64.246,251.876,1.500,0.000,0.000,15.607,374.366,1062.658,434.586,526.136,466.716,0.000,753.696,0.000,524.734,0.000,0.542,0.000
$DEVICE_MAMPS,142.662,75.933,589.823,495.482,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,152.289,131.942,298.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9670,235
$CAP_FILE_SIZE,34860,0
$CFSIZE,260165632,254111744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160209,200930,2120.769,-15815.499,37,2.0,42,9.8