version: 66.04
glider: 139
mission: 4
dive: 20
start: 12 11 108 15 0 30
data:
$ID,139
$MISSION,4
$DIVE,20
$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,-1277853.2
$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,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,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
$GPS1,145407,4806.761,-12222.899,26,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.6
$GPS2,145939,4806.744,-12222.917,9,1.4,9,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,0.163
$KALMAN_X,-493.8,94.5,-96.9,817.5,66.9
$KALMAN_Y,-1983.2,-111.7,122.4,-591.1,-66.2
$MHEAD_RNG_PITCHd_Wd,308.2,2685,-24.9,-10.000
$D_GRID,103
$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,-86.20,0.000,2,0.000,0.000,432,2197,3460
$GC,107,-1.65,-77.9,3.0,-1.2,15,138,12.15,1.88,-12.43,0.000,4,0.174,0.104,2474,3276,3861
$GC,285,-1.65,-77.9,7.8,-3.7,46,291,0.00,1.85,0.00,0.000,6,0.000,0.031,2474,2199,3861
$GC,359,-1.65,-77.9,12.6,-7.4,59,365,0.00,1.90,0.00,0.000,4,0.000,0.044,2474,3268,3861
$GC,451,-1.65,-77.9,19.8,-7.9,75,457,0.00,1.83,0.00,0.000,6,0.000,0.031,2474,2205,3862
$GC,525,-1.65,-77.9,26.0,-9.2,88,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2205,3862
$GC,599,-1.65,-77.9,32.5,-9.0,101,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2204,3862
$GC,673,-1.65,-77.9,38.8,-8.2,114,680,0.00,2.45,0.00,0.000,4,0.000,0.045,2474,802,3862
$GC,737,-1.65,-77.9,44.9,-10.0,125,743,0.00,1.83,0.00,0.000,6,0.000,0.081,2474,1869,3861
$GC,878,-1.65,-77.9,58.0,-8.4,150,885,0.00,2.47,0.00,0.000,4,0.000,0.053,2474,3280,3861
$GC,954,-1.65,-77.9,64.9,-9.4,163,960,0.00,1.83,0.00,0.000,6,0.000,0.030,2474,2193,3861
$GC,1095,-1.65,-77.9,77.6,-8.6,188,1101,0.00,1.92,0.00,0.000,4,0.000,0.044,2474,3279,3862
$GC,1119,-1.65,-77.9,79.5,-8.2,192,1125,0.00,1.85,0.00,0.000,6,0.000,0.030,2474,2195,3862
$GC,1261,-1.65,-77.9,91.7,-8.2,217,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2195,3862
$STATE,1399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1405,-0.31,0.0,103.2,7.8,242,1445,1.45,0.00,32.83,0.681,6,0.094,0.000,2767,2195,3699
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1446,begin climb
$GC,1448,1.65,77.9,104.2,0.0,249,1516,1.92,0.00,61.45,0.677,6,0.045,0.000,3209,2194,3382
$GC,1652,1.65,77.9,86.4,10.5,285,1658,0.00,2.45,0.00,0.000,4,0.000,0.044,3209,796,3381
$GC,1698,1.65,77.9,81.3,10.6,293,1704,0.00,1.83,0.00,0.000,6,0.000,0.033,3209,1871,3381
$GC,1839,1.65,77.9,66.3,10.4,318,1845,0.00,2.47,0.00,0.000,4,0.000,0.049,3209,3278,3381
$GC,1857,1.65,77.9,64.5,10.5,321,1863,0.00,1.83,0.00,0.000,6,0.000,0.029,3209,2195,3381
$GC,1999,1.66,82.7,50.0,9.6,346,2011,0.00,2.45,5.55,0.513,4,0.000,0.045,3209,803,3362
$GC,2029,1.66,82.7,47.0,10.2,351,2035,0.00,1.83,0.00,0.000,6,0.000,0.032,3209,1876,3362
$GC,2170,1.66,82.7,32.6,10.1,376,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1876,3362
$GC,2245,1.66,82.7,25.1,10.1,389,2251,0.00,2.45,0.00,0.000,4,0.000,0.081,3209,3275,3362
$GC,2275,1.66,82.7,22.1,10.3,394,2282,0.00,1.83,0.00,0.000,6,0.000,0.029,3209,2206,3362
$GC,2350,1.67,90.9,15.2,9.3,407,2362,0.00,0.00,8.10,0.553,6,0.000,0.000,3209,2206,3329
$GC,2431,1.67,94.0,7.5,9.7,421,2443,0.00,2.50,4.20,0.436,4,0.000,0.044,3209,803,3316
$STATE,2448,end climb,SURFACE_DEPTH_REACHED
$STATE,2448,begin surface coast
$FINISH,3.2,1.022129
$STATE,2471,end surface coast,CONTROL_FINISHED_OK
$STATE,2471,begin surface
$SM_CCo,2495,306.33,0.604,0,0,1254,600.00
$SM_GC,1.16,0.00,0.00,306.33,0.000,0.000,0.604,435,1881,1254,-11.06,-9.05,600.00
$IRIDIUM_FIX,4748.51,-12221.84,070398,141448
$TT8_MAMPS,0.029913
$HUMID,1474
$INTERNAL_PRESSURE,9.17658
$TCM_TEMP,17.40
$XPDR_PINGS,5
$24V_AH,23.4,2.335
$10V_AH,10.1,1.098
$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,28.325,41.275,112.125,306.325,0.000,25.565,32.723,183.102,1.250,0.000,0.000,11.113,670.738,808.531,550.904,760.124,355.682,33.325,950.158,0.000,767.385,0.000,0.535,0.000
$DEVICE_MAMPS,174.109,104.312,681.096,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.709,224.648,512.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22208,428
$CAP_FILE_SIZE,49584,0
$CFSIZE,260165632,257556480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111208,154802,4806.874,-12223.055,13,1.2,13,18.3