version: 66.04
glider: 139
mission: 7
dive: 19
start: 10 8 109 11 16 26
data:
$ID,139
$MISSION,7
$DIVE,19
$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,-2117608.8
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,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,22
$R_STBD_OVSHOOT,34
$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
$GPS1,110928,4807.504,-12223.516,13,3.4,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.9
$GPS2,111536,4807.459,-12223.474,13,1.2,29,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,0.121
$KALMAN_X,1966.4,582.9,-292.3,-2637.6,211.2
$KALMAN_Y,-3451.0,82.8,251.1,3228.7,-119.1
$MHEAD_RNG_PITCHd_Wd,297.6,1195,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.10,-77.9,0.0,0.0,0,85,0.00,0.00,-63.85,0.000,6,0.000,0.000,437,1789,3023
$GC,88,-1.10,-77.9,2.7,-1.9,12,108,11.98,2.50,0.00,0.000,4,0.166,0.051,2494,398,3024
$GC,346,-1.10,-77.9,26.6,-6.3,72,352,0.00,2.35,0.00,0.000,6,0.000,0.029,2494,1801,3026
$GC,417,-1.10,-77.9,30.8,-5.6,88,424,0.00,2.50,0.00,0.000,4,0.000,0.054,2494,396,3026
$GC,496,-1.10,-77.9,35.8,-6.5,106,502,0.00,2.38,0.00,0.000,6,0.000,0.029,2494,1813,3026
$GC,567,-1.10,-77.9,39.8,-5.3,122,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1819,3026
$GC,642,-1.10,-77.9,44.0,-5.6,138,649,0.00,2.38,0.00,0.000,4,0.000,0.040,2494,3200,3026
$GC,682,-1.10,-77.9,46.4,-5.9,146,689,0.00,2.42,0.00,0.000,6,0.000,0.037,2494,1792,3025
$GC,828,-1.10,-77.9,54.8,-6.0,177,834,0.00,2.45,0.00,0.000,4,0.000,0.038,2494,3206,3026
$GC,908,-1.10,-77.9,59.7,-6.0,194,914,0.00,2.45,0.00,0.000,6,0.000,0.038,2494,1793,3026
$GC,1054,-1.10,-77.9,68.3,-5.8,225,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1793,3026
$GC,1194,-1.10,-77.9,76.7,-5.9,256,1200,0.00,2.45,0.00,0.000,4,0.000,0.038,2494,3207,3026
$GC,1315,-1.10,-77.9,84.3,-6.4,282,1321,0.00,2.45,0.00,0.000,6,0.000,0.038,2494,1793,3026
$GC,1461,-1.10,-77.9,92.6,-5.7,313,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1794,3026
$GC,1602,-1.10,-77.9,100.8,-5.7,344,1609,0.00,2.45,0.00,0.000,4,0.000,0.038,2494,3211,3026
$GC,1656,-1.10,-77.9,104.0,-6.1,355,1662,0.00,2.45,0.00,0.000,6,0.000,0.038,2494,1793,3026
$STATE,1671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1671,begin apogee
$GC,1677,-0.31,0.0,105.0,6.0,358,1746,0.82,0.00,62.25,0.699,6,0.087,0.000,2665,1859,2704
$STATE,1746,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1749,1.10,77.9,106.4,0.0,370,1817,1.42,0.00,62.95,0.683,6,0.059,0.000,2974,1859,2387
$GC,1952,1.10,77.9,90.7,9.6,412,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1859,2381
$GC,2094,1.10,77.9,77.0,9.3,443,2100,0.00,2.55,0.00,0.000,4,0.000,0.055,2974,443,2380
$GC,2120,1.10,77.9,74.3,9.6,448,2126,0.00,2.38,0.00,0.000,6,0.000,0.029,2974,1847,2379
$GC,2265,1.10,77.9,60.9,9.1,479,2271,0.00,2.55,0.00,0.000,4,0.000,0.056,2974,435,2379
$GC,2277,1.10,77.9,59.5,9.1,481,2283,0.00,2.40,0.00,0.000,6,0.000,0.030,2973,1854,2378
$GC,2421,1.10,77.9,46.1,9.3,512,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1858,2378
$GC,2557,1.10,77.9,33.9,8.9,543,2564,0.00,2.53,0.00,0.000,4,0.000,0.054,2974,445,2378
$GC,2570,1.10,77.9,32.7,8.9,545,2576,0.00,2.38,0.00,0.000,6,0.000,0.029,2974,1861,2378
$GC,2641,1.10,77.9,26.5,8.5,561,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1867,2378
$GC,2711,1.10,77.9,20.8,8.2,577,2717,0.00,2.55,0.00,0.000,4,0.000,0.055,2974,436,2378
$GC,2742,1.10,77.9,18.1,8.5,583,2748,0.00,2.38,0.00,0.000,6,0.000,0.029,2974,1849,2377
$GC,2814,1.10,77.9,12.2,8.2,599,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1854,2377
$GC,2883,1.10,77.9,6.9,7.6,615,2890,0.00,2.42,0.00,0.000,4,0.000,0.040,2974,3258,2377
$GC,2916,1.10,77.9,4.3,7.7,622,2923,0.00,2.42,0.00,0.000,6,0.000,0.037,2974,1850,2378
$STATE,2943,end climb,SURFACE_DEPTH_REACHED
$STATE,2943,begin surface coast
$FINISH,0.6,1.020778
$STATE,2999,end surface coast,CONTROL_FINISHED_OK
$STATE,2999,begin surface
$SM_CCo,3020,119.68,0.633,0,0,1562,280.13
$SM_GC,0.95,0.00,0.00,119.68,0.000,0.000,0.633,435,1790,1562,-10.59,-0.28,280.13
$IRIDIUM_FIX,4748.51,-12224.57,020199,101040
$TT8_MAMPS,0.028379
$HUMID,1600
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,23.3,1.645
$10V_AH,10.1,1.599
$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,25.800,53.925,125.200,119.675,0.000,24.881,25.242,197.667,0.250,0.000,0.000,29.452,1006.434,604.534,370.346,1143.773,390.379,33.301,905.616,0.000,1130.485,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,79.768,698.737,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.248,335.487,738.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31648,641
$CAP_FILE_SIZE,61648,0
$CFSIZE,260165632,257544192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,120932,4807.649,-12223.724,10,1.5,10,18.3