version: 66.04
glider: 139
mission: 4
dive: 5
start: 12 10 108 23 11 18
data:
$ID,139
$MISSION,4
$DIVE,5
$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,80
$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,80
$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,580
$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,-1277535.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$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
$GPS1,230337,4807.456,-12223.314,31,0.9,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.8
$GPS2,231026,4807.451,-12223.334,11,1.0,11,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,-0.176
$KALMAN_X,-533.9,-237.2,-168.2,743.5,-21.7
$KALMAN_Y,15.7,-65.5,-53.2,-1150.7,53.5
$MHEAD_RNG_PITCHd_Wd,136.0,932,-24.9,-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,14,-1.65,-77.9,0.0,0.0,0,114,0.00,0.00,-96.78,0.000,2,0.000,0.000,426,2201,2899
$GC,117,-1.65,-77.9,3.7,-9.5,17,166,12.20,2.55,-31.12,0.000,4,0.164,0.065,2532,795,3862
$GC,419,-1.65,-77.9,16.1,-5.1,70,426,0.00,2.45,0.00,0.000,6,0.000,0.071,2532,2206,3864
$GC,496,-1.65,-77.9,20.4,-6.1,83,502,0.00,2.40,0.00,0.000,4,0.000,0.077,2532,829,3864
$GC,660,-1.65,-77.9,32.4,-7.8,112,667,0.00,2.25,0.00,0.000,6,0.000,0.071,2532,2141,3864
$GC,736,-1.65,-77.9,38.1,-7.5,125,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2142,3864
$GC,810,-1.65,-77.9,43.7,-7.6,138,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2141,3864
$GC,952,-1.65,-77.9,54.0,-7.6,163,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2141,3864
$GC,1092,-1.65,-77.9,64.1,-6.7,188,1099,0.00,2.12,0.00,0.000,4,0.000,0.087,2532,3370,3864
$GC,1156,-1.65,-77.9,69.0,-7.6,199,1162,0.00,1.98,0.00,0.000,6,0.000,0.031,2532,2197,3864
$GC,1298,-1.65,-77.9,79.6,-7.1,224,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2197,3864
$GC,1439,-1.65,-77.9,89.4,-6.9,249,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2197,3864
$GC,1579,-1.65,-77.9,98.9,-6.9,274,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2197,3864
$STATE,1675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1676,begin apogee
$GC,1681,-0.31,0.0,105.4,6.8,291,1720,1.42,0.00,32.90,0.688,6,0.087,0.000,2825,2197,3700
$STATE,1721,end apogee,CONTROL_FINISHED_OK
$STATE,1721,begin climb
$GC,1723,1.65,77.9,106.2,0.0,298,1791,1.90,0.00,61.45,0.677,6,0.036,0.000,3266,2197,3382
$GC,1926,1.65,77.9,87.1,11.9,334,1932,0.00,2.45,0.00,0.000,4,0.000,0.046,3265,801,3381
$GC,2023,1.65,77.9,75.2,12.6,351,2029,0.00,2.42,0.00,0.000,6,0.000,0.038,3265,2203,3381
$GC,2164,1.65,77.9,58.5,11.5,376,2171,0.00,2.47,0.00,0.000,4,0.000,0.046,3266,796,3381
$GC,2188,1.65,77.9,55.7,12.1,380,2194,0.00,2.42,0.00,0.000,6,0.000,0.067,3265,2199,3382
$GC,2330,1.65,77.9,40.0,11.3,405,2336,0.00,2.45,0.00,0.000,4,0.000,0.045,3265,801,3382
$GC,2433,1.65,77.9,28.3,11.3,423,2439,0.00,1.85,0.00,0.000,6,0.000,0.033,3265,1871,3382
$GC,2507,1.65,77.9,20.2,10.6,436,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1871,3382
$GC,2582,1.65,78.9,12.5,9.9,449,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1871,3382
$GC,2657,1.68,98.8,6.1,8.3,462,2681,0.00,1.90,17.67,0.608,4,0.000,0.046,3265,795,3297
$STATE,2691,end climb,SURFACE_DEPTH_REACHED
$STATE,2691,begin surface coast
$FINISH,4.3,1.021840
$STATE,2789,end surface coast,CONTROL_FINISHED_OK
$STATE,2789,begin surface
$SM_CCo,2792,493.15,0.600,0,0,450,797.22
$SM_GC,0.97,12.80,0.00,0.00,0.039,0.000,0.000,430,1882,447,-11.30,-8.99,797.96
$IRIDIUM_FIX,4748.51,-12229.01,060398,222247
$TT8_MAMPS,0.029146
$HUMID,1483
$INTERNAL_PRESSURE,9.07892
$TCM_TEMP,17.50
$XPDR_PINGS,8
$24V_AH,23.4,0.768
$10V_AH,10.1,0.318
$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,28.325,31.625,112.025,493.150,0.000,28.721,23.447,218.063,3.750,0.000,0.000,12.943,746.020,1030.625,746.788,871.008,409.755,33.321,1182.491,0.000,867.655,0.000,13.115,0.000
$DEVICE_MAMPS,164.138,87.438,687.999,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.698,256.273,586.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25410,485
$CAP_FILE_SIZE,53780,1
$CFSIZE,260165632,258068480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111208,000844,4807.185,-12223.201,10,1.2,10,18.3