version: 66.04
glider: 139
mission: 7
dive: 18
start: 10 8 109 10 13 48
data:
$ID,139
$MISSION,7
$DIVE,18
$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,83
$T_MISSION,90
$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,280
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2117578.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2738
$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,1800
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,36
$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,0
$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
$GPS1,100613,4807.354,-12223.279,12,2.0,29,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.8
$GPS2,101258,4807.327,-12223.206,21,3.4,40,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.104
$KALMAN_X,1814.4,580.9,-267.6,-2180.0,192.1
$KALMAN_Y,-3006.1,16.4,-5.6,2861.2,-22.7
$MHEAD_RNG_PITCHd_Wd,290.0,1587,-16.1,-6.024
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.10,-77.9,0.0,0.0,0,87,0.00,0.00,-64.50,0.000,6,0.000,0.000,431,1784,3022
$GC,90,-1.10,-77.9,2.5,-1.6,12,109,11.98,2.47,0.00,0.000,4,0.166,0.051,2492,407,3024
$GC,132,-1.10,-77.9,8.9,-13.8,20,139,0.00,2.35,0.00,0.000,6,0.000,0.030,2493,1800,3025
$GC,203,-1.10,-77.9,13.1,-5.1,36,209,0.00,2.42,0.00,0.000,4,0.000,0.040,2492,3208,3025
$GC,236,-1.10,-77.9,14.9,-5.1,43,243,0.00,2.42,0.00,0.000,6,0.000,0.037,2492,1805,3025
$GC,308,-1.10,-77.9,18.5,-4.9,59,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1805,3025
$GC,379,-1.10,-77.9,21.9,-5.0,75,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1805,3025
$GC,449,-1.10,-77.9,25.8,-5.3,91,456,0.00,2.40,0.00,0.000,4,0.000,0.038,2492,3202,3024
$GC,504,-1.10,-77.9,28.8,-5.8,103,510,0.00,2.45,0.00,0.000,6,0.000,0.038,2492,1791,3024
$GC,575,-1.10,-77.9,32.5,-5.3,119,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1790,3025
$GC,645,-1.10,-77.9,36.3,-5.4,135,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1791,3024
$GC,716,-1.10,-77.9,40.3,-5.7,151,722,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3205,3025
$GC,772,-1.10,-77.9,43.8,-6.0,163,779,0.00,2.45,0.00,0.000,6,0.000,0.038,2492,1794,3024
$GC,917,-1.10,-77.9,52.1,-5.6,194,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1794,3025
$GC,1060,-1.10,-77.9,60.8,-6.1,225,1066,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3209,3024
$GC,1127,-1.10,-77.9,64.8,-6.2,239,1133,0.00,2.45,0.00,0.000,6,0.000,0.038,2492,1794,3024
$GC,1271,-1.10,-77.9,73.4,-5.9,270,1277,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3209,3024
$GC,1315,-1.10,-77.9,76.2,-6.3,279,1321,0.00,2.45,0.00,0.000,6,0.000,0.038,2492,1793,3024
$GC,1459,-1.10,-77.9,85.0,-5.9,310,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1793,3025
$GC,1601,-1.10,-77.9,92.9,-5.2,341,1607,0.00,2.50,0.00,0.000,4,0.000,0.056,2492,391,3025
$GC,1627,-1.10,-77.9,94.5,-5.8,346,1634,0.00,2.38,0.00,0.000,6,0.000,0.030,2492,1802,3025
$GC,1771,-1.10,-77.9,102.5,-5.5,377,1778,0.00,2.40,0.00,0.000,4,0.000,0.039,2492,3200,3025
$STATE,1813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1813,begin apogee
$GC,1820,-0.31,0.0,105.2,5.9,386,1889,0.82,0.00,62.10,0.697,6,0.090,0.000,2662,1842,2704
$STATE,1890,end apogee,CONTROL_FINISHED_OK
$STATE,1890,begin climb
$GC,1893,1.10,77.9,106.5,0.0,398,1961,1.45,0.00,63.10,0.683,6,0.059,0.000,2977,1843,2387
$GC,2095,1.10,77.9,90.7,9.7,440,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1842,2381
$GC,2237,1.10,77.9,77.0,9.4,471,2243,0.00,2.53,0.00,0.000,4,0.000,0.057,2977,439,2380
$GC,2262,1.10,77.9,74.4,9.6,476,2269,0.00,2.40,0.00,0.000,6,0.000,0.028,2977,1856,2379
$GC,2406,1.10,77.9,60.7,9.2,507,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1862,2378
$GC,2547,1.10,77.9,47.8,9.1,538,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1862,2378
$GC,2687,1.10,77.9,35.6,8.6,569,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1862,2379
$GC,2757,1.10,77.9,29.6,8.4,585,2764,0.00,2.55,0.00,0.000,4,0.000,0.056,2977,438,2378
$GC,2774,1.10,77.9,28.0,8.8,588,2781,0.00,2.38,0.00,0.000,6,0.000,0.029,2977,1854,2378
$GC,2847,1.10,77.9,22.0,8.3,604,2853,0.00,2.55,0.00,0.000,4,0.000,0.056,2977,439,2378
$GC,2861,1.10,77.9,20.6,8.3,606,2867,0.00,2.40,0.00,0.000,6,0.000,0.030,2977,1861,2378
$GC,2934,1.10,77.9,14.3,8.6,622,2940,0.00,2.55,0.00,0.000,4,0.000,0.055,2977,433,2378
$GC,2948,1.10,77.9,12.9,8.7,624,2954,0.00,2.38,0.00,0.000,6,0.000,0.029,2977,1847,2377
$GC,3021,1.10,77.9,7.2,7.1,640,3027,0.00,2.42,0.00,0.000,4,0.000,0.041,2977,3256,2377
$STATE,3077,end climb,SURFACE_DEPTH_REACHED
$STATE,3077,begin surface coast
$FINISH,0.8,1.021213
$STATE,3124,end surface coast,CONTROL_FINISHED_OK
$STATE,3126,begin surface
$SM_CCo,3149,121.05,0.627,0,0,1562,280.13
$SM_GC,0.92,0.00,0.00,121.05,0.000,0.000,0.627,437,1789,1562,-10.58,-0.31,280.13
$IRIDIUM_FIX,4748.51,-12224.57,020199,090901
$TT8_MAMPS,0.029146
$HUMID,1596
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.3,1.585
$10V_AH,10.1,1.539
$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,25.875,63.650,125.200,121.050,0.000,25.001,31.627,216.945,0.000,0.000,0.000,41.525,1051.690,609.494,392.343,1199.522,430.770,33.321,955.515,0.000,1176.391,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,56.758,697.203,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.596,351.520,775.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,664
$CAP_FILE_SIZE,66702,0
$CFSIZE,260165632,257568768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,081009,110928,4807.504,-12223.516,13,3.4,32,18.3