version: 66.04
glider: 139
mission: 4
dive: 9
start: 12 11 108 3 23 24
data:
$ID,139
$MISSION,4
$DIVE,9
$D_SURF,5
$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,-1277595
$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,37
$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,1
$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
$GPS1,031709,4806.823,-12222.907,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.0
$GPS2,032233,4806.752,-12222.867,11,2.0,11,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.090,0.173
$KALMAN_X,-468.6,-193.5,64.6,975.8,101.3
$KALMAN_Y,-816.2,-255.8,-127.5,-1342.4,-122.6
$MHEAD_RNG_PITCHd_Wd,314.3,488,-24.9,-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,13,begin dive
$GC,15,-1.65,-77.9,0.0,0.0,0,104,0.00,0.00,-85.75,0.000,2,0.000,0.000,431,1875,2641
$GC,107,-1.65,-77.9,3.1,-6.5,15,156,12.25,2.50,-30.08,0.000,4,0.167,0.092,2531,3282,3861
$GC,370,-1.65,-77.9,13.9,-3.7,61,376,0.00,1.85,0.00,0.000,6,0.000,0.031,2531,2208,3862
$GC,445,-1.65,-77.9,17.3,-5.3,74,451,0.00,2.47,0.00,0.000,4,0.000,0.075,2531,802,3863
$GC,492,-1.65,-77.9,20.0,-5.9,82,498,0.00,1.85,0.00,0.000,6,0.000,0.036,2531,1863,3863
$GC,567,-1.65,-77.9,24.7,-6.7,95,573,0.00,2.05,0.00,0.000,4,0.000,0.072,2532,3049,3863
$GC,641,-1.65,-77.9,29.9,-6.9,108,648,0.00,1.45,0.00,0.000,6,0.000,0.031,2532,2201,3863
$GC,716,-1.65,-77.9,34.9,-6.6,121,722,0.00,2.42,0.00,0.000,4,0.000,0.053,2531,803,3863
$GC,774,-1.65,-77.9,39.3,-7.6,131,780,0.00,1.85,0.00,0.000,6,0.000,0.035,2531,1867,3863
$GC,848,-1.65,-77.9,44.6,-6.6,144,855,0.00,2.47,0.00,0.000,4,0.000,0.065,2531,3276,3863
$GC,940,-1.65,-77.9,50.9,-6.8,160,946,0.00,1.85,0.00,0.000,6,0.000,0.030,2531,2197,3863
$GC,1082,-1.65,-77.9,61.5,-7.5,185,1088,0.00,1.88,0.00,0.000,4,0.000,0.044,2532,3275,3863
$GC,1111,-1.65,-77.9,63.9,-8.4,190,1117,0.00,1.85,0.00,0.000,6,0.000,0.030,2531,2193,3863
$GC,1254,-1.65,-77.9,74.6,-7.6,215,1260,0.00,2.42,0.00,0.000,4,0.000,0.045,2531,800,3863
$GC,1294,-1.65,-77.9,77.7,-8.0,222,1300,0.00,1.85,0.00,0.000,6,0.000,0.034,2531,1869,3863
$GC,1438,-1.65,-77.9,88.2,-7.5,247,1444,0.00,2.45,0.00,0.000,4,0.000,0.045,2532,3275,3863
$GC,1568,-1.65,-77.9,98.0,-7.6,270,1575,0.00,1.83,0.00,0.000,6,0.000,0.029,2531,2203,3863
$STATE,1640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1641,begin apogee
$GC,1646,-0.31,0.0,103.0,6.4,283,1686,1.42,0.00,32.90,0.687,6,0.087,0.000,2825,2203,3700
$STATE,1686,end apogee,CONTROL_FINISHED_OK
$STATE,1686,begin climb
$GC,1689,1.65,77.9,103.6,0.0,290,1757,1.90,0.00,61.58,0.674,6,0.035,0.000,3264,2203,3382
$GC,1891,1.65,77.9,84.7,12.2,326,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2203,3381
$GC,2032,1.65,77.9,68.2,11.6,351,2038,0.00,2.45,0.00,0.000,4,0.000,0.044,3264,800,3382
$GC,2061,1.65,77.9,64.8,11.7,356,2067,0.00,1.85,0.00,0.000,6,0.000,0.034,3264,1867,3382
$GC,2203,1.65,77.9,49.8,11.0,381,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1867,3382
$GC,2344,1.65,77.9,35.2,10.3,406,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1867,3381
$GC,2418,1.65,77.9,27.4,10.6,419,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1867,3382
$GC,2491,1.65,77.9,19.8,10.9,432,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1866,3382
$GC,2565,1.65,77.9,12.2,10.4,445,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1867,3382
$GC,2639,1.75,159.7,7.1,3.0,458,2709,0.00,1.90,63.53,0.621,4,0.000,0.086,3264,797,3049
$STATE,2838,end climb,NO_VERTICAL_VELOCITY
$STATE,2838,begin surface
$SM_CCo,2841,502.08,0.603,0,0,450,797.22
$SM_GC,1.20,12.80,0.00,0.00,0.039,0.000,0.000,428,1872,446,-11.31,-9.27,798.21
$IRIDIUM_FIX,4748.51,-12224.57,070398,020236
$TT8_MAMPS,0.029146
$HUMID,1483
$INTERNAL_PRESSURE,9.06915
$TCM_TEMP,17.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.0,21.2
$24V_AH,23.3,1.259
$10V_AH,10.1,0.526
$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,28.375,41.125,158.000,502.075,0.000,28.389,25.433,156.240,2.000,0.000,0.000,13.135,747.969,1016.897,788.947,879.418,343.404,33.319,1249.057,0.000,884.822,0.000,5.473,0.000
$DEVICE_MAMPS,167.206,92.040,687.232,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,332.511,267.874,606.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25382,493
$CAP_FILE_SIZE,55336,3
$CFSIZE,260165632,257933312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111208,042205,4806.766,-12222.910,8,4.1,27,18.3