version: 66.04
glider: 139
mission: 4
dive: 7
start: 12 11 108 1 18 0
data:
$ID,139
$MISSION,4
$DIVE,7
$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,-1277566
$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,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
$GPS1,011109,4806.871,-12223.017,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.9
$GPS2,011709,4806.843,-12223.012,13,1.8,13,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.024,0.172
$KALMAN_X,-605.9,-261.3,-79.3,1149.4,63.5
$KALMAN_Y,-279.0,-151.3,-13.3,-1932.6,-68.4
$MHEAD_RNG_PITCHd_Wd,333.8,291,-27.9,-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,12,begin dive
$GC,15,-1.82,-62.0,0.0,0.0,0,114,0.00,0.00,-96.75,0.000,2,0.000,0.000,431,1880,2932
$GC,117,-1.82,-62.0,4.0,-10.7,17,166,11.75,2.50,-28.42,0.000,4,0.155,0.061,2500,3268,3863
$GC,408,-1.84,-77.9,16.0,-6.2,68,414,0.00,1.85,0.00,0.000,6,0.000,0.031,2500,2196,3863
$GC,483,-1.84,-77.9,21.0,-6.8,81,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2196,3863
$GC,557,-1.84,-77.9,26.2,-7.4,94,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2196,3863
$GC,631,-1.84,-77.9,31.9,-8.4,107,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2196,3863
$GC,705,-1.84,-77.9,37.8,-8.2,120,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2196,3863
$GC,779,-1.84,-77.9,43.8,-8.0,133,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2196,3863
$GC,919,-1.84,-77.9,55.5,-8.6,158,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2196,3863
$GC,1061,-1.84,-77.9,67.2,-8.2,183,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2196,3863
$GC,1201,-1.84,-77.9,78.5,-7.5,208,1208,0.00,1.90,0.00,0.000,4,0.000,0.044,2501,3270,3863
$GC,1248,-1.84,-77.9,82.4,-8.4,216,1254,0.00,1.83,0.00,0.000,6,0.000,0.031,2501,2202,3863
$GC,1392,-1.84,-77.9,93.5,-7.5,241,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2201,3863
$STATE,1508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1514,-0.31,0.0,103.1,7.8,262,1554,1.60,0.00,32.90,0.686,6,0.091,0.000,2828,2201,3700
$STATE,1554,end apogee,CONTROL_FINISHED_OK
$STATE,1554,begin climb
$GC,1557,1.84,77.9,103.6,0.0,269,1626,2.05,2.55,61.33,0.675,4,0.035,0.045,3311,799,3382
$GC,1654,1.84,77.9,96.7,10.7,286,1660,0.00,1.88,0.00,0.000,6,0.000,0.035,3311,1868,3382
$GC,1796,1.84,77.9,78.1,13.6,311,1802,0.00,2.47,0.00,0.000,4,0.000,0.046,3311,3281,3382
$GC,1808,1.84,77.9,76.4,13.1,313,1814,0.00,1.83,0.00,0.000,6,0.000,0.031,3311,2202,3382
$GC,1949,1.84,77.9,58.7,12.0,338,1956,0.00,2.45,0.00,0.000,4,0.000,0.046,3311,799,3382
$GC,1967,1.84,77.9,56.4,12.7,341,1973,0.00,1.83,0.00,0.000,6,0.000,0.035,3311,1869,3382
$GC,2109,1.84,77.9,39.0,12.1,366,2115,0.00,1.90,0.00,0.000,4,0.000,0.047,3311,805,3382
$GC,2161,1.84,77.9,32.7,11.7,375,2167,0.00,1.83,0.00,0.000,6,0.000,0.033,3311,1864,3382
$GC,2235,1.84,77.9,24.1,11.9,388,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1864,3382
$GC,2309,1.84,77.9,15.6,10.6,401,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1864,3382
$GC,2382,1.85,86.1,7.8,9.1,414,2396,0.00,1.95,7.95,0.555,4,0.000,0.045,3311,793,3349
$GC,2436,1.94,160.9,5.1,1.9,423,2501,0.00,1.85,57.95,0.618,6,0.000,0.033,3311,1867,3044
$GC,2571,2.06,257.5,5.2,-0.4,446,2636,0.17,0.00,62.47,0.609,2,0.054,0.000,3359,1868,2715
$STATE,2637,end climb,NO_VERTICAL_VELOCITY
$STATE,2637,begin surface
$SM_CCo,2640,408.95,0.594,0,0,450,797.22
$SM_GC,1.02,13.23,0.00,0.00,0.039,0.000,0.000,431,1869,446,-11.31,-9.39,798.21
$IRIDIUM_FIX,4748.51,-12224.57,070398,000025
$TT8_MAMPS,0.029146
$HUMID,1462
$INTERNAL_PRESSURE,9.07892
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,23.4,1.006
$10V_AH,10.1,0.418
$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,28.800,28.600,222.600,408.950,0.000,31.091,26.675,185.444,2.000,0.000,0.000,14.831,675.290,909.426,740.827,830.361,361.368,33.317,1189.153,0.000,822.055,0.000,14.390,0.000
$DEVICE_MAMPS,154.934,61.360,686.465,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,305.551,246.170,568.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22279,457
$CAP_FILE_SIZE,51928,0
$CFSIZE,260165632,258015232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,021156,4806.863,-12222.941,38,1.9,38,18.3