version: 66.04
glider: 139
mission: 4
dive: 18
start: 12 11 108 13 9 53
data:
$ID,139
$MISSION,4
$DIVE,18
$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,-1277827.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2840
$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,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
$GPS1,130304,4806.531,-12222.541,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.6
$GPS2,130902,4806.521,-12222.554,10,1.5,15,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.153
$KALMAN_X,-482.8,97.6,-188.2,1340.0,66.1
$KALMAN_Y,-1829.1,-157.3,220.6,-1210.1,-34.1
$MHEAD_RNG_PITCHd_Wd,303.4,3271,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.65,-77.9,0.0,0.0,0,115,0.00,0.00,-97.65,0.000,2,0.000,0.000,433,1882,3712
$GC,118,-1.65,-77.9,3.1,-3.3,17,144,12.02,2.47,-4.68,0.000,4,0.170,0.073,2473,3268,3862
$GC,259,-1.65,-77.9,8.2,-5.0,41,265,0.00,1.83,0.00,0.000,6,0.000,0.031,2473,2207,3863
$GC,334,-1.65,-77.9,12.4,-6.6,54,340,0.00,1.90,0.00,0.000,4,0.000,0.044,2473,3272,3863
$GC,425,-1.65,-77.9,19.6,-8.2,70,432,0.00,1.85,0.00,0.000,6,0.000,0.030,2473,2196,3862
$GC,500,-1.65,-77.9,25.5,-7.9,83,506,0.00,2.45,0.00,0.000,4,0.000,0.080,2473,800,3863
$GC,524,-1.65,-77.9,27.5,-8.2,87,530,0.00,1.85,0.00,0.000,6,0.000,0.035,2473,1866,3863
$GC,599,-1.65,-77.9,33.9,-8.7,100,606,0.00,2.47,0.00,0.000,4,0.000,0.080,2473,3275,3863
$GC,652,-1.65,-77.9,38.9,-9.7,109,658,0.00,1.85,0.00,0.000,6,0.000,0.030,2473,2198,3863
$GC,726,-1.65,-77.9,45.9,-9.6,122,732,0.00,2.45,0.00,0.000,4,0.000,0.044,2473,793,3863
$GC,767,-1.65,-77.9,49.8,-9.0,129,773,0.00,1.83,0.00,0.000,6,0.000,0.036,2473,1871,3863
$GC,908,-1.65,-77.9,62.5,-8.7,154,915,0.00,2.47,0.00,0.000,4,0.000,0.057,2473,3279,3863
$GC,1005,-1.65,-77.9,71.3,-9.5,171,1011,0.00,1.83,0.00,0.000,6,0.000,0.029,2473,2190,3863
$GC,1147,-1.65,-77.9,83.3,-8.7,196,1153,0.00,2.42,0.00,0.000,4,0.000,0.044,2473,797,3863
$GC,1205,-1.65,-77.9,88.6,-9.2,206,1211,0.00,1.85,0.00,0.000,6,0.000,0.031,2473,1871,3863
$GC,1347,-1.65,-77.9,100.4,-8.7,231,1353,0.00,2.45,0.00,0.000,4,0.000,0.048,2473,3276,3863
$STATE,1407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1407,begin apogee
$GC,1414,-0.31,0.0,105.4,8.0,242,1454,1.45,0.00,33.05,0.687,6,0.097,0.000,2764,2200,3699
$STATE,1455,end apogee,CONTROL_FINISHED_OK
$STATE,1455,begin climb
$GC,1457,1.65,77.9,106.7,0.0,249,1526,1.95,2.55,61.33,0.680,4,0.047,0.044,3210,798,3382
$GC,1566,1.65,77.9,98.5,11.3,268,1572,0.00,1.85,0.00,0.000,6,0.000,0.032,3209,1864,3381
$GC,1708,1.65,77.9,82.1,11.3,293,1714,0.00,2.47,0.00,0.000,4,0.000,0.048,3210,3276,3381
$GC,1726,1.65,77.9,80.1,10.8,296,1732,0.00,1.85,0.00,0.000,6,0.000,0.029,3210,2196,3382
$GC,1868,1.65,77.9,64.8,10.2,321,1874,0.00,2.45,0.00,0.000,4,0.000,0.077,3210,795,3382
$GC,1970,1.65,77.9,53.7,10.6,339,1976,0.00,1.83,0.00,0.000,6,0.000,0.031,3209,1871,3382
$GC,2111,1.65,78.7,39.4,9.9,364,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1872,3382
$GC,2185,1.66,80.8,32.3,9.8,377,2192,0.00,0.00,4.15,0.445,6,0.000,0.000,3209,1872,3370
$GC,2261,1.67,89.7,24.9,9.2,390,2274,0.00,2.53,8.50,0.568,4,0.000,0.064,3210,3279,3334
$GC,2303,1.67,89.7,20.4,10.6,397,2310,0.00,1.85,0.00,0.000,6,0.000,0.077,3209,2206,3333
$GC,2378,1.67,92.5,13.0,9.8,410,2391,0.00,2.47,4.12,0.436,4,0.000,0.053,3210,804,3322
$GC,2414,1.68,97.2,9.3,9.6,416,2427,0.00,1.83,5.57,0.498,6,0.000,0.061,3210,1871,3302
$STATE,2448,end climb,SURFACE_DEPTH_REACHED
$STATE,2448,begin surface coast
$FINISH,4.2,1.021458
$STATE,2523,end surface coast,CONTROL_FINISHED_OK
$STATE,2525,begin surface
$SM_CCo,2547,296.30,0.607,0,0,1253,600.00
$SM_GC,1.02,0.00,0.00,296.30,0.000,0.000,0.607,432,1874,1253,-11.07,-9.24,600.00
$IRIDIUM_FIX,4748.51,-12224.57,070398,121224
$TT8_MAMPS,0.029146
$HUMID,1451
$INTERNAL_PRESSURE,9.17658
$TCM_TEMP,17.50
$XPDR_PINGS,12
$24V_AH,23.4,2.162
$10V_AH,10.1,1.006
$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,28.300,55.500,116.725,296.300,0.000,30.860,31.012,200.743,3.000,0.000,0.000,17.159,685.797,817.839,553.681,777.989,378.934,33.322,964.613,0.000,778.866,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,79.768,687.232,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,293.149,229.287,519.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22335,435
$CAP_FILE_SIZE,53456,4
$CFSIZE,260165632,257613824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,135831,4806.672,-12222.690,36,2.0,36,18.3