version: 66.04
glider: 139
mission: 4
dive: 21
start: 12 11 108 15 54 19
data:
$ID,139
$MISSION,4
$DIVE,21
$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,-1277870.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,35
$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
$GPS1,154802,4806.874,-12223.055,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.0
$GPS2,155326,4806.855,-12223.071,14,1.2,14,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.086,0.175
$KALMAN_X,-521.1,91.5,-30.8,590.2,32.2
$KALMAN_Y,-2058.4,-85.4,51.5,-265.8,-92.2
$MHEAD_RNG_PITCHd_Wd,315.5,2412,-24.9,-10.000
$D_GRID,103
$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,-1.65,-77.9,0.0,0.0,0,102,0.00,0.00,-85.47,0.000,2,0.000,0.000,435,1880,3428
$GC,105,-1.65,-77.9,3.1,-1.9,15,137,12.02,2.53,-13.82,0.000,4,0.170,0.077,2474,3276,3863
$GC,161,-1.65,-77.9,4.4,-2.6,24,167,0.00,1.85,0.00,0.000,6,0.000,0.030,2474,2200,3863
$GC,236,-1.65,-77.9,7.0,-4.6,37,242,0.00,1.90,0.00,0.000,4,0.000,0.044,2474,3269,3864
$GC,339,-1.65,-77.9,12.2,-6.2,55,345,0.00,1.83,0.00,0.000,6,0.000,0.031,2474,2206,3863
$GC,414,-1.65,-77.9,17.4,-7.5,68,420,0.00,2.47,0.00,0.000,4,0.000,0.052,2474,796,3864
$GC,516,-1.65,-77.9,26.4,-9.7,86,523,0.00,1.85,0.00,0.000,6,0.000,0.032,2474,1866,3864
$GC,591,-1.65,-77.9,32.9,-9.2,99,598,0.00,2.47,0.00,0.000,4,0.000,0.081,2474,3281,3864
$GC,655,-1.65,-77.9,38.9,-9.7,110,661,0.00,1.85,0.00,0.000,6,0.000,0.030,2474,2201,3865
$GC,730,-1.65,-77.9,45.6,-9.2,123,736,0.00,2.45,0.00,0.000,4,0.000,0.044,2474,794,3864
$GC,770,-1.65,-77.9,49.3,-9.3,130,776,0.00,1.85,0.00,0.000,6,0.000,0.032,2474,1868,3864
$GC,912,-1.65,-77.9,62.3,-9.3,155,918,0.00,2.47,0.00,0.000,4,0.000,0.082,2474,3278,3864
$GC,998,-1.65,-77.9,70.1,-9.3,170,1004,0.00,1.85,0.00,0.000,6,0.000,0.029,2474,2196,3864
$GC,1140,-1.65,-77.9,82.5,-8.6,195,1146,0.00,2.42,0.00,0.000,4,0.000,0.044,2474,799,3864
$GC,1197,-1.65,-77.9,87.4,-8.4,205,1203,0.00,1.83,0.00,0.000,6,0.000,0.032,2474,1879,3864
$GC,1339,-1.65,-77.9,99.4,-7.7,230,1345,0.00,2.45,0.00,0.000,4,0.000,0.061,2474,3277,3864
$STATE,1383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1383,begin apogee
$GC,1391,-0.31,0.0,103.0,8.0,238,1431,1.45,0.00,33.28,0.683,6,0.096,0.000,2766,2192,3699
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1434,1.65,77.9,104.3,0.0,245,1502,1.92,0.00,61.33,0.678,6,0.045,0.000,3208,2191,3382
$GC,1637,1.65,79.6,87.1,9.9,281,1643,0.00,2.42,0.00,0.000,4,0.000,0.044,3208,802,3382
$GC,1649,1.65,79.6,85.6,10.4,283,1655,0.00,1.83,0.00,0.000,6,0.000,0.032,3208,1876,3381
$GC,1790,1.65,79.6,70.5,11.1,308,1797,0.00,1.92,0.00,0.000,4,0.000,0.045,3208,798,3382
$GC,1842,1.65,79.6,65.1,10.4,317,1848,0.00,1.83,0.00,0.000,6,0.000,0.032,3208,1874,3381
$GC,1984,1.66,83.7,50.7,9.6,342,1995,0.00,0.00,6.38,0.537,6,0.000,0.000,3208,1875,3357
$GC,2131,1.66,83.7,35.8,10.1,368,2137,0.00,2.47,0.00,0.000,4,0.000,0.048,3208,3283,3357
$GC,2188,1.66,83.7,29.9,10.4,378,2195,0.00,1.85,0.00,0.000,6,0.000,0.030,3208,2205,3357
$GC,2263,1.67,89.2,22.5,9.5,391,2276,0.00,2.47,6.03,0.518,4,0.000,0.077,3208,791,3336
$GC,2300,1.67,89.2,18.9,10.4,397,2306,0.00,1.88,0.00,0.000,6,0.000,0.032,3208,1875,3336
$GC,2374,1.67,89.2,11.4,10.3,410,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1876,3336
$STATE,2428,end climb,SURFACE_DEPTH_REACHED
$STATE,2428,begin surface coast
$FINISH,3.0,1.020975
$STATE,2503,end surface coast,CONTROL_FINISHED_OK
$STATE,2503,begin surface
$SM_CCo,2525,300.70,0.606,0,0,1254,600.00
$SM_GC,1.14,0.00,0.00,300.70,0.000,0.000,0.606,430,1878,1254,-11.09,-9.10,600.00
$IRIDIUM_FIX,4751.72,-12226.29,070398,151526
$TT8_MAMPS,0.029146
$HUMID,1457
$INTERNAL_PRESSURE,9.16681
$TCM_TEMP,17.50
$XPDR_PINGS,13
$24V_AH,23.4,2.419
$10V_AH,10.1,1.143
$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,28.250,50.625,107.000,300.700,0.000,23.540,26.130,163.042,3.250,0.000,0.000,16.346,680.513,819.789,544.611,774.273,329.674,33.327,947.685,0.000,776.557,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,82.069,682.630,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,291.875,229.162,520.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22278,433
$CAP_FILE_SIZE,51307,1
$CFSIZE,260165632,257527808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,164214,4806.991,-12223.180,11,1.9,11,18.3