version: 66.04
glider: 139
mission: 4
dive: 15
start: 12 11 108 10 15 5
data:
$ID,139
$MISSION,4
$DIVE,15
$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,-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,600
$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,-1277745.4
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,100758,4806.364,-12222.481,81,3.0,100,18.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.9
$GPS2,101414,4806.335,-12222.467,11,1.7,11,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.123,-0.151
$KALMAN_X,-623.1,63.2,-77.7,1515.8,-121.0
$KALMAN_Y,-1573.3,-282.1,29.6,-1498.0,169.3
$MHEAD_RNG_PITCHd_Wd,122.5,848,-24.9,-10.000
$D_GRID,105
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.65,-77.9,0.0,0.0,0,81,0.00,0.00,-62.28,0.000,2,0.000,0.000,429,1874,2948
$GC,84,-1.65,-77.9,3.1,-4.4,11,133,12.40,1.95,-30.92,0.000,4,0.166,0.102,2559,803,3862
$GC,337,-1.65,-77.9,8.0,-3.1,55,343,0.00,1.85,0.00,0.000,6,0.000,0.034,2559,1871,3863
$GC,411,-1.65,-77.9,10.8,-4.4,68,417,0.00,2.47,0.00,0.000,4,0.000,0.084,2559,3281,3863
$GC,581,-1.65,-77.9,20.1,-6.2,98,588,0.00,1.85,0.00,0.000,6,0.000,0.031,2559,2203,3863
$GC,656,-1.65,-77.9,24.5,-5.6,111,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2203,3863
$GC,730,-1.65,-77.9,29.1,-6.2,124,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2203,3863
$GC,804,-1.65,-77.9,33.9,-6.8,137,810,0.00,2.45,0.00,0.000,4,0.000,0.049,2559,803,3863
$GC,834,-1.65,-77.9,36.0,-6.8,142,840,0.00,1.85,0.00,0.000,6,0.000,0.035,2559,1869,3863
$GC,909,-1.65,-77.9,41.1,-6.5,155,915,0.00,2.47,0.00,0.000,4,0.000,0.081,2559,3281,3863
$GC,967,-1.65,-77.9,45.1,-6.7,165,972,0.00,1.83,0.00,0.000,6,0.000,0.030,2559,2195,3863
$GC,1108,-1.65,-77.9,54.6,-7.3,190,1114,0.00,1.90,0.00,0.000,4,0.000,0.044,2559,3267,3863
$GC,1138,-1.65,-77.9,56.7,-7.2,195,1144,0.00,1.80,0.00,0.000,6,0.000,0.030,2559,2196,3863
$GC,1279,-1.65,-77.9,66.2,-6.6,220,1285,0.00,2.42,0.00,0.000,4,0.000,0.044,2559,803,3863
$GC,1314,-1.65,-77.9,68.4,-6.9,226,1320,0.00,1.85,0.00,0.000,6,0.000,0.034,2559,1872,3863
$GC,1457,-1.65,-77.9,77.4,-6.6,251,1463,0.00,2.45,0.00,0.000,4,0.000,0.046,2559,3280,3864
$GC,1571,-1.65,-77.9,84.9,-6.5,271,1576,0.00,1.83,0.00,0.000,6,0.000,0.029,2559,2189,3863
$GC,1712,-1.65,-77.9,93.6,-6.1,296,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2189,3863
$GC,1853,-1.65,-77.9,101.7,-5.9,321,1859,0.00,2.40,0.00,0.000,4,0.000,0.044,2559,802,3864
$GC,1900,-1.65,-77.9,104.3,-5.8,329,1906,0.00,1.80,0.00,0.000,6,0.000,0.033,2559,1870,3864
$STATE,1910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1910,begin apogee
$GC,1916,-0.31,0.0,105.0,6.1,331,1955,1.42,0.00,32.92,0.687,6,0.085,0.000,2854,1870,3700
$STATE,1956,end apogee,CONTROL_FINISHED_OK
$STATE,1956,begin climb
$GC,1958,1.65,77.9,105.4,0.0,338,2027,1.88,1.98,61.47,0.679,4,0.032,0.045,3289,797,3382
$GC,2079,1.65,77.9,95.5,13.2,359,2085,0.00,1.85,0.00,0.000,6,0.000,0.047,3288,1879,3382
$GC,2220,1.65,77.9,77.7,12.6,384,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1879,3382
$GC,2361,1.65,77.9,60.3,12.4,409,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1879,3382
$GC,2501,1.65,77.9,43.3,12.1,434,2508,0.00,2.45,0.00,0.000,4,0.000,0.048,3289,3275,3382
$GC,2531,1.65,77.9,39.9,12.2,439,2537,0.00,1.85,0.00,0.000,6,0.000,0.030,3289,2199,3381
$GC,2606,1.65,77.9,31.3,11.2,452,2612,0.00,2.45,0.00,0.000,4,0.000,0.076,3289,794,3382
$GC,2747,1.65,77.9,14.7,11.4,477,2754,0.00,1.85,0.00,0.000,6,0.000,0.032,3289,1868,3382
$GC,2823,1.66,80.1,7.1,9.8,490,2835,0.00,2.53,3.53,0.391,4,0.000,0.048,3289,3278,3373
$STATE,2840,end climb,SURFACE_DEPTH_REACHED
$STATE,2840,begin surface coast
$FINISH,4.9,1.021273
$STATE,2902,end surface coast,CONTROL_FINISHED_OK
$STATE,2903,begin surface
$SM_CCo,2927,346.33,0.614,0,0,1254,600.00
$SM_GC,1.24,0.00,0.00,346.33,0.000,0.000,0.614,434,2189,1254,-11.46,-0.31,600.00
$IRIDIUM_FIX,4748.51,-12221.84,070398,090903
$TT8_MAMPS,0.03068
$HUMID,1454
$INTERNAL_PRESSURE,9.16681
$TCM_TEMP,17.50
$XPDR_PINGS,7
$24V_AH,23.4,1.896
$10V_AH,10.1,0.867
$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,29.075,50.000,97.925,346.325,0.000,24.392,27.222,213.776,1.750,0.000,0.000,13.006,786.673,985.660,589.656,898.207,386.643,33.326,1037.540,0.000,900.408,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,102.011,687.232,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.832,268.031,608.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25434,504
$CAP_FILE_SIZE,57356,3
$CFSIZE,260165632,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,111027,4806.223,-12222.312,10,2.0,10,18.3