version: 66.04
glider: 139
mission: 4
dive: 6
start: 12 11 108 0 15 18
data:
$ID,139
$MISSION,4
$DIVE,6
$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,-1277550.5
$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,34
$R_STBD_OVSHOOT,360
$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
$GPS1,000844,4807.185,-12223.201,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.9
$GPS2,001427,4807.156,-12223.218,12,1.3,12,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.153
$KALMAN_X,-576.4,-257.4,-136.6,918.6,35.5
$KALMAN_Y,-87.3,-113.9,-32.9,-1563.4,20.9
$MHEAD_RNG_PITCHd_Wd,125.1,395,-25.5,-10.000
$D_GRID,103
$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,13,begin dive
$GC,15,-1.69,-74.1,0.0,0.0,0,115,0.00,0.00,-96.82,0.000,2,0.000,0.000,431,1882,2909
$GC,117,-1.69,-74.1,3.9,-10.7,17,166,12.07,1.90,-30.12,0.000,4,0.160,0.061,2529,797,3861
$GC,419,-1.69,-77.9,14.8,-5.2,70,426,0.00,1.85,0.00,0.000,6,0.000,0.035,2529,1863,3861
$GC,495,-1.69,-77.9,19.1,-6.0,83,502,0.00,1.90,0.00,0.000,4,0.000,0.047,2528,800,3861
$GC,542,-1.69,-77.9,22.2,-6.6,91,548,0.00,1.85,0.00,0.000,6,0.000,0.035,2529,1866,3861
$GC,617,-1.69,-77.9,27.3,-6.7,104,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1866,3861
$GC,691,-1.69,-77.9,32.4,-6.7,117,697,0.00,2.50,0.00,0.000,4,0.000,0.050,2529,3283,3862
$GC,743,-1.69,-77.9,36.4,-7.8,126,749,0.00,1.85,0.00,0.000,6,0.000,0.031,2529,2204,3862
$GC,818,-1.69,-77.9,41.9,-7.4,139,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2204,3861
$GC,958,-1.69,-77.9,53.1,-8.1,164,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2203,3862
$GC,1100,-1.69,-77.9,64.2,-7.4,189,1105,0.00,1.88,0.00,0.000,4,0.000,0.044,2528,3279,3861
$GC,1162,-1.69,-77.9,69.2,-7.6,200,1169,0.00,1.85,0.00,0.000,6,0.000,0.030,2528,2197,3861
$GC,1305,-1.69,-77.9,79.2,-7.2,225,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2198,3862
$GC,1445,-1.69,-77.9,88.8,-6.4,250,1452,0.00,2.42,0.00,0.000,4,0.000,0.045,2529,802,3861
$GC,1487,-1.69,-77.9,91.5,-7.1,257,1492,0.00,1.83,0.00,0.000,6,0.000,0.035,2529,1876,3862
$GC,1632,-1.69,-77.9,100.8,-6.0,282,1638,0.00,2.42,0.00,0.000,4,0.000,0.056,2529,3276,3862
$STATE,1665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1665,begin apogee
$GC,1672,-0.31,0.0,103.3,6.9,288,1712,1.45,0.00,32.45,0.687,6,0.089,0.000,2826,2189,3699
$STATE,1712,end apogee,CONTROL_FINISHED_OK
$STATE,1712,begin climb
$GC,1715,1.69,77.9,103.7,0.0,295,1784,1.92,2.53,61.30,0.671,4,0.036,0.044,3281,797,3382
$GC,1823,1.69,77.9,95.4,12.1,314,1830,0.00,1.88,0.00,0.000,6,0.000,0.035,3281,1869,3382
$GC,1966,1.69,77.9,77.2,12.5,339,1971,0.00,1.90,0.00,0.000,4,0.000,0.047,3281,790,3382
$GC,2148,1.69,77.9,54.7,11.8,371,2154,0.00,1.85,0.00,0.000,6,0.000,0.033,3281,1877,3382
$GC,2291,1.69,77.9,38.3,11.6,396,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1877,3382
$GC,2365,1.69,77.9,29.5,11.1,409,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1877,3382
$GC,2438,1.69,77.9,21.4,11.3,422,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1878,3382
$GC,2512,1.69,77.9,13.6,10.8,435,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1877,3382
$GC,2586,1.72,101.3,6.7,7.9,448,2610,0.00,0.00,19.62,0.607,6,0.000,0.000,3281,1877,3287
$STATE,2625,end climb,SURFACE_DEPTH_REACHED
$STATE,2625,begin surface coast
$FINISH,4.2,1.021662
$STATE,2699,end surface coast,CONTROL_FINISHED_OK
$STATE,2699,begin surface
$SM_CCo,2702,489.52,0.599,0,0,450,797.22
$SM_GC,0.99,12.85,0.00,0.00,0.039,0.000,0.000,431,1881,446,-11.29,-9.02,798.21
$IRIDIUM_FIX,4751.72,-12221.84,060398,232334
$TT8_MAMPS,0.029146
$HUMID,1465
$INTERNAL_PRESSURE,9.08869
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.4,0.884
$10V_AH,10.1,0.369
$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,28.300,32.275,113.375,489.525,0.000,24.943,33.508,168.283,2.000,0.000,0.000,14.371,721.419,982.668,747.669,845.845,344.673,33.316,1178.710,0.000,839.354,0.000,14.406,0.000
$DEVICE_MAMPS,160.303,61.360,687.232,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.523,248.567,569.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22221,468
$CAP_FILE_SIZE,52627,0
$CFSIZE,260165632,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,011109,4806.871,-12223.017,10,1.4,10,18.3