version: 66.04
glider: 139
mission: 4
dive: 19
start: 12 11 108 14 4 42
data:
$ID,139
$MISSION,4
$DIVE,19
$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,-1277841.5
$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
$GPS1,135831,4806.672,-12222.690,36,2.0,36,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.4
$GPS2,140351,4806.659,-12222.707,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.152
$KALMAN_X,-457.1,100.0,-150.0,1086.5,82.7
$KALMAN_Y,-1886.4,-127.7,186.2,-893.7,-50.4
$MHEAD_RNG_PITCHd_Wd,303.0,2953,-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,-77.9,0.0,0.0,0,104,0.00,0.00,-86.28,0.000,2,0.000,0.000,433,1874,3409
$GC,107,-1.65,-77.9,3.1,-4.5,15,138,12.05,1.95,-13.60,0.000,4,0.171,0.061,2473,798,3862
$GC,392,-1.65,-77.9,14.2,-7.4,65,398,0.00,1.85,0.00,0.000,6,0.000,0.033,2473,1868,3864
$GC,467,-1.65,-77.9,20.6,-9.3,78,473,0.00,1.90,0.00,0.000,4,0.000,0.045,2474,800,3864
$GC,673,-1.65,-77.9,39.8,-9.8,114,679,0.00,1.85,0.00,0.000,6,0.000,0.033,2474,1869,3864
$GC,748,-1.65,-77.9,47.0,-8.7,127,754,0.00,2.47,0.00,0.000,4,0.000,0.053,2473,3275,3864
$GC,794,-1.65,-77.9,51.3,-9.3,135,800,0.00,1.83,0.00,0.000,6,0.000,0.029,2473,2189,3864
$GC,936,-1.65,-77.9,63.7,-8.7,160,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2189,3864
$GC,1077,-1.65,-77.9,75.3,-8.1,185,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2189,3864
$GC,1218,-1.65,-77.9,86.6,-8.0,210,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2190,3864
$GC,1360,-1.65,-77.9,97.7,-7.4,235,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2189,3864
$STATE,1459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1459,begin apogee
$GC,1464,-0.31,0.0,105.4,7.7,253,1504,1.45,0.00,33.12,0.686,6,0.097,0.000,2765,2189,3699
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1507,1.65,77.9,106.3,0.0,260,1576,1.95,2.25,61.42,0.679,4,0.046,0.074,3203,922,3382
$GC,1610,1.65,77.9,99.0,10.5,278,1616,0.00,1.65,0.00,0.000,6,0.000,0.035,3202,1866,3382
$GC,1751,1.65,77.9,83.7,10.4,303,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1866,3382
$GC,1892,1.65,77.9,68.7,10.7,328,1898,0.00,2.47,0.00,0.000,4,0.000,0.078,3203,3276,3382
$GC,1921,1.65,77.9,65.5,10.9,333,1927,0.00,1.83,0.00,0.000,6,0.000,0.029,3203,2192,3381
$GC,2062,1.65,77.9,51.0,10.3,358,2069,0.00,2.42,0.00,0.000,4,0.000,0.071,3203,802,3382
$GC,2086,1.65,77.9,48.6,10.5,362,2092,0.00,1.85,0.00,0.000,6,0.000,0.032,3203,1874,3382
$GC,2228,1.67,95.4,35.6,8.5,387,2253,0.00,2.53,15.20,0.611,4,0.000,0.081,3203,3272,3310
$GC,2259,1.68,100.2,32.6,9.6,392,2272,0.00,1.85,5.72,0.499,6,0.000,0.029,3203,2202,3290
$GC,2341,1.68,100.2,23.7,11.0,406,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2202,3290
$GC,2414,1.68,100.2,15.7,11.1,419,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2201,3290
$GC,2488,1.69,106.2,8.2,9.5,432,2500,0.00,0.00,6.30,0.519,6,0.000,0.000,3202,2201,3266
$STATE,2510,end climb,SURFACE_DEPTH_REACHED
$STATE,2510,begin surface coast
$FINISH,4.1,1.021060
$STATE,2584,end surface coast,CONTROL_FINISHED_OK
$STATE,2584,begin surface
$SM_CCo,2606,294.95,0.604,0,0,1254,600.00
$SM_GC,1.14,0.00,0.00,294.95,0.000,0.000,0.604,432,2198,1254,-11.08,-0.08,600.00
$IRIDIUM_FIX,4748.51,-12219.12,070398,131326
$TT8_MAMPS,0.029146
$HUMID,1460
$INTERNAL_PRESSURE,9.17658
$TCM_TEMP,17.50
$XPDR_PINGS,5
$24V_AH,23.4,2.248
$10V_AH,10.1,1.053
$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,28.275,28.700,121.775,294.950,0.000,22.868,26.068,167.607,1.250,0.000,0.000,13.184,691.671,869.518,538.298,801.588,319.566,33.321,945.132,0.000,803.565,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,80.535,685.698,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,303.223,234.272,534.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22284,449
$CAP_FILE_SIZE,48387,3
$CFSIZE,260165632,257589248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,145407,4806.761,-12222.899,26,1.4,26,18.3