version: 66.04
glider: 139
mission: 4
dive: 4
start: 12 10 108 22 4 12
data:
$ID,139
$MISSION,4
$DIVE,4
$D_SURF,4
$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,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,-1277521.9
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2900
$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,28
$R_STBD_OVSHOOT,39
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$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
$GPS1,215920,4807.663,-12223.426,32,1.8,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.8
$GPS2,220323,4807.672,-12223.467,15,3.8,34,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,-0.155
$KALMAN_X,-460.8,-209.0,-180.1,493.3,-93.8
$KALMAN_Y,22.0,-24.4,-33.3,-815.6,-11.4
$MHEAD_RNG_PITCHd_Wd,124.2,1373,-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,-96.95,0.000,2,0.000,0.000,429,2220,2837
$GC,118,-1.65,-77.9,3.4,-8.9,17,172,12.25,2.58,-33.42,0.000,4,0.168,0.061,2531,793,3863
$GC,276,-1.65,-77.9,8.4,-1.7,44,282,0.00,2.12,0.00,0.000,6,0.000,0.061,2531,2053,3864
$GC,350,-1.65,-77.9,10.4,-3.1,57,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2053,3864
$GC,425,-1.65,-77.9,14.0,-5.7,70,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2053,3864
$GC,499,-1.65,-77.9,18.2,-6.3,83,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2053,3865
$GC,573,-1.65,-77.9,23.0,-6.5,96,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2053,3865
$GC,647,-1.65,-77.9,27.5,-5.9,109,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2053,3865
$GC,721,-1.65,-77.9,32.7,-7.1,122,727,0.00,2.72,0.00,0.000,4,0.000,0.061,2530,3596,3865
$GC,751,-1.65,-77.9,35.1,-8.3,127,757,0.00,2.38,0.00,0.000,6,0.000,0.031,2531,2196,3865
$GC,825,-1.65,-77.9,40.8,-7.4,140,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2196,3865
$GC,967,-1.65,-77.9,51.6,-7.3,165,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2196,3865
$GC,1107,-1.65,-77.9,61.8,-7.0,190,1114,0.00,2.45,0.00,0.000,4,0.000,0.046,2531,3594,3865
$GC,1160,-1.65,-77.9,65.7,-7.6,199,1166,0.00,2.38,0.00,0.000,6,0.000,0.031,2530,2191,3865
$GC,1301,-1.65,-77.9,75.8,-7.0,224,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2190,3865
$GC,1443,-1.65,-77.9,85.7,-7.6,249,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2190,3865
$GC,1584,-1.65,-77.9,95.5,-6.9,274,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2190,3865
$GC,1725,-1.65,-77.9,104.8,-6.7,299,1731,0.00,2.45,0.00,0.000,4,0.000,0.046,2531,3594,3865
$STATE,1736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1736,begin apogee
$GC,1743,-0.31,0.0,105.6,6.8,301,1783,1.45,0.00,33.08,0.692,6,0.088,0.000,2829,2197,3700
$STATE,1784,end apogee,CONTROL_FINISHED_OK
$STATE,1784,begin climb
$GC,1786,1.65,77.9,106.4,0.0,308,1860,1.90,2.53,61.62,0.680,4,0.036,0.045,3268,797,3382
$GC,1918,1.65,77.9,95.3,13.3,331,1925,0.00,2.42,0.00,0.000,6,0.000,0.038,3268,2193,3382
$GC,2060,1.65,77.9,77.6,12.0,356,2066,0.00,2.47,0.00,0.000,4,0.000,0.046,3268,786,3382
$GC,2168,1.65,77.9,63.9,12.5,375,2174,0.00,2.47,0.00,0.000,6,0.000,0.067,3268,2220,3382
$GC,2310,1.65,77.9,47.6,11.1,400,2316,0.00,2.45,0.00,0.000,4,0.000,0.074,3268,3610,3382
$GC,2328,1.65,77.9,45.5,11.5,403,2334,0.00,2.40,0.00,0.000,6,0.000,0.064,3268,2197,3382
$GC,2470,1.65,77.9,30.2,10.3,428,2476,0.00,2.45,0.00,0.000,4,0.000,0.079,3268,797,3383
$GC,2617,1.65,77.9,13.6,10.8,454,2624,0.00,2.40,0.00,0.000,6,0.000,0.038,3268,2203,3383
$GC,2692,1.67,91.9,6.9,8.8,467,2711,0.00,2.47,12.50,0.595,4,0.000,0.044,3268,794,3325
$STATE,2897,end climb,NO_VERTICAL_VELOCITY
$STATE,2897,begin surface
$SM_CCo,2900,482.35,0.603,0,0,450,797.22
$SM_GC,0.95,12.82,0.00,0.00,0.040,0.000,0.000,426,2201,446,-11.31,0.03,798.21
$IRIDIUM_FIX,4751.72,-12223.57,060398,222228
$TT8_MAMPS,0.029146
$HUMID,1495
$INTERNAL_PRESSURE,9.07892
$TCM_TEMP,17.30
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,80.2,45.3
$24V_AH,23.4,0.648
$10V_AH,10.1,0.266
$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,28.425,44.025,107.200,482.350,0.000,0.000,0.000,0.000,2.500,0.000,0.000,36.853,766.084,1058.301,754.531,928.210,80.406,32.338,1210.539,0.000,901.095,0.000,5.539,0.000
$DEVICE_MAMPS,167.973,79.001,691.834,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,339.657,267.515,616.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25349,503
$CAP_FILE_SIZE,69568,5
$CFSIZE,260165632,258080768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,101208,230337,4807.456,-12223.314,31,0.9,31,18.3