version: 66.04
glider: 139
mission: 4
dive: 16
start: 12 11 108 11 17 43
data:
$ID,139
$MISSION,4
$DIVE,16
$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,-1277777
$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,29
$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
$GPS1,111027,4806.223,-12222.312,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.6
$GPS2,111653,4806.206,-12222.288,9,2.3,28,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.158
$KALMAN_X,-615.0,71.9,-149.1,1787.7,-58.7
$KALMAN_Y,-1616.0,-239.7,126.6,-1830.2,136.8
$MHEAD_RNG_PITCHd_Wd,305.9,3939,-24.9,-10.000
$D_GRID,107
$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,-77.9,0.0,0.0,0,81,0.00,0.00,-63.90,0.000,2,0.000,0.000,434,2189,2865
$GC,84,-1.65,-77.9,3.2,-7.0,11,138,12.02,1.95,-32.97,0.000,4,0.170,0.100,2473,3275,3862
$GC,167,-1.65,-77.9,5.6,-5.4,25,174,0.00,1.85,0.00,0.000,6,0.000,0.031,2473,2196,3863
$GC,242,-1.65,-77.9,7.6,-2.3,38,249,0.00,2.45,0.00,0.000,4,0.000,0.076,2473,800,3863
$GC,502,-1.65,-77.9,22.7,-9.2,84,508,0.00,1.85,0.00,0.000,6,0.000,0.035,2473,1861,3863
$GC,577,-1.65,-77.9,29.5,-9.4,97,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1862,3863
$GC,651,-1.65,-77.9,36.4,-8.9,110,657,0.00,2.47,0.00,0.000,4,0.000,0.052,2473,3279,3864
$GC,742,-1.65,-77.9,44.9,-8.9,126,749,0.00,1.85,0.00,0.000,6,0.000,0.030,2473,2202,3864
$GC,885,-1.65,-77.9,57.5,-9.0,151,891,0.00,2.45,0.00,0.000,4,0.000,0.044,2473,796,3863
$GC,981,-1.65,-77.9,66.6,-9.2,168,988,0.00,1.85,0.00,0.000,6,0.000,0.034,2473,1859,3863
$GC,1124,-1.65,-77.9,78.9,-8.8,193,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1858,3864
$GC,1264,-1.65,-77.9,91.0,-7.8,218,1271,0.00,2.47,0.00,0.000,4,0.000,0.047,2473,3275,3864
$GC,1344,-1.65,-77.9,97.8,-8.3,232,1351,0.00,1.85,0.00,0.000,6,0.000,0.030,2473,2191,3863
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1467,begin apogee
$GC,1472,-0.31,0.0,107.2,8.0,254,1512,1.45,0.00,32.95,0.692,6,0.097,0.000,2765,2191,3699
$STATE,1513,end apogee,CONTROL_FINISHED_OK
$STATE,1513,begin climb
$GC,1515,1.65,77.9,108.2,0.0,261,1584,1.92,2.53,61.30,0.683,4,0.048,0.044,3204,803,3382
$GC,1613,1.65,77.9,101.3,10.4,278,1619,0.00,1.85,0.00,0.000,6,0.000,0.032,3204,1866,3382
$GC,1755,1.65,77.9,85.8,10.6,303,1761,0.00,2.47,0.00,0.000,4,0.000,0.048,3204,3276,3382
$GC,1834,1.65,77.9,77.0,10.3,317,1840,0.00,1.83,0.00,0.000,6,0.000,0.029,3204,2192,3382
$GC,1975,1.65,77.9,62.9,10.4,342,1982,0.00,2.42,0.00,0.000,4,0.000,0.045,3204,803,3382
$GC,2044,1.65,77.9,55.6,10.5,354,2050,0.00,1.85,0.00,0.000,6,0.000,0.032,3204,1874,3382
$GC,2186,1.66,82.6,41.8,9.6,379,2198,0.00,1.92,5.50,0.513,4,0.000,0.045,3204,803,3363
$GC,2227,1.66,82.6,37.7,10.3,386,2233,0.00,1.85,0.00,0.000,6,0.000,0.032,3204,1871,3363
$GC,2302,1.66,82.6,30.3,10.1,399,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1872,3363
$GC,2376,1.67,89.5,23.2,9.4,412,2389,0.00,2.47,7.07,0.545,4,0.000,0.061,3204,3280,3335
$GC,2448,1.67,93.2,16.3,9.7,424,2461,0.00,1.85,4.60,0.463,6,0.000,0.030,3205,2202,3320
$GC,2529,1.67,94.0,8.1,9.9,438,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2202,3320
$STATE,2550,end climb,SURFACE_DEPTH_REACHED
$STATE,2550,begin surface coast
$FINISH,3.8,1.021521
$STATE,2630,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2652,317.33,0.611,0,0,1254,600.00
$SM_GC,1.16,0.00,0.00,317.33,0.000,0.000,0.611,434,2196,1254,-11.07,-0.11,600.00
$IRIDIUM_FIX,4748.51,-12221.84,070398,101023
$TT8_MAMPS,0.029146
$HUMID,1464
$INTERNAL_PRESSURE,9.16681
$TCM_TEMP,16.10
$XPDR_PINGS,4
$24V_AH,23.4,1.986
$10V_AH,10.1,0.914
$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,28.250,42.100,111.425,317.325,0.000,28.807,32.887,196.813,1.000,0.000,0.000,30.953,708.086,882.087,558.721,826.197,377.428,33.325,973.047,0.000,816.018,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,99.710,691.834,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,307.749,240.488,544.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22182,456
$CAP_FILE_SIZE,51487,2
$CFSIZE,260165632,257679360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,120802,4806.374,-12222.464,11,1.8,11,18.3