version: 66.04
glider: 139
mission: 3
dive: 15
start: 2 4 109 18 8 36
data:
$ID,139
$MISSION,3
$DIVE,15
$D_SURF,6
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,125
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1281405.6
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2855
$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,2050
$C_ROLL_CLIMB,2145
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2420
$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,4
$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
$GPS1,180113,2111.938,-15758.224,8,1.3,8,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.3
$GPS2,180744,2111.929,-15758.157,14,1.5,14,9.8
$SPEED_LIMITS,0.156,0.234
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.234,0.014
$KALMAN_X,11135.7,5.2,-28.0,-11017.8,2483.2
$KALMAN_Y,4407.4,-682.0,72.6,-11922.1,567.7
$MHEAD_RNG_PITCHd_Wd,263.6,6290,-18.2,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.29,-121.7,0.0,0.0,0,68,0.00,0.00,-51.80,0.000,2,0.000,0.000,428,2195,2165
$GC,71,-1.29,-121.7,3.0,-5.0,9,97,11.90,2.12,-6.05,0.000,4,0.149,0.043,2569,3465,2488
$GC,322,-1.29,-121.7,51.1,-15.1,42,335,0.00,2.33,-3.85,0.000,6,0.000,0.028,2569,2075,2918
$GC,588,-1.29,-121.7,100.6,-18.9,67,592,0.00,2.45,0.00,0.000,4,0.000,0.078,2569,648,2920
$GC,672,-1.29,-121.7,116.4,-16.8,74,678,0.00,2.30,0.00,0.000,6,0.000,0.020,2568,2055,2920
$GC,935,-1.29,-121.7,155.8,-14.7,99,939,0.00,2.45,0.00,0.000,4,0.000,0.044,2569,637,2921
$GC,978,-1.29,-121.7,163.4,-15.6,102,985,0.00,2.30,0.00,0.000,6,0.000,0.021,2569,2040,2921
$GC,1250,-1.29,-121.7,203.1,-14.5,127,1254,0.00,2.42,0.00,0.000,4,0.000,0.045,2569,638,2922
$GC,1293,-1.29,-121.7,209.6,-14.1,129,1297,0.00,2.30,0.00,0.000,6,0.000,0.022,2569,2052,2922
$GC,1620,-1.29,-121.7,252.6,-12.3,145,1624,0.00,2.42,0.00,0.000,4,0.000,0.055,2568,645,2922
$GC,1692,-1.29,-121.7,262.2,-12.5,148,1696,0.00,2.30,0.00,0.000,6,0.000,0.025,2569,2047,2922
$GC,2013,-1.29,-121.7,302.0,-12.3,164,2017,0.00,2.45,0.00,0.000,4,0.000,0.050,2569,645,2921
$GC,2068,-1.29,-121.7,309.6,-13.6,165,2073,0.00,2.33,0.00,0.000,6,0.000,0.026,2569,2054,2921
$GC,2381,-1.29,-121.7,348.0,-12.0,173,2386,0.00,2.47,0.00,0.000,4,0.000,0.051,2568,645,2920
$GC,2476,-1.29,-121.7,360.2,-12.5,175,2480,0.00,2.33,0.00,0.000,6,0.000,0.028,2569,2047,2919
$GC,2795,-1.29,-121.7,398.3,-11.3,183,2799,0.00,2.47,0.00,0.000,4,0.000,0.054,2569,643,2918
$STATE,2808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2809,begin apogee
$GC,2817,-0.31,0.0,400.2,10.9,183,2921,1.00,0.00,100.25,0.823,6,0.074,0.000,2785,2143,2420
$STATE,2921,end apogee,CONTROL_FINISHED_OK
$STATE,2921,begin climb
$GC,2924,1.29,121.7,403.6,0.0,186,3036,1.52,2.50,104.07,0.808,4,0.030,0.047,3148,3543,1923
$GC,3104,1.63,396.6,412.7,-4.6,190,3343,0.28,2.40,227.45,0.812,6,0.048,0.032,3211,2146,803
$GC,3661,1.63,396.6,340.1,17.3,204,3665,0.00,2.50,0.00,0.000,4,0.000,0.057,3212,738,798
$GC,3841,1.63,396.6,303.5,20.4,208,3846,0.00,2.40,0.00,0.000,6,0.000,0.033,3211,2145,795
$GC,4170,1.63,396.6,242.7,18.7,223,4174,0.00,2.50,0.00,0.000,4,0.000,0.054,3211,742,795
$GC,4241,1.63,396.6,227.2,20.5,226,4245,0.00,2.40,0.00,0.000,6,0.000,0.032,3211,2151,794
$GC,4567,1.63,396.6,171.8,15.1,250,4571,0.00,2.50,0.00,0.000,4,0.000,0.051,3211,739,793
$GC,4678,1.63,396.6,152.4,18.3,259,4685,0.00,2.38,0.00,0.000,6,0.000,0.028,3211,2152,792
$GC,4940,1.63,396.6,113.1,12.6,284,4944,0.00,2.47,0.00,0.000,4,0.000,0.048,3211,740,792
$GC,4972,1.63,396.6,108.1,14.8,286,4979,0.00,2.38,0.00,0.000,6,0.000,0.027,3212,2147,792
$GC,5234,1.63,396.6,74.7,12.7,311,5238,0.00,2.45,0.00,0.000,4,0.000,0.045,3212,739,792
$GC,5300,1.63,396.6,64.8,15.3,316,5306,0.00,2.35,0.00,0.000,6,0.000,0.025,3211,2146,791
$GC,5561,1.63,396.6,29.9,12.8,341,5567,0.00,2.42,0.00,0.000,4,0.000,0.043,3212,735,792
$GC,5669,1.63,396.6,13.5,12.8,360,5676,0.00,2.33,0.00,0.000,6,0.000,0.023,3212,2139,792
$STATE,5725,end climb,SURFACE_DEPTH_REACHED
$STATE,5725,begin surface coast
$FINISH,0.5,1.010390
$STATE,5771,end surface coast,CONTROL_FINISHED_OK
$STATE,5771,begin surface
$SM_CCo,5793,0.20,0.100,0,0,790,400.08
$SM_GC,2.18,0.00,0.00,0.20,0.000,0.000,0.100,430,2027,790,-11.16,-0.62,400.08
$IRIDIUM_FIX,2104.07,-15755.17,010598,161618
$TT8_MAMPS,0.029146
$HUMID,1694
$INTERNAL_PRESSURE,9.49886
$TCM_TEMP,21.60
$XPDR_PINGS,9
$24V_AH,23.4,4.948
$10V_AH,10.1,2.124
$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,26.750,72.125,431.775,0.200,0.000,27.375,27.784,226.963,2.250,0.000,0.000,16.401,706.263,3626.804,449.791,1001.198,398.333,33.311,1000.069,0.000,984.726,0.000,0.539,0.000
$DEVICE_MAMPS,148.798,78.234,822.991,99.710,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.310,249.323,384.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19143,378
$CAP_FILE_SIZE,61457,2
$CFSIZE,260165632,257769472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040209,194559,2111.958,-15758.986,8,1.6,11,9.8