version: 66.04
glider: 139
mission: 4
dive: 3
start: 12 10 108 20 47 16
data:
$ID,139
$MISSION,4
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,200
$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,560
$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,-1277431.4
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2900
$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,30
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3700
$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
$GPS1,204044,4807.821,-12223.505,11,1.3,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.8
$GPS2,204627,4807.816,-12223.528,10,1.6,10,18.3
$SPEED_LIMITS,0.173,0.300
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,-0.226
$KALMAN_X,-254.7,-137.8,-134.9,95.0,-178.3
$KALMAN_Y,-96.6,-58.0,-56.9,-368.3,-73.8
$MHEAD_RNG_PITCHd_Wd,120.6,1646,-15.6,-10.000
$D_GRID,105
$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,-194.6,0.0,0.0,0,98,0.00,0.00,-80.28,0.000,2,0.000,0.000,429,2076,2771
$GC,101,-1.21,-194.6,3.2,-8.4,14,155,12.88,2.50,-35.42,0.000,4,0.170,0.091,2628,678,3860
$GC,409,-1.21,-194.6,12.9,-3.8,68,415,0.00,2.42,0.00,0.000,6,0.000,0.038,2628,2081,3862
$GC,484,-1.21,-194.6,15.1,-2.5,81,490,0.00,2.50,0.00,0.000,4,0.000,0.051,2628,3497,3862
$GC,514,-1.21,-194.6,16.1,-3.4,86,520,0.00,2.42,0.00,0.000,6,0.000,0.033,2628,2075,3862
$GC,589,-1.21,-194.6,18.9,-3.9,99,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2075,3862
$GC,663,-1.21,-194.6,22.0,-4.2,112,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2075,3862
$GC,738,-1.21,-194.6,25.6,-4.9,125,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2075,3862
$GC,813,-1.21,-194.6,29.3,-5.0,138,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2075,3862
$GC,888,-1.21,-194.6,32.6,-4.1,151,894,0.00,2.50,0.00,0.000,4,0.000,0.050,2628,3497,3862
$GC,946,-1.21,-194.6,35.4,-4.9,161,952,0.00,2.42,0.00,0.000,6,0.000,0.032,2628,2070,3862
$GC,1021,-1.21,-194.6,38.6,-3.9,174,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2070,3862
$GC,1096,-1.21,-194.6,41.9,-4.5,187,1102,0.00,2.47,0.00,0.000,4,0.000,0.045,2628,3490,3862
$GC,1147,-1.21,-194.6,44.5,-5.0,196,1153,0.00,2.40,0.00,0.000,6,0.000,0.031,2628,2074,3862
$GC,1289,-1.21,-194.6,50.9,-4.3,221,1296,0.00,2.45,0.00,0.000,4,0.000,0.044,2628,3490,3863
$GC,1342,-1.21,-194.6,53.3,-4.6,230,1348,0.00,2.40,0.00,0.000,6,0.000,0.031,2628,2070,3862
$GC,1484,-1.21,-194.6,59.4,-4.4,255,1490,0.00,2.47,0.00,0.000,4,0.000,0.044,2628,3490,3862
$GC,1519,-1.21,-194.6,61.0,-4.9,261,1525,0.00,2.38,0.00,0.000,6,0.000,0.031,2628,2079,3862
$GC,1661,-1.21,-194.6,67.4,-4.1,286,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2080,3862
$GC,1803,-1.21,-194.6,73.6,-4.0,311,1809,0.00,2.47,0.00,0.000,4,0.000,0.079,2628,3497,3862
$STATE,1813,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1813,begin apogee
$GC,1821,-0.31,0.0,74.2,4.2,313,1861,0.95,0.00,32.75,0.674,6,0.075,0.000,2829,2078,3699
$STATE,1862,end apogee,CONTROL_FINISHED_OK
$STATE,1862,begin climb
$GC,1864,1.21,194.6,74.7,0.0,320,2022,1.48,2.58,149.73,0.663,4,0.039,0.049,3172,671,2905
$GC,2069,1.21,194.6,55.0,16.8,356,2075,0.00,2.45,0.00,0.000,6,0.000,0.069,3172,2078,2905
$GC,2211,1.21,194.6,32.1,15.8,381,2217,0.00,2.50,0.00,0.000,4,0.000,0.056,3172,3495,2905
$GC,2252,1.21,194.6,25.4,16.8,388,2258,0.00,2.42,0.00,0.000,6,0.000,0.042,3172,2082,2905
$GC,2327,1.21,194.6,14.0,14.9,401,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2082,2905
$STATE,2398,end climb,SURFACE_DEPTH_REACHED
$STATE,2398,begin surface coast
$FINISH,4.2,1.016239
$STATE,2439,end surface coast,CONTROL_FINISHED_OK
$STATE,2439,begin surface
$SM_CCo,2442,428.08,0.602,0,0,449,797.22
$SM_GC,1.10,12.35,0.00,0.00,0.038,0.000,0.000,428,2077,445,-11.31,-0.06,798.21
$IRIDIUM_FIX,4748.51,-12221.84,060398,202017
$TT8_MAMPS,0.028379
$HUMID,1496
$INTERNAL_PRESSURE,9.08869
$TCM_TEMP,17.40
$XPDR_PINGS,8
$24V_AH,23.4,0.503
$10V_AH,10.1,0.202
$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,27.650,44.225,182.475,428.075,0.000,0.000,0.000,0.000,2.000,0.000,0.000,11.817,636.796,838.161,732.726,763.896,76.878,31.412,1144.143,0.000,767.761,0.000,0.994,0.000
$DEVICE_MAMPS,169.507,91.273,674.193,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.089,236.897,547.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19214,421
$CAP_FILE_SIZE,58643,1
$CFSIZE,260165632,258129920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,213745,4807.684,-12223.368,10,1.2,10,18.3