version: 66.04
glider: 139
mission: 4
dive: 1
start: 12 10 108 19 0 4
data:
$ID,139
$MISSION,4
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51851
$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,710
$N_FILEKB,4
$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,-1277231.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2918
$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,2080
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3370
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$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
$GPS1,185614,4808.146,-12223.156,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.8
$GPS2,185909,4808.129,-12223.176,15,1.5,15,18.3
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,-0.236
$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,155.8,2102,-20.3,-10.000
$D_GRID,101
$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,-1.41,-116.8,0.0,0.0,0,115,0.00,0.00,-97.32,0.000,2,0.000,0.000,430,2095,2980
$GC,118,-1.41,-116.8,3.8,-10.5,17,161,12.40,2.40,-23.25,0.000,4,0.160,0.058,2602,3480,3848
$GC,246,-1.41,-116.8,7.1,-2.3,39,252,0.00,2.35,0.00,0.000,6,0.000,0.033,2603,2081,3849
$GC,321,-1.41,-116.8,8.4,-2.4,52,327,0.00,2.45,0.00,0.000,4,0.000,0.051,2602,673,3848
$GC,581,-1.41,-116.8,17.9,-4.7,98,587,0.00,2.38,0.00,0.000,6,0.000,0.036,2603,2069,3849
$GC,656,-1.41,-116.8,21.0,-4.7,111,662,0.00,2.45,0.00,0.000,4,0.000,0.048,2603,672,3849
$GC,686,-1.41,-116.8,22.3,-4.2,116,692,0.00,2.38,0.00,0.000,6,0.000,0.035,2603,2080,3849
$STATE,759,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,759,begin apogee
$GC,765,-0.31,0.0,25.3,3.6,129,863,1.15,0.00,90.68,0.640,6,0.078,0.000,2846,2080,3370
$STATE,864,end apogee,CONTROL_FINISHED_OK
$STATE,864,begin climb
$GC,866,1.41,116.8,24.7,0.0,146,965,1.67,0.00,90.35,0.611,6,0.040,0.000,3231,2080,2892
$GC,1035,1.56,234.4,4.3,3.3,175,1134,0.12,2.47,91.40,0.596,4,0.064,0.047,3262,3487,2413
$STATE,1180,end climb,NO_VERTICAL_VELOCITY
$STATE,1180,begin surface
$SM_CCo,1183,306.40,0.584,0,0,450,716.28
$SM_GC,1.15,12.80,0.00,0.00,0.041,0.000,0.000,429,2082,446,-11.39,0.08,717.50
$IRIDIUM_FIX,4748.51,-12212.96,060398,191923
$TT8_MAMPS,0.029146
$HUMID,1500
$INTERNAL_PRESSURE,9.09845
$TCM_TEMP,17.40
$XPDR_PINGS,10
$24V_AH,23.5,0.242
$10V_AH,10.1,0.105
$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,28.150,19.350,272.425,306.400,0.000,0.000,0.000,0.000,2.500,0.000,0.000,16.772,274.363,344.531,621.712,396.252,47.260,29.237,888.728,0.000,395.087,0.000,0.994,0.000
$DEVICE_MAMPS,159.536,57.525,640.445,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,130.138,140.676,337.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9696,200
$CAP_FILE_SIZE,40486,0
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,192738,4808.067,-12223.169,8,1.5,13,18.3