version: 66.04
glider: 139
mission: 4
dive: 17
start: 12 11 108 12 14 55
data:
$ID,139
$MISSION,4
$DIVE,17
$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,-1277810
$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
$GPS1,120802,4806.374,-12222.464,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.2
$GPS2,121405,4806.361,-12222.451,10,2.5,29,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,0.157
$KALMAN_X,-565.1,85.4,-188.2,1561.6,-5.3
$KALMAN_Y,-1736.5,-202.2,192.6,-1524.7,60.7
$MHEAD_RNG_PITCHd_Wd,305.6,3589,-24.9,-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,15,-1.65,-77.9,0.0,0.0,0,115,0.00,0.00,-97.85,0.000,2,0.000,0.000,434,2196,3715
$GC,118,-1.65,-77.9,3.4,-3.9,17,139,11.90,1.95,-4.20,0.000,4,0.166,0.100,2475,3276,3863
$GC,393,-1.65,-77.9,17.9,-7.1,65,399,0.00,1.85,0.00,0.000,6,0.000,0.031,2474,2199,3863
$GC,468,-1.65,-77.9,23.8,-8.4,78,474,0.00,1.90,0.00,0.000,4,0.000,0.044,2475,3268,3864
$GC,726,-1.65,-77.9,48.2,-10.7,124,732,0.00,1.83,0.00,0.000,6,0.000,0.030,2474,2203,3863
$GC,868,-1.65,-77.9,61.2,-9.3,149,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2203,3864
$GC,1009,-1.65,-77.9,73.6,-9.1,174,1015,0.00,2.45,0.00,0.000,4,0.000,0.051,2474,800,3864
$GC,1050,-1.65,-77.9,77.3,-9.3,181,1056,0.00,1.83,0.00,0.000,6,0.000,0.034,2474,1873,3864
$GC,1192,-1.65,-77.9,89.4,-8.4,206,1198,0.00,2.45,0.00,0.000,4,0.000,0.047,2475,3276,3864
$GC,1272,-1.65,-77.9,96.3,-9.2,220,1278,0.00,1.85,0.00,0.000,6,0.000,0.030,2475,2193,3864
$STATE,1378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1378,begin apogee
$GC,1383,-0.31,0.0,105.2,8.1,239,1423,1.45,0.00,32.97,0.688,6,0.097,0.000,2765,2193,3700
$STATE,1423,end apogee,CONTROL_FINISHED_OK
$STATE,1423,begin climb
$GC,1426,1.65,77.9,106.2,0.0,246,1495,1.95,2.53,61.33,0.683,4,0.046,0.045,3205,805,3382
$GC,1524,1.66,84.3,99.8,9.4,263,1536,0.00,1.83,6.62,0.555,6,0.000,0.032,3204,1871,3356
$GC,1672,1.66,84.3,83.0,11.0,289,1678,0.00,2.47,0.00,0.000,4,0.000,0.048,3204,3277,3356
$GC,1746,1.66,84.3,74.5,11.4,302,1752,0.00,1.85,0.00,0.000,6,0.000,0.030,3204,2202,3356
$GC,1888,1.66,84.3,59.2,11.2,327,1894,0.00,2.45,0.00,0.000,4,0.000,0.045,3204,802,3356
$GC,1946,1.66,84.3,52.9,11.2,337,1951,0.00,1.83,0.00,0.000,6,0.000,0.031,3204,1878,3356
$GC,2087,1.66,87.7,38.3,9.7,362,2100,0.00,1.92,4.62,0.477,4,0.000,0.045,3204,807,3343
$GC,2129,1.66,87.7,33.8,10.7,369,2135,0.00,1.83,0.00,0.000,6,0.000,0.032,3205,1865,3342
$GC,2204,1.66,88.0,26.1,10.0,382,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1866,3342
$GC,2278,1.68,96.7,19.1,9.3,395,2291,0.00,2.53,8.60,0.564,4,0.000,0.078,3204,3275,3306
$GC,2332,1.69,105.6,14.2,9.2,404,2346,0.00,1.85,8.73,0.560,6,0.000,0.029,3204,2196,3269
$GC,2414,1.70,113.8,6.5,9.3,418,2427,0.00,2.50,8.05,0.547,4,0.000,0.044,3204,804,3236
$STATE,2432,end climb,SURFACE_DEPTH_REACHED
$STATE,2432,begin surface coast
$FINISH,4.2,1.021840
$STATE,2517,end surface coast,CONTROL_FINISHED_OK
$STATE,2517,begin surface
$SM_CCo,2541,297.95,0.607,0,0,1254,600.00
$SM_GC,1.28,0.00,0.00,297.95,0.000,0.000,0.607,433,1881,1254,-11.07,-9.02,600.00
$IRIDIUM_FIX,4748.51,-12221.84,070398,111103
$TT8_MAMPS,0.029146
$HUMID,1453
$INTERNAL_PRESSURE,9.16681
$TCM_TEMP,17.50
$XPDR_PINGS,3
$24V_AH,23.4,2.075
$10V_AH,10.1,0.960
$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,28.125,41.525,130.925,297.950,0.000,23.352,27.126,186.016,0.750,0.000,0.000,32.326,674.147,843.980,542.419,795.575,340.909,33.329,939.651,0.000,780.823,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,99.710,687.999,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,294.758,231.031,524.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22232,436
$CAP_FILE_SIZE,48684,1
$CFSIZE,260165632,257650688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111208,130304,4806.531,-12222.541,12,1.6,12,18.3