version: 66.04
glider: 139
mission: 4
dive: 8
start: 12 11 108 2 18 31
data:
$ID,139
$MISSION,4
$DIVE,8
$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,-1277581.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,32
$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,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
$GPS1,021156,4806.863,-12222.941,38,1.9,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.4
$GPS2,021739,4806.821,-12222.905,13,1.8,13,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.177
$KALMAN_X,-556.9,-226.6,-4.6,1120.2,70.8
$KALMAN_Y,-515.1,-208.2,-57.1,-1635.5,-83.9
$MHEAD_RNG_PITCHd_Wd,316.7,352,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.65,-77.9,0.0,0.0,0,114,0.00,0.00,-96.68,0.000,2,0.000,0.000,431,1869,2920
$GC,117,-1.65,-77.9,3.8,-10.0,17,160,12.05,2.55,-25.85,0.000,4,0.158,0.090,2537,3276,3862
$GC,307,-1.65,-77.9,9.6,-4.0,50,313,0.00,1.85,0.00,0.000,6,0.000,0.031,2537,2202,3863
$GC,382,-1.65,-77.9,12.4,-3.6,63,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2202,3864
$GC,456,-1.65,-77.9,16.2,-4.9,76,462,0.00,2.45,0.00,0.000,4,0.000,0.046,2537,801,3864
$GC,480,-1.65,-77.9,17.7,-6.1,80,486,0.00,1.85,0.00,0.000,6,0.000,0.036,2537,1863,3864
$GC,555,-1.65,-77.9,22.3,-6.0,93,561,0.00,2.47,0.00,0.000,4,0.000,0.067,2537,3274,3864
$GC,602,-1.65,-77.9,25.5,-6.4,101,608,0.00,1.85,0.00,0.000,6,0.000,0.031,2537,2199,3864
$GC,677,-1.65,-77.9,30.5,-6.7,114,683,0.00,2.12,0.00,0.000,4,0.000,0.077,2537,959,3864
$GC,724,-1.65,-77.9,33.9,-7.0,122,730,0.00,1.58,0.00,0.000,6,0.000,0.035,2537,1864,3864
$GC,799,-1.65,-77.9,39.3,-7.4,135,805,0.00,2.28,0.00,0.000,4,0.000,0.081,2537,3185,3864
$GC,845,-1.65,-77.9,42.8,-7.2,143,851,0.00,1.65,0.00,0.000,6,0.000,0.030,2537,2199,3864
$GC,987,-1.65,-77.9,52.9,-7.3,168,993,0.00,1.90,0.00,0.000,4,0.000,0.044,2536,3272,3864
$GC,1022,-1.65,-77.9,55.7,-7.9,174,1028,0.00,1.83,0.00,0.000,6,0.000,0.030,2537,2203,3864
$GC,1164,-1.65,-77.9,66.4,-7.7,199,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2203,3864
$GC,1305,-1.65,-77.9,76.8,-7.9,224,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2203,3864
$GC,1446,-1.65,-77.9,86.9,-7.5,249,1452,0.00,1.88,0.00,0.000,4,0.000,0.059,2537,3278,3864
$GC,1489,-1.65,-77.9,90.1,-7.4,256,1496,0.00,1.85,0.00,0.000,6,0.000,0.029,2536,2195,3864
$GC,1632,-1.65,-77.9,99.8,-6.9,281,1638,0.00,2.42,0.00,0.000,4,0.000,0.045,2537,800,3864
$GC,1667,-1.65,-77.9,102.3,-6.9,287,1673,0.00,1.83,0.00,0.000,6,0.000,0.035,2537,1874,3864
$STATE,1682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1682,begin apogee
$GC,1688,-0.31,0.0,103.4,6.7,290,1727,1.40,0.00,33.08,0.686,6,0.087,0.000,2825,1875,3699
$STATE,1728,end apogee,CONTROL_FINISHED_OK
$STATE,1728,begin climb
$GC,1730,1.65,77.9,103.9,0.0,297,1799,1.90,1.98,61.50,0.673,4,0.037,0.045,3272,801,3382
$GC,1817,1.66,80.3,98.3,9.8,312,1825,0.00,1.85,3.70,0.412,6,0.000,0.032,3272,1866,3372
$GC,1962,1.66,80.3,80.6,12.1,337,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1866,3372
$GC,2102,1.66,80.3,63.4,11.2,362,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1866,3372
$GC,2244,1.66,80.3,47.5,11.5,387,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1866,3372
$GC,2384,1.66,80.3,31.7,11.3,412,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1866,3372
$GC,2458,1.66,80.3,23.7,10.8,425,2464,0.00,1.90,0.00,0.000,4,0.000,0.045,3272,800,3372
$GC,2482,1.66,80.3,20.9,11.7,429,2488,0.00,1.83,0.00,0.000,6,0.000,0.081,3272,1864,3372
$GC,2557,1.66,86.5,13.2,9.5,442,2568,0.00,0.00,6.65,0.532,6,0.000,0.000,3272,1864,3347
$GC,2637,1.75,156.6,6.9,4.0,456,2697,0.00,1.95,54.72,0.618,4,0.000,0.044,3272,803,3061
$GC,2765,1.88,266.3,7.1,0.6,478,2859,0.12,1.85,85.10,0.609,6,0.051,0.032,3316,1877,2613
$GC,2927,2.03,387.8,6.7,-0.4,506,2941,0.12,0.00,11.52,0.558,2,0.057,0.000,3349,1877,2560
$STATE,2942,end climb,NO_VERTICAL_VELOCITY
$STATE,2942,begin surface
$SM_CCo,2945,410.70,0.597,0,0,450,797.22
$SM_GC,1.11,13.15,0.00,0.00,0.038,0.000,0.000,431,1877,447,-11.30,-9.16,798.21
$IRIDIUM_FIX,4748.51,-12226.29,070398,010147
$TT8_MAMPS,0.029146
$HUMID,1489
$INTERNAL_PRESSURE,9.06915
$TCM_TEMP,17.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,90.1,30.3
$24V_AH,23.4,1.133
$10V_AH,10.1,0.473
$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,28.750,43.700,256.275,410.700,0.000,28.690,31.170,167.711,2.500,0.000,0.000,14.579,754.987,996.452,777.343,915.012,364.863,33.334,1278.296,0.000,914.080,0.000,8.596,0.000
$DEVICE_MAMPS,158.002,89.739,685.698,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.495,276.436,635.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25368,508
$CAP_FILE_SIZE,60371,4
$CFSIZE,260165632,257966080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111208,031709,4806.823,-12222.907,12,2.0,12,18.3