version: 66.04
glider: 139
mission: 4
dive: 13
start: 12 11 108 7 59 57
data:
$ID,139
$MISSION,4
$DIVE,13
$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,0
$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,580
$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,-1277699.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,34
$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,10
$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,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
$GPS1,075305,4806.590,-12222.803,49,1.8,49,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.6
$GPS2,075907,4806.563,-12222.768,14,1.4,31,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.144
$KALMAN_X,-360.6,-3.1,109.3,763.6,-19.7
$KALMAN_Y,-1683.7,-342.8,-201.1,-675.8,18.0
$MHEAD_RNG_PITCHd_Wd,119.2,1410,-24.9,-10.000
$D_GRID,150
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.65,-77.9,0.0,0.0,0,69,0.00,0.00,-52.05,0.000,2,0.000,0.000,435,1877,2688
$GC,72,-1.65,-77.9,3.4,-7.0,9,126,12.35,2.28,-34.53,0.000,4,0.166,0.092,2558,3199,3860
$GC,150,-1.65,-77.9,5.6,-2.4,22,156,0.00,1.73,0.00,0.000,6,0.000,0.031,2558,2193,3861
$GC,225,-1.65,-77.9,6.5,-1.6,35,231,0.00,2.45,0.00,0.000,4,0.000,0.051,2558,803,3861
$GC,484,-1.65,-77.9,18.6,-6.3,81,490,0.00,1.85,0.00,0.000,6,0.000,0.035,2558,1865,3861
$GC,559,-1.65,-77.9,22.9,-6.2,94,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1865,3861
$GC,633,-1.65,-77.9,27.3,-6.4,107,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1865,3861
$GC,708,-1.65,-77.9,31.9,-6.8,120,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1865,3862
$GC,782,-1.65,-77.9,36.7,-6.9,133,788,0.00,2.47,0.00,0.000,4,0.000,0.052,2557,3275,3861
$GC,817,-1.65,-77.9,39.1,-7.4,139,823,0.00,1.83,0.00,0.000,6,0.000,0.030,2558,2207,3861
$GC,891,-1.65,-77.9,44.1,-6.4,152,898,0.00,1.90,0.00,0.000,4,0.000,0.044,2558,3275,3861
$GC,944,-1.65,-77.9,47.7,-7.0,161,949,0.00,1.83,0.00,0.000,6,0.000,0.030,2558,2189,3862
$GC,1085,-1.65,-77.9,56.7,-5.9,186,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2189,3862
$GC,1226,-1.65,-77.9,65.7,-6.6,211,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2189,3861
$GC,1367,-1.65,-77.9,74.6,-6.4,236,1373,0.00,1.92,0.00,0.000,4,0.000,0.044,2558,3275,3861
$GC,1419,-1.65,-77.9,78.2,-7.3,245,1425,0.00,1.80,0.00,0.000,6,0.000,0.029,2558,2199,3862
$GC,1564,-1.65,-77.9,86.9,-5.9,270,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2199,3862
$GC,1706,-1.65,-77.9,95.3,-6.1,295,1712,0.00,2.42,0.00,0.000,4,0.000,0.045,2558,800,3862
$GC,1752,-1.65,-77.9,98.1,-6.2,303,1758,0.00,1.83,0.00,0.000,6,0.000,0.077,2558,1872,3862
$GC,1893,-1.65,-77.9,106.4,-5.7,328,1900,0.00,2.42,0.00,0.000,4,0.000,0.046,2558,3277,3862
$STATE,1977,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1977,begin apogee
$GC,1985,-0.31,0.0,111.4,6.2,343,2025,1.42,0.00,32.60,0.690,6,0.085,0.000,2852,2189,3700
$STATE,2025,end apogee,CONTROL_FINISHED_OK
$STATE,2025,begin climb
$GC,2028,1.65,77.9,111.8,0.0,350,2096,1.88,0.00,61.42,0.682,6,0.031,0.000,3289,2189,3382
$GC,2230,1.65,77.9,91.1,12.7,386,2237,0.00,2.42,0.00,0.000,4,0.000,0.066,3289,803,3382
$GC,2333,1.65,77.9,77.8,13.1,404,2339,0.00,1.85,0.00,0.000,6,0.000,0.034,3289,1867,3382
$GC,2474,1.65,77.9,60.3,11.5,429,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1867,3381
$GC,2615,1.65,77.9,43.7,12.0,454,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1867,3382
$GC,2756,1.65,77.9,27.4,11.5,479,2763,0.00,1.90,0.00,0.000,4,0.000,0.045,3289,802,3382
$GC,2848,1.65,77.9,16.6,12.0,495,2854,0.00,1.85,0.00,0.000,6,0.000,0.033,3289,1872,3382
$GC,2922,1.65,77.9,8.6,10.7,508,2928,0.00,1.90,0.00,0.000,4,0.000,0.044,3289,803,3382
$GC,2940,1.66,81.2,6.9,9.7,511,2953,0.00,1.83,4.55,0.462,6,0.000,0.033,3289,1863,3368
$STATE,2957,end climb,SURFACE_DEPTH_REACHED
$STATE,2957,begin surface coast
$FINISH,5.1,1.021717
$STATE,3037,end surface coast,CONTROL_FINISHED_OK
$STATE,3037,begin surface
$SM_CCo,3059,364.42,0.614,0,0,1335,580.13
$SM_GC,1.42,0.00,0.00,364.42,0.000,0.000,0.614,432,1865,1335,-11.47,-9.47,580.13
$IRIDIUM_FIX,4748.51,-12220.12,070398,060604
$TT8_MAMPS,0.029146
$HUMID,1452
$INTERNAL_PRESSURE,9.17658
$TCM_TEMP,17.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.3,41.1
$24V_AH,23.4,1.699
$10V_AH,10.1,0.756
$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,29.000,40.350,98.575,364.425,0.000,27.949,37.574,161.284,1.750,0.000,0.000,32.929,821.979,1042.522,603.556,956.316,358.208,33.331,1066.432,0.000,940.112,0.000,5.828,0.000
$DEVICE_MAMPS,165.672,92.040,689.533,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,357.335,272.919,622.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25400,528
$CAP_FILE_SIZE,57941,3
$CFSIZE,260165632,257777664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,085829,4806.458,-12222.642,44,1.9,50,18.3