version: 66.04
glider: 139
mission: 4
dive: 22
start: 12 11 108 16 48 52
data:
$ID,139
$MISSION,4
$DIVE,22
$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,-1277909.5
$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,33
$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
$GPS1,164214,4806.991,-12223.180,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.0
$GPS2,164801,4806.963,-12223.182,37,1.6,37,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.177
$KALMAN_X,-525.2,81.5,22.4,413.9,22.4
$KALMAN_Y,-2135.0,-73.4,-33.5,84.4,-84.3
$MHEAD_RNG_PITCHd_Wd,316.7,2170,-24.9,-10.000
$D_GRID,101
$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,13,begin dive
$GC,15,-1.65,-77.9,0.0,0.0,0,81,0.00,0.00,-63.03,0.000,2,0.000,0.000,430,1878,2826
$GC,84,-1.65,-77.9,3.0,-5.4,11,138,12.07,2.45,-35.05,0.000,4,0.171,0.059,2475,3276,3860
$GC,392,-1.65,-77.9,14.6,-6.8,65,398,0.00,1.85,0.00,0.000,6,0.000,0.031,2475,2200,3861
$GC,466,-1.65,-77.9,19.7,-7.9,78,473,0.00,2.45,0.00,0.000,4,0.000,0.057,2475,793,3862
$GC,558,-1.65,-77.9,28.0,-9.5,94,564,0.00,1.85,0.00,0.000,6,0.000,0.032,2475,1863,3862
$GC,632,-1.65,-77.9,34.6,-8.9,107,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1864,3862
$GC,706,-1.65,-77.9,41.3,-8.8,120,713,0.00,2.10,0.00,0.000,4,0.000,0.068,2475,3077,3861
$GC,838,-1.65,-77.9,53.7,-9.3,143,844,0.00,1.50,0.00,0.000,6,0.000,0.030,2475,2198,3862
$GC,979,-1.65,-77.9,66.4,-8.9,168,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2198,3862
$GC,1121,-1.65,-77.9,78.9,-8.6,193,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2198,3862
$GC,1261,-1.65,-77.9,91.1,-8.4,218,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2198,3862
$STATE,1385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1385,begin apogee
$GC,1391,-0.31,0.0,101.1,7.4,240,1431,1.45,0.00,32.67,0.682,6,0.096,0.000,2767,2198,3699
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1434,1.65,77.9,102.2,0.0,247,1502,1.92,0.00,61.35,0.676,6,0.047,0.000,3207,2197,3382
$GC,1637,1.65,77.9,84.4,10.4,283,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2197,3382
$GC,1777,1.65,77.9,69.4,10.2,308,1784,0.00,2.45,0.00,0.000,4,0.000,0.044,3207,797,3382
$GC,1868,1.65,77.9,59.4,11.3,324,1874,0.00,1.85,0.00,0.000,6,0.000,0.033,3207,1868,3381
$GC,2010,1.65,77.9,44.9,10.1,349,2016,0.00,2.45,0.00,0.000,4,0.000,0.048,3207,3275,3381
$GC,2028,1.65,79.9,43.1,9.8,352,2034,0.00,1.85,0.00,0.000,6,0.000,0.029,3207,2196,3382
$GC,2170,1.66,84.1,29.5,9.6,377,2182,0.00,0.00,6.62,0.535,6,0.000,0.000,3207,2196,3356
$GC,2251,1.67,94.9,21.9,9.1,391,2269,0.00,2.50,9.98,0.574,4,0.000,0.044,3207,801,3313
$GC,2281,1.67,94.9,18.6,11.0,396,2287,0.00,1.85,0.00,0.000,6,0.000,0.032,3207,1871,3313
$GC,2355,1.67,94.9,10.5,11.0,409,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1871,3313
$STATE,2404,end climb,SURFACE_DEPTH_REACHED
$STATE,2404,begin surface coast
$FINISH,3.4,1.021006
$STATE,2484,end surface coast,CONTROL_FINISHED_OK
$STATE,2484,begin surface
$SM_CCo,2507,316.35,0.607,0,0,1253,600.00
$SM_GC,1.14,0.00,0.00,316.35,0.000,0.000,0.607,432,1873,1253,-11.08,-9.24,600.00
$IRIDIUM_FIX,4748.51,-12224.57,070398,151523
$TT8_MAMPS,0.029146
$HUMID,1459
$INTERNAL_PRESSURE,9.16681
$TCM_TEMP,17.50
$XPDR_PINGS,5
$24V_AH,23.4,2.506
$10V_AH,10.1,1.188
$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,28.325,25.150,110.625,316.350,0.000,30.479,24.624,161.396,1.250,0.000,0.000,38.606,666.710,838.430,544.044,795.322,322.520,33.324,933.545,0.000,775.133,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,68.263,681.863,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,291.779,231.252,525.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22232,432
$CAP_FILE_SIZE,45318,1
$CFSIZE,260165632,257499136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,173645,4807.125,-12223.255,12,2.0,12,18.3