version: 66.04
glider: 139
mission: 4
dive: 12
start: 12 11 108 6 55 51
data:
$ID,139
$MISSION,4
$DIVE,12
$D_SURF,6
$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,0
$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,-1277666.2
$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,10
$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,1
$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
$GPS1,064415,4806.824,-12222.933,129,5.0,148,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.3
$GPS2,065501,4806.750,-12222.869,37,1.7,42,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.155
$KALMAN_X,-210.1,-41.2,171.4,457.0,51.6
$KALMAN_Y,-1680.3,-355.4,-273.4,-239.6,-59.8
$MHEAD_RNG_PITCHd_Wd,124.5,1756,-24.9,-10.000
$D_GRID,150
$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,-1.65,-77.9,0.0,0.0,0,64,0.00,0.00,-47.05,0.000,2,0.000,0.000,432,1873,2556
$GC,67,-1.65,-77.9,3.4,-7.4,8,127,12.38,2.53,-38.05,0.000,4,0.171,0.067,2532,3276,3863
$GC,380,-1.65,-77.9,13.8,-6.0,63,387,0.00,1.85,0.00,0.000,6,0.000,0.031,2532,2202,3864
$GC,455,-1.65,-77.9,18.0,-6.1,76,461,0.00,1.90,0.00,0.000,4,0.000,0.045,2532,3268,3864
$GC,715,-1.65,-77.9,36.5,-7.8,122,721,0.00,1.85,0.00,0.000,6,0.000,0.031,2532,2194,3864
$GC,790,-1.65,-77.9,42.0,-7.1,135,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2193,3864
$GC,930,-1.65,-77.9,51.9,-6.9,160,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2193,3864
$GC,1072,-1.65,-77.9,61.6,-6.7,185,1078,0.00,1.90,0.00,0.000,4,0.000,0.044,2532,3282,3864
$GC,1118,-1.65,-77.9,65.1,-7.5,193,1124,0.00,1.83,0.00,0.000,6,0.000,0.030,2532,2198,3864
$GC,1259,-1.65,-77.9,75.1,-6.6,218,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2197,3864
$GC,1403,-1.65,-77.9,85.2,-6.7,243,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2198,3864
$GC,1543,-1.65,-77.9,94.9,-6.8,268,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2197,3865
$GC,1685,-1.65,-77.9,103.6,-6.2,293,1691,0.00,1.88,0.00,0.000,4,0.000,0.043,2532,3276,3865
$GC,1742,-1.65,-77.9,107.3,-6.8,303,1748,0.00,1.80,0.00,0.000,6,0.000,0.029,2532,2199,3865
$STATE,1765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1765,begin apogee
$GC,1771,-0.31,0.0,108.8,6.7,307,1810,1.42,0.00,33.15,0.690,6,0.087,0.000,2826,2199,3700
$STATE,1811,end apogee,CONTROL_FINISHED_OK
$STATE,1811,begin climb
$GC,1813,1.65,77.9,109.4,0.0,314,1881,1.92,0.00,61.55,0.683,6,0.035,0.000,3270,2199,3382
$GC,2016,1.65,77.9,90.0,11.3,350,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2199,3382
$GC,2157,1.65,77.9,73.6,11.8,375,2163,0.00,2.45,0.00,0.000,4,0.000,0.078,3270,800,3382
$GC,2237,1.65,77.9,64.0,11.8,389,2243,0.00,1.83,0.00,0.000,6,0.000,0.035,3270,1869,3382
$GC,2378,1.65,77.9,47.7,11.5,414,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1868,3382
$GC,2519,1.65,77.9,31.5,11.3,439,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1869,3382
$GC,2593,1.65,77.9,23.6,10.0,452,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1869,3382
$GC,2669,1.65,77.9,16.2,10.9,465,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1868,3382
$GC,2744,1.66,87.1,9.1,9.2,478,2757,0.00,1.92,8.70,0.564,4,0.000,0.068,3270,799,3345
$STATE,2795,end climb,SURFACE_DEPTH_REACHED
$STATE,2795,begin surface coast
$FINISH,5.1,1.021963
$STATE,2935,end surface coast,CONTROL_FINISHED_OK
$STATE,2935,begin surface
$SM_CCo,2959,385.62,0.616,0,0,1334,580.13
$SM_GC,1.42,0.00,0.00,385.62,0.000,0.000,0.616,435,1877,1334,-11.34,-9.13,580.13
$IRIDIUM_FIX,4751.72,-12223.57,070398,060607
$TT8_MAMPS,0.029913
$HUMID,1459
$INTERNAL_PRESSURE,9.16681
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.3,38.5
$24V_AH,23.3,1.605
$10V_AH,10.1,0.702
$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,28.950,23.600,103.400,385.625,0.000,56.389,59.022,312.264,1.250,0.000,0.000,44.422,790.340,1085.141,607.428,940.494,562.166,33.324,1043.391,0.000,914.111,0.000,6.122,0.000
$DEVICE_MAMPS,171.041,78.234,690.300,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.447,271.537,613.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25345,512
$CAP_FILE_SIZE,55900,1
$CFSIZE,260165632,257818624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,075305,4806.590,-12222.803,49,1.8,49,18.3