version: 66.04
glider: 139
mission: 4
dive: 14
start: 12 11 108 9 9 11
data:
$ID,139
$MISSION,4
$DIVE,14
$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,8
$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,-1277731.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2925
$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,36
$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
$GPS1,085829,4806.458,-12222.642,44,1.9,50,18.3
$_CALLS,1
$_XMS_NAKs,56
$_XMS_TOUTs,3
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.1
$GPS2,090820,4806.416,-12222.603,12,1.6,29,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.143
$KALMAN_X,-505.9,46.0,38.8,1132.5,-134.2
$KALMAN_Y,-1643.6,-333.2,-112.2,-1085.8,157.6
$MHEAD_RNG_PITCHd_Wd,119.0,1072,-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,-77.9,0.0,0.0,0,75,0.00,0.00,-58.05,0.000,2,0.000,0.000,432,1865,2832
$GC,78,-1.65,-77.9,3.3,-5.3,10,132,12.30,2.50,-33.35,0.000,4,0.163,0.091,2558,3266,3862
$GC,387,-1.65,-77.9,13.3,-4.5,64,393,0.00,1.83,0.00,0.000,6,0.000,0.031,2558,2206,3864
$GC,462,-1.65,-77.9,16.9,-5.2,77,469,0.00,2.47,0.00,0.000,4,0.000,0.046,2558,795,3864
$GC,722,-1.65,-77.9,33.6,-6.8,123,728,0.00,1.88,0.00,0.000,6,0.000,0.035,2558,1871,3864
$GC,796,-1.65,-77.9,38.6,-7.1,136,803,0.00,1.90,0.00,0.000,4,0.000,0.046,2558,807,3864
$GC,882,-1.65,-77.9,44.6,-7.5,151,888,0.00,1.80,0.00,0.000,6,0.000,0.051,2557,1870,3864
$GC,1024,-1.65,-77.9,54.0,-6.5,176,1030,0.00,2.47,0.00,0.000,4,0.000,0.082,2558,3275,3864
$GC,1110,-1.65,-77.9,59.9,-7.2,191,1116,0.00,1.80,0.00,0.000,6,0.000,0.029,2558,2199,3864
$GC,1251,-1.65,-77.9,69.1,-6.3,216,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3864
$GC,1393,-1.65,-77.9,77.6,-5.7,241,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3864
$GC,1534,-1.65,-77.9,86.6,-6.2,266,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2198,3864
$GC,1675,-1.65,-77.9,95.5,-6.4,291,1681,0.00,1.88,0.00,0.000,4,0.000,0.063,2558,3275,3864
$GC,1733,-1.65,-77.9,99.2,-6.4,301,1739,0.00,1.83,0.00,0.000,6,0.000,0.074,2558,2188,3864
$GC,1874,-1.65,-77.9,107.1,-5.4,326,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2188,3864
$STATE,1991,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1991,begin apogee
$GC,1996,-0.31,0.0,113.8,5.9,347,2036,1.42,0.00,32.95,0.693,6,0.084,0.000,2854,2188,3700
$STATE,2036,end apogee,CONTROL_FINISHED_OK
$STATE,2037,begin climb
$GC,2039,1.65,77.9,114.0,0.0,354,2108,1.88,2.53,61.42,0.686,4,0.031,0.044,3291,799,3382
$GC,2172,1.65,77.9,102.2,13.4,377,2178,0.00,1.85,0.00,0.000,6,0.000,0.035,3291,1877,3382
$GC,2313,1.65,77.9,83.6,13.7,402,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1877,3382
$GC,2455,1.65,77.9,65.9,12.7,427,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1877,3382
$GC,2595,1.65,77.9,49.0,12.5,452,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1877,3382
$GC,2736,1.65,77.9,32.1,11.7,477,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1877,3382
$GC,2810,1.65,77.9,23.7,10.8,490,2816,0.00,1.92,0.00,0.000,4,0.000,0.046,3291,798,3382
$GC,2879,1.65,77.9,16.0,11.2,502,2885,0.00,1.85,0.00,0.000,6,0.000,0.033,3291,1871,3382
$GC,2953,1.65,77.9,8.0,10.7,515,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1871,3382
$STATE,2974,end climb,SURFACE_DEPTH_REACHED
$STATE,2974,begin surface coast
$FINISH,4.7,1.021263
$STATE,3037,end surface coast,CONTROL_FINISHED_OK
$STATE,3037,begin surface
$SM_CCo,3060,328.08,0.614,0,0,1334,580.13
$SM_GC,1.40,0.00,0.00,328.08,0.000,0.000,0.614,428,1874,1334,-11.49,-9.22,580.13
$IRIDIUM_FIX,4748.51,-12224.57,070398,080846
$TT8_MAMPS,0.029146
$HUMID,1455
$INTERNAL_PRESSURE,9.17658
$TCM_TEMP,17.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.2,43.4
$24V_AH,23.4,1.802
$10V_AH,10.1,0.813
$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,28.975,28.500,94.375,328.075,0.000,27.987,26.780,401.845,2.000,0.000,0.000,31.337,814.356,1072.229,551.433,959.523,579.118,33.331,999.891,0.000,939.913,0.000,7.413,0.000
$DEVICE_MAMPS,162.604,90.506,693.368,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.266,273.398,618.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25364,530
$CAP_FILE_SIZE,58471,2
$CFSIZE,260165632,257744896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,100758,4806.364,-12222.481,81,3.0,100,18.3