version: 66.04
glider: 139
mission: 7
dive: 11
start: 10 8 109 2 53 37
data:
$ID,139
$MISSION,7
$DIVE,11
$D_SURF,2
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-2117410.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,1950
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,38
$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,10
$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
$GPS1,024725,4806.315,-12222.363,40,1.2,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.4
$GPS2,025243,4806.250,-12222.338,11,1.1,11,18.3
$SPEED_LIMITS,0.104,0.250
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,0.207
$KALMAN_X,84.4,-257.1,103.5,1086.4,314.4
$KALMAN_Y,-1026.9,99.6,319.8,-1511.6,-430.9
$MHEAD_RNG_PITCHd_Wd,307.7,3837,-9.1,-6.024
$D_GRID,150
$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,-0.81,-194.6,0.0,0.0,0,103,0.00,0.00,-84.68,0.000,6,0.000,0.000,430,1954,3500
$GC,106,-0.81,-194.6,4.0,-3.7,15,125,12.30,2.40,0.00,0.000,4,0.163,0.039,2564,3353,3502
$GC,170,-0.81,-194.6,16.6,-12.4,28,176,0.00,2.42,0.00,0.000,6,0.000,0.038,2564,1945,3503
$GC,241,-0.81,-194.6,21.2,-6.4,44,247,0.00,2.50,0.00,0.000,4,0.000,0.055,2564,538,3503
$GC,279,-0.81,-194.6,23.9,-7.0,52,286,0.00,2.38,0.00,0.000,6,0.000,0.030,2564,1945,3503
$GC,349,-0.81,-194.6,28.4,-6.6,68,356,0.00,2.42,0.00,0.000,4,0.000,0.040,2565,3353,3503
$GC,375,-0.81,-194.6,30.2,-6.9,73,382,0.00,2.45,0.00,0.000,6,0.000,0.037,2564,1940,3503
$GC,448,-0.81,-194.6,35.1,-6.7,89,454,0.00,2.50,0.00,0.000,4,0.000,0.055,2564,540,3503
$GC,485,-0.81,-194.6,38.0,-7.0,97,492,0.00,2.40,0.00,0.000,6,0.000,0.030,2564,1960,3503
$GC,559,-0.81,-194.6,42.9,-6.6,113,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1965,3503
$GC,699,-0.81,-194.6,52.2,-6.5,144,705,0.00,2.55,0.00,0.000,4,0.000,0.055,2564,543,3503
$GC,734,-0.81,-194.6,54.5,-6.7,151,740,0.00,2.40,0.00,0.000,6,0.000,0.031,2564,1957,3504
$GC,876,-0.81,-194.6,63.9,-6.4,182,882,0.00,2.55,0.00,0.000,4,0.000,0.055,2564,539,3504
$GC,902,-0.81,-194.6,65.8,-6.6,187,909,0.00,2.40,0.00,0.000,6,0.000,0.030,2565,1957,3504
$GC,1044,-0.81,-194.6,75.4,-6.6,218,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1962,3504
$GC,1190,-0.81,-194.6,84.4,-6.1,249,1196,0.00,2.55,0.00,0.000,4,0.000,0.055,2564,536,3503
$GC,1240,-0.81,-194.6,87.8,-6.7,259,1246,0.00,2.40,0.00,0.000,6,0.000,0.030,2564,1956,3504
$GC,1384,-0.81,-194.6,97.1,-6.3,290,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1961,3503
$GC,1527,-0.81,-194.6,106.2,-6.4,321,1533,0.00,2.55,0.00,0.000,4,0.000,0.058,2564,534,3503
$GC,1585,-0.81,-194.6,110.1,-6.9,333,1591,0.00,2.40,0.00,0.000,6,0.000,0.030,2564,1957,3504
$STATE,1671,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1671,begin apogee
$GC,1677,-0.31,0.0,115.6,6.1,352,1836,0.50,0.00,152.40,0.696,6,0.075,0.000,2672,1829,2705
$STATE,1838,end apogee,CONTROL_FINISHED_OK
$STATE,1838,begin climb
$GC,1841,0.81,194.6,118.9,0.0,380,2008,1.12,2.60,157.12,0.676,4,0.057,0.061,2920,455,1910
$GC,2032,0.81,194.6,105.3,10.2,414,2039,0.00,2.40,0.00,0.000,6,0.000,0.030,2919,1860,1905
$GC,2179,0.81,194.6,90.6,9.9,445,2185,0.00,2.60,0.00,0.000,4,0.000,0.061,2920,448,1902
$GC,2245,0.81,194.6,82.9,11.6,459,2251,0.00,2.40,0.00,0.000,6,0.000,0.030,2920,1856,1900
$GC,2388,0.81,194.6,68.1,10.1,490,2394,0.00,2.58,0.00,0.000,4,0.000,0.061,2920,454,1900
$GC,2450,0.81,194.6,60.9,11.7,503,2456,0.00,2.38,0.00,0.000,6,0.000,0.030,2920,1856,1898
$GC,2594,0.81,194.6,46.2,10.1,534,2601,0.00,2.58,0.00,0.000,4,0.000,0.060,2920,449,1898
$GC,2643,0.81,194.6,40.4,11.2,544,2649,0.00,2.38,0.00,0.000,6,0.000,0.030,2920,1852,1897
$GC,2777,0.81,194.6,27.6,9.5,575,2784,0.00,2.55,0.00,0.000,4,0.000,0.061,2920,450,1897
$GC,2835,0.81,194.6,21.2,10.9,588,2841,0.00,2.38,0.00,0.000,6,0.000,0.031,2920,1858,1896
$GC,2906,0.81,194.6,14.3,9.4,604,2913,0.00,2.55,0.00,0.000,4,0.000,0.066,2920,451,1896
$GC,2936,0.81,194.6,11.1,10.2,610,2943,0.00,2.38,0.00,0.000,6,0.000,0.030,2920,1864,1896
$GC,3007,0.81,194.6,4.7,9.0,626,3013,0.00,2.55,0.00,0.000,4,0.000,0.060,2920,453,1896
$STATE,3034,end climb,SURFACE_DEPTH_REACHED
$STATE,3034,begin surface coast
$FINISH,0.5,1.021546
$STATE,3052,end surface coast,CONTROL_FINISHED_OK
$STATE,3052,begin surface
$SM_CCo,3076,58.85,0.619,0,0,1482,300.00
$SM_GC,1.00,0.00,0.00,58.85,0.000,0.000,0.619,434,1962,1482,-10.63,0.34,300.00
$IRIDIUM_FIX,4748.51,-12219.12,020199,010112
$TT8_MAMPS,0.029146
$HUMID,1608
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,17.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.1,35.3
$24V_AH,23.3,1.179
$10V_AH,10.1,1.101
$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,25.050,74.400,309.525,58.850,0.000,29.835,27.682,155.864,2.250,0.000,0.000,11.239,954.808,565.902,459.891,1122.383,349.591,33.341,1040.102,0.000,1116.135,0.000,14.327,0.000
$DEVICE_MAMPS,163.371,65.962,695.669,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.403,311.575,698.900,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31721,636
$CAP_FILE_SIZE,62237,0
$CFSIZE,260165632,257847296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,034658,4806.524,-12222.478,10,2.5,29,18.3