version: 66.04
glider: 139
mission: 4
dive: 2
start: 12 10 108 20 3 37
data:
$ID,139
$MISSION,4
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,120
$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,710
$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,-1277403.1
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2918
$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,2080
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,29
$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,3
$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
$GPS1,195850,4807.934,-12223.413,26,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.4
$GPS2,200250,4807.913,-12223.454,33,1.4,33,18.3
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.205,-0.121
$KALMAN_X,-89.3,-89.3,-89.3,-67.2,-127.4
$KALMAN_Y,-45.9,-45.9,-45.9,-258.4,-65.4
$MHEAD_RNG_PITCHd_Wd,102.2,1781,-20.3,-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,14,-1.41,-116.8,0.0,0.0,0,114,0.00,0.00,-96.70,0.000,2,0.000,0.000,429,2082,2787
$GC,117,-1.41,-116.8,3.1,-7.3,17,171,12.48,2.50,-33.65,0.000,4,0.163,0.059,2600,3483,3862
$GC,425,-1.41,-116.8,12.9,-3.4,71,431,0.00,2.40,0.00,0.000,6,0.000,0.034,2600,2072,3864
$GC,500,-1.41,-116.8,15.4,-3.8,84,506,0.00,2.33,0.00,0.000,4,0.000,0.079,2600,3416,3864
$STATE,757,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,757,begin apogee
$GC,765,-0.31,0.0,28.8,5.8,130,801,1.17,0.00,32.65,0.663,6,0.082,0.000,2845,2077,3700
$STATE,802,end apogee,CONTROL_FINISHED_OK
$STATE,802,begin climb
$GC,804,1.41,116.8,29.5,0.0,136,904,1.67,2.47,90.75,0.647,4,0.037,0.067,3233,679,3223
$GC,1001,1.41,116.8,10.6,14.1,170,1008,0.00,2.42,0.00,0.000,6,0.000,0.038,3233,2076,3223
$GC,1076,1.63,290.5,4.3,0.1,183,1153,0.17,0.00,74.05,0.625,2,0.063,0.000,3276,2077,2828
$STATE,1154,end climb,SURFACE_DEPTH_REACHED
$STATE,1154,begin surface coast
$FINISH,4.0,1.019309
$STATE,1288,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1288,begin surface
$SM_CCo,1310,301.45,0.607,0,0,805,710.14
$SM_GC,1.15,0.00,0.00,301.45,0.000,0.000,0.607,429,2076,805,-11.44,-0.11,710.14
$IRIDIUM_FIX,4754.94,-12218.12,060398,202055
$TT8_MAMPS,0.029146
$HUMID,1480
$INTERNAL_PRESSURE,9.12775
$TCM_TEMP,16.00
$XPDR_PINGS,3
$24V_AH,23.4,0.369
$10V_AH,10.1,0.149
$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,28.750,14.450,197.450,301.450,0.000,0.000,0.000,0.000,0.750,0.000,0.000,35.386,316.812,332.302,563.635,450.940,38.750,30.181,819.172,0.000,431.882,0.000,0.993,0.000
$DEVICE_MAMPS,163.371,79.001,662.688,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,145.384,157.627,370.788,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9647,220
$CAP_FILE_SIZE,46523,1
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,203138,4807.850,-12223.450,32,1.3,32,18.3