version: 66.04
glider: 139
mission: 7
dive: 6
start: 10 7 109 22 10 25
data:
$ID,139
$MISSION,7
$DIVE,6
$D_SURF,3
$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,67
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,51904
$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,300
$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,25000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2117319.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$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,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2705
$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,3
$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,-14.231706
$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,6
$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,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,220455,4806.848,-12222.736,9,2.0,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-70.9
$GPS2,220938,4806.843,-12222.729,12,1.2,12,18.3
$SPEED_LIMITS,0.129,0.184
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,-0.155
$KALMAN_X,-339.1,-231.6,-152.7,1263.8,-28.9
$KALMAN_Y,-324.9,-241.2,-170.1,-298.1,-5.2
$MHEAD_RNG_PITCHd_Wd,128.7,1802,-19.0,-7.463
$D_GRID,107
$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,-1.29,-77.9,0.0,0.0,0,90,0.00,0.00,-70.88,0.000,6,0.000,0.000,435,2089,3023
$GC,93,-1.29,-77.9,1.7,-1.3,13,113,11.68,2.55,0.00,0.000,4,0.163,0.049,2462,663,3025
$GC,355,-1.29,-77.9,25.2,-7.2,73,362,0.00,2.40,0.00,0.000,6,0.000,0.031,2462,2084,3026
$GC,426,-1.29,-77.9,29.9,-6.7,89,432,0.00,2.50,0.00,0.000,4,0.000,0.051,2462,666,3026
$GC,447,-1.29,-77.9,31.5,-6.6,93,454,0.00,2.40,0.00,0.000,6,0.000,0.031,2462,2088,3026
$GC,517,-1.29,-77.9,36.3,-6.7,109,524,0.00,2.53,0.00,0.000,4,0.000,0.051,2462,665,3026
$GC,535,-1.29,-77.9,37.5,-6.8,112,541,0.00,2.40,0.00,0.000,6,0.000,0.031,2462,2079,3026
$GC,608,-1.29,-77.9,42.5,-6.4,128,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2080,3026
$GC,751,-1.29,-77.9,52.1,-6.5,159,757,0.00,2.50,0.00,0.000,4,0.000,0.051,2462,669,3026
$GC,768,-1.29,-77.9,53.4,-6.8,162,774,0.00,2.40,0.00,0.000,6,0.000,0.031,2462,2083,3026
$GC,913,-1.29,-77.9,63.4,-6.9,193,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2084,3026
$GC,1055,-1.29,-77.9,73.3,-7.2,224,1061,0.00,2.50,0.00,0.000,4,0.000,0.051,2462,670,3025
$GC,1077,-1.29,-77.9,75.0,-7.3,228,1083,0.00,2.40,0.00,0.000,6,0.000,0.031,2462,2086,3026
$GC,1224,-1.29,-77.9,85.3,-7.0,259,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2091,3025
$GC,1366,-1.29,-77.9,94.8,-6.5,290,1372,0.00,2.50,0.00,0.000,4,0.000,0.051,2462,671,3025
$GC,1379,-1.29,-77.9,95.7,-6.5,292,1385,0.00,2.40,0.00,0.000,6,0.000,0.031,2462,2090,3026
$GC,1524,-1.29,-77.9,104.8,-6.3,323,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2093,3025
$STATE,1559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1560,begin apogee
$GC,1565,-0.31,0.0,107.2,6.1,331,1633,1.02,0.00,62.50,0.693,6,0.091,0.000,2673,2093,2705
$STATE,1634,end apogee,CONTROL_FINISHED_OK
$STATE,1634,begin climb
$GC,1636,1.29,77.9,108.4,0.0,343,1705,1.60,0.00,63.67,0.673,6,0.054,0.000,3023,2094,2387
$GC,1842,1.29,77.9,88.5,11.6,385,1848,0.00,2.55,0.00,0.000,4,0.000,0.054,3023,670,2380
$GC,1880,1.29,77.9,83.6,12.5,393,1887,0.00,2.40,0.00,0.000,6,0.000,0.031,3023,2080,2378
$GC,2024,1.29,77.9,67.0,11.4,424,2030,0.00,2.53,0.00,0.000,4,0.000,0.053,3023,671,2378
$GC,2064,1.29,77.9,61.8,12.5,432,2070,0.00,2.40,0.00,0.000,6,0.000,0.031,3023,2081,2377
$GC,2208,1.29,77.9,45.6,11.3,463,2214,0.00,2.53,0.00,0.000,4,0.000,0.053,3022,668,2377
$GC,2257,1.29,77.9,39.4,12.5,473,2263,0.00,2.40,0.00,0.000,6,0.000,0.031,3023,2080,2376
$GC,2327,1.29,77.9,31.7,10.7,489,2334,0.00,2.50,0.00,0.000,4,0.000,0.052,3023,671,2376
$GC,2360,1.29,77.9,27.8,11.6,496,2367,0.00,2.40,0.00,0.000,6,0.000,0.031,3023,2085,2376
$GC,2431,1.29,77.9,19.8,11.1,512,2437,0.00,2.53,0.00,0.000,4,0.000,0.053,3023,661,2376
$GC,2453,1.29,77.9,17.2,11.3,516,2459,0.00,2.40,0.00,0.000,6,0.000,0.031,3023,2084,2376
$GC,2524,1.29,77.9,9.8,10.2,532,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2089,2376
$GC,2594,1.29,77.9,3.8,7.6,548,2601,0.00,2.42,0.00,0.000,4,0.000,0.041,3023,3486,2376
$STATE,2609,end climb,SURFACE_DEPTH_REACHED
$STATE,2609,begin surface coast
$FINISH,0.4,1.022027
$STATE,2660,end surface coast,CONTROL_FINISHED_OK
$STATE,2660,begin surface
$SM_CCo,2684,123.97,0.617,0,0,1481,300.00
$SM_GC,0.92,0.00,0.00,123.97,0.000,0.000,0.617,435,2072,1481,-10.63,-0.20,300.00
$IRIDIUM_FIX,4748.51,-12226.29,010199,212110
$TT8_MAMPS,0.029146
$HUMID,1614
$INTERNAL_PRESSURE,9.32307
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,44.1
$24V_AH,23.4,0.837
$10V_AH,10.1,0.818
$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,25.925,58.975,126.175,123.975,0.000,31.047,34.138,119.994,0.500,0.000,0.000,13.051,880.602,526.123,376.966,997.746,306.783,33.326,863.926,0.000,996.471,0.000,5.536,0.000
$DEVICE_MAMPS,162.604,53.690,692.601,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.455,294.109,651.408,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28610,563
$CAP_FILE_SIZE,56340,0
$CFSIZE,260165632,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,225816,4806.721,-12222.496,7,2.6,26,18.3