version: 66.04
glider: 139
mission: 4
dive: 10
start: 12 11 108 4 28 19
data:
$ID,139
$MISSION,4
$DIVE,10
$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,-1277607.9
$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
$GPS1,042205,4806.766,-12222.910,8,4.1,27,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.1
$GPS2,042727,4806.701,-12222.884,10,1.0,10,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.079,0.178
$KALMAN_X,-407.4,-158.8,123.4,802.5,99.7
$KALMAN_Y,-1098.5,-289.8,-204.3,-1045.0,-128.4
$MHEAD_RNG_PITCHd_Wd,317.9,572,-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,12,begin dive
$GC,14,-1.65,-77.9,0.0,0.0,0,91,0.00,0.00,-74.40,0.000,2,0.000,0.000,429,1872,2376
$GC,94,-1.65,-77.9,3.0,-6.3,13,148,12.40,1.58,-35.25,0.000,4,0.171,0.113,2532,2800,3862
$GC,161,-1.65,-77.9,8.1,-4.3,24,167,0.00,1.00,0.00,0.000,6,0.000,0.032,2532,2200,3862
$GC,235,-1.65,-77.9,9.1,-1.3,37,242,0.00,2.42,0.00,0.000,4,0.000,0.080,2532,810,3862
$GC,293,-1.65,-77.9,10.7,-3.7,47,299,0.00,1.83,0.00,0.000,6,0.000,0.033,2532,1865,3862
$GC,368,-1.65,-77.9,13.4,-3.6,60,374,0.00,2.50,0.00,0.000,4,0.000,0.048,2532,3282,3863
$GC,504,-1.65,-77.9,20.8,-5.8,84,511,0.00,1.85,0.00,0.000,6,0.000,0.031,2532,2206,3863
$GC,579,-1.65,-77.9,25.7,-6.8,97,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2206,3863
$GC,653,-1.65,-77.9,30.7,-7.2,110,660,0.00,2.47,0.00,0.000,4,0.000,0.077,2532,796,3864
$GC,706,-1.65,-77.9,34.4,-7.1,119,712,0.00,1.85,0.00,0.000,6,0.000,0.035,2532,1860,3863
$GC,780,-1.65,-77.9,39.8,-7.6,132,786,0.00,2.50,0.00,0.000,4,0.000,0.081,2532,3282,3863
$GC,849,-1.65,-77.9,45.1,-8.0,144,855,0.00,1.85,0.00,0.000,6,0.000,0.030,2532,2202,3863
$GC,991,-1.65,-77.9,55.7,-7.0,169,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2202,3864
$GC,1132,-1.65,-77.9,66.1,-7.4,194,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2202,3863
$GC,1273,-1.65,-77.9,76.0,-6.9,219,1279,0.00,1.88,0.00,0.000,4,0.000,0.044,2532,3284,3863
$GC,1302,-1.65,-77.9,78.2,-7.2,224,1308,0.00,1.85,0.00,0.000,6,0.000,0.029,2532,2200,3864
$GC,1446,-1.65,-77.9,88.0,-6.1,249,1452,0.00,1.88,0.00,0.000,4,0.000,0.044,2532,3276,3863
$GC,1492,-1.65,-77.9,91.3,-7.2,257,1498,0.00,1.80,0.00,0.000,6,0.000,0.029,2532,2199,3863
$GC,1634,-1.65,-77.9,101.0,-6.8,282,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2200,3864
$STATE,1665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1666,begin apogee
$GC,1671,-0.31,0.0,103.2,6.5,288,1711,1.42,0.00,32.95,0.688,6,0.087,0.000,2825,2199,3700
$STATE,1711,end apogee,CONTROL_FINISHED_OK
$STATE,1711,begin climb
$GC,1714,1.65,77.9,103.7,0.0,295,1783,1.90,2.53,61.53,0.673,4,0.036,0.068,3273,797,3382
$GC,1834,1.65,77.9,94.2,12.0,316,1840,0.00,1.88,0.00,0.000,6,0.000,0.035,3273,1869,3382
$GC,1976,1.65,77.9,77.1,11.6,341,1982,0.00,2.47,0.00,0.000,4,0.000,0.047,3273,3281,3382
$GC,2033,1.65,77.9,70.1,12.1,351,2039,0.00,1.83,0.00,0.000,6,0.000,0.030,3273,2201,3382
$GC,2174,1.65,77.9,53.6,11.5,376,2180,0.00,2.45,0.00,0.000,4,0.000,0.045,3273,795,3382
$GC,2226,1.65,77.9,47.5,11.8,385,2232,0.00,1.85,0.00,0.000,6,0.000,0.078,3274,1875,3382
$GC,2368,1.65,77.9,31.8,10.7,410,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1875,3382
$GC,2442,1.65,77.9,23.5,10.9,423,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1876,3382
$GC,2516,1.65,77.9,15.5,10.6,436,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1875,3382
$GC,2591,1.67,94.6,8.7,8.6,449,2609,0.00,0.00,14.35,0.596,6,0.000,0.000,3273,1875,3314
$GC,2677,1.82,212.1,7.6,-0.1,464,2777,0.10,1.98,90.60,0.618,4,0.071,0.047,3299,800,2834
$STATE,2860,end climb,NO_VERTICAL_VELOCITY
$STATE,2860,begin surface
$SM_CCo,2863,462.42,0.601,0,0,450,797.22
$SM_GC,1.19,12.93,0.00,0.00,0.038,0.000,0.000,433,1873,447,-11.30,-9.27,798.21
$IRIDIUM_FIX,4751.72,-12226.29,070398,030343
$TT8_MAMPS,0.028379
$HUMID,1473
$INTERNAL_PRESSURE,9.06915
$TCM_TEMP,17.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,80.1,37.1
$24V_AH,23.3,1.386
$10V_AH,10.1,0.579
$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,28.750,44.100,199.425,462.425,0.000,22.557,25.244,161.398,2.500,0.000,0.000,12.258,749.201,1000.729,783.176,891.723,334.574,33.326,1258.674,0.000,888.978,0.000,5.517,0.000
$DEVICE_MAMPS,171.041,112.749,687.999,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.554,266.491,613.624,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25387,496
$CAP_FILE_SIZE,57756,1
$CFSIZE,260165632,257892352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111208,052627,4806.785,-12222.913,12,2.0,12,18.3