version: 66.04
glider: 139
mission: 6
dive: 4
start: 3 20 109 22 54 13
data:
$ID,139
$MISSION,6
$DIVE,4
$D_SURF,6
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,120
$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,419.27499
$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,-1350834.8
$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,36
$R_STBD_OVSHOOT,50
$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
$GPS1,224919,2115.830,-15758.662,9,1.9,9,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.5
$GPS2,225408,2115.844,-15758.659,14,2.0,14,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$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,180.6,12884,-18.1,-10.000
$D_GRID,300
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-1.31,-146.0,0.0,0.0,0,47,0.00,0.00,-30.00,0.000,6,0.000,0.000,425,1873,1397
$GC,50,-1.31,-146.0,1.6,-1.5,6,97,11.48,2.35,-28.95,0.000,4,0.136,0.054,2567,494,2221
$GC,219,-1.31,-146.0,15.0,-12.5,37,231,0.00,2.28,-9.10,0.000,6,0.000,0.021,2568,1896,2798
$GC,421,-1.31,-146.0,47.7,-16.4,65,425,0.00,2.40,0.00,0.000,4,0.000,0.046,2567,494,2800
$GC,458,-1.31,-146.0,54.4,-18.2,68,461,0.00,2.25,0.00,0.000,6,0.000,0.021,2568,1886,2801
$GC,716,-1.31,-146.0,96.7,-16.6,93,720,0.00,2.28,0.00,0.000,4,0.000,0.028,2568,3279,2801
$GC,780,-1.31,-146.0,105.7,-13.4,99,784,0.00,2.30,0.00,0.000,6,0.000,0.030,2567,1891,2801
$GC,1039,-1.31,-146.0,144.3,-14.0,124,1042,0.00,2.42,0.00,0.000,4,0.000,0.046,2568,481,2801
$GC,1065,-1.31,-146.0,148.1,-14.7,126,1072,0.00,2.28,0.00,0.000,6,0.000,0.021,2568,1892,2802
$GC,1319,-1.31,-146.0,182.0,-12.1,151,1323,0.00,2.40,0.00,0.000,4,0.000,0.071,2567,485,2801
$GC,1345,-1.31,-146.0,185.3,-12.8,153,1349,0.00,2.25,0.00,0.000,6,0.000,0.022,2568,1899,2802
$GC,1611,-1.31,-146.0,220.1,-13.3,172,1615,0.00,2.30,0.00,0.000,4,0.000,0.031,2568,3282,2802
$GC,1670,-1.31,-146.0,227.6,-12.7,174,1677,0.00,2.35,0.00,0.000,6,0.000,0.030,2567,1883,2802
$GC,1980,-1.31,-146.0,263.6,-11.2,190,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1882,2801
$GC,2286,-1.31,-146.0,294.9,-9.9,205,2289,0.00,2.42,0.00,0.000,4,0.000,0.052,2567,477,2800
$GC,2312,-1.31,-146.0,297.7,-10.8,206,2316,0.00,2.33,0.00,0.000,6,0.000,0.028,2567,1883,2800
$STATE,2346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2346,begin apogee
$GC,2351,-0.31,0.0,301.5,10.4,208,2473,1.02,0.00,119.75,0.741,6,0.067,0.000,2789,1997,2200
$STATE,2474,end apogee,CONTROL_FINISHED_OK
$STATE,2474,begin climb
$GC,2476,1.31,146.0,304.8,0.0,211,2606,1.52,2.38,121.88,0.727,4,0.032,0.039,3152,3345,1603
$GC,2848,1.39,211.8,291.9,7.0,221,2908,0.00,2.35,55.12,0.722,6,0.000,0.042,3152,1965,1336
$GC,3221,1.39,211.8,253.1,11.3,240,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1965,1328
$GC,3525,1.39,211.8,220.9,10.1,255,3529,0.00,2.35,0.00,0.000,4,0.000,0.038,3152,3345,1326
$GC,3621,1.40,215.4,211.8,9.8,259,3625,0.00,2.35,0.00,0.000,6,0.000,0.034,3152,1973,1325
$GC,3940,1.44,249.0,184.0,8.5,284,3976,0.00,2.40,30.58,0.683,4,0.000,0.037,3152,3339,1184
$GC,4009,1.46,264.7,177.9,9.3,290,4028,0.08,2.38,14.73,0.638,6,0.054,0.041,3178,1964,1120
$GC,4274,1.46,264.7,147.8,10.2,316,4277,0.00,2.47,0.00,0.000,4,0.000,0.051,3178,540,1115
$GC,4306,1.46,264.7,143.9,12.3,319,4309,0.00,2.35,0.00,0.000,6,0.000,0.028,3178,1957,1113
$GC,4564,1.46,264.7,116.1,10.9,344,4568,0.00,2.45,0.00,0.000,4,0.000,0.048,3178,561,1112
$GC,4590,1.46,264.7,112.8,12.6,346,4597,0.00,2.35,0.00,0.000,6,0.000,0.027,3178,1973,1112
$GC,4844,1.46,264.7,86.4,10.0,371,4848,0.00,2.33,0.00,0.000,4,0.000,0.035,3178,3369,1111
$GC,5004,1.46,264.7,70.0,10.1,386,5008,0.00,2.33,0.00,0.000,6,0.000,0.028,3178,1965,1111
$GC,5264,1.46,264.7,43.5,10.4,411,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1965,1111
$GC,5517,1.46,264.7,15.8,11.0,446,5522,0.00,2.35,0.00,0.000,4,0.000,0.044,3178,566,1112
$STATE,5594,end climb,SURFACE_DEPTH_REACHED
$STATE,5595,begin surface coast
$FINISH,0.5,1.001548
$STATE,5643,end surface coast,CONTROL_FINISHED_OK
$STATE,5644,begin surface
$SM_CCo,5665,122.07,0.536,0,0,489,419.46
$SM_GC,1.28,0.00,0.00,122.07,0.000,0.000,0.536,425,1918,489,-11.20,0.79,419.46
$IRIDIUM_FIX,2106.38,-15757.32,140698,222242
$TT8_MAMPS,0.055224
$HUMID,1786
$INTERNAL_PRESSURE,7.99489
$TCM_TEMP,21.90
$XPDR_PINGS,18
$24V_AH,23.5,15.884
$10V_AH,10.2,9.054
$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,25.825,65.750,342.050,122.075,0.000,25.002,29.050,155.281,4.500,0.000,0.000,15.864,0.000,3979.056,522.349,1239.605,336.307,0.000,1034.399,0.000,1042.826,0.000,0.540,0.000
$DEVICE_MAMPS,135.759,71.331,740.922,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.621,333.874,535.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25405,470
$CAP_FILE_SIZE,61179,1
$CFSIZE,260165632,258101248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,003136,2115.164,-15758.637,34,1.5,34,9.8