version: 66.04
glider: 139
mission: 7
dive: 20
start: 10 8 109 12 16 5
data:
$ID,139
$MISSION,7
$DIVE,20
$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,-2117624
$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,30
$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
$GPS1,120932,4807.649,-12223.724,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.9
$GPS2,121514,4807.626,-12223.690,14,1.4,14,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,0.140
$KALMAN_X,2059.8,566.9,-232.3,-3043.0,183.0
$KALMAN_Y,-3737.6,90.3,416.7,3649.7,-231.7
$MHEAD_RNG_PITCHd_Wd,308.0,792,-16.1,-6.024
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.10,-77.9,0.0,0.0,0,85,0.00,0.00,-63.58,0.000,6,0.000,0.000,436,1790,3023
$GC,88,-1.10,-77.9,3.0,-2.3,12,107,11.98,2.47,0.00,0.000,4,0.166,0.047,2492,402,3024
$GC,316,-1.10,-77.9,23.5,-6.5,65,322,0.00,2.35,0.00,0.000,6,0.000,0.029,2493,1804,3026
$GC,387,-1.10,-77.9,27.5,-5.6,81,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1808,3025
$GC,458,-1.10,-77.9,31.4,-5.6,97,464,0.00,2.40,0.00,0.000,4,0.000,0.039,2493,3203,3025
$GC,502,-1.10,-77.9,34.0,-5.9,106,508,0.00,2.42,0.00,0.000,6,0.000,0.038,2493,1797,3025
$GC,574,-1.10,-77.9,38.3,-5.8,122,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1797,3026
$GC,647,-1.10,-77.9,42.8,-5.8,138,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1797,3025
$GC,790,-1.10,-77.9,51.3,-5.9,169,796,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3209,3025
$GC,857,-1.10,-77.9,55.4,-6.2,183,863,0.00,2.45,0.00,0.000,6,0.000,0.038,2493,1794,3026
$GC,1000,-1.10,-77.9,64.1,-6.1,214,1006,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3206,3025
$GC,1090,-1.10,-77.9,69.8,-6.4,233,1096,0.00,2.45,0.00,0.000,6,0.000,0.037,2492,1791,3025
$GC,1233,-1.10,-77.9,78.2,-5.8,264,1239,0.00,2.45,0.00,0.000,4,0.000,0.038,2493,3205,3025
$GC,1272,-1.10,-77.9,80.7,-6.0,272,1279,0.00,2.45,0.00,0.000,6,0.000,0.038,2493,1792,3025
$GC,1418,-1.10,-77.9,89.0,-5.3,303,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1792,3025
$GC,1559,-1.10,-77.9,96.8,-5.6,334,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1792,3025
$STATE,1668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1668,begin apogee
$GC,1674,-0.31,0.0,103.0,5.6,358,1743,0.82,0.00,62.05,0.701,6,0.088,0.000,2664,1858,2704
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1747,1.10,77.9,104.1,0.0,370,1821,1.45,2.62,62.92,0.682,4,0.058,0.055,2978,447,2384
$GC,1827,1.10,77.9,99.4,6.3,384,1834,0.00,2.40,0.00,0.000,6,0.000,0.030,2978,1850,2383
$GC,1972,1.10,77.9,85.3,10.3,415,1979,0.00,2.55,0.00,0.000,4,0.000,0.055,2977,442,2380
$GC,1994,1.10,77.9,82.7,10.6,419,2000,0.00,2.40,0.00,0.000,6,0.000,0.029,2978,1859,2380
$GC,2136,1.10,77.9,68.5,10.0,450,2143,0.00,2.58,0.00,0.000,4,0.000,0.055,2977,434,2379
$GC,2158,1.10,77.9,66.1,10.1,454,2164,0.00,2.40,0.00,0.000,6,0.000,0.029,2977,1852,2379
$GC,2302,1.10,77.9,52.2,9.6,485,2309,0.00,2.55,0.00,0.000,4,0.000,0.056,2978,442,2378
$GC,2319,1.10,77.9,50.4,9.6,488,2325,0.00,2.38,0.00,0.000,6,0.000,0.029,2977,1855,2378
$GC,2462,1.10,77.9,37.1,9.1,519,2468,0.00,2.53,0.00,0.000,4,0.000,0.055,2977,446,2377
$GC,2474,1.10,77.9,35.8,9.1,521,2481,0.00,2.38,0.00,0.000,6,0.000,0.029,2977,1861,2378
$GC,2544,1.10,77.9,29.5,8.7,537,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1866,2378
$GC,2614,1.10,77.9,23.2,8.9,553,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1866,2377
$GC,2684,1.10,77.9,17.4,8.2,569,2691,0.00,2.53,0.00,0.000,4,0.000,0.054,2978,445,2378
$GC,2697,1.10,77.9,16.2,8.2,571,2703,0.00,2.38,0.00,0.000,6,0.000,0.029,2977,1857,2378
$GC,2768,1.10,77.9,10.1,8.2,587,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1863,2378
$GC,2838,1.10,77.9,4.8,7.6,603,2844,0.00,2.40,0.00,0.000,4,0.000,0.039,2978,3258,2378
$GC,2851,1.10,77.9,3.9,7.2,605,2857,0.00,2.45,0.00,0.000,6,0.000,0.038,2977,1844,2378
$STATE,2866,end climb,SURFACE_DEPTH_REACHED
$STATE,2866,begin surface coast
$FINISH,0.7,1.021061
$STATE,2915,end surface coast,CONTROL_FINISHED_OK
$STATE,2915,begin surface
$SM_CCo,2936,119.28,0.629,0,0,1563,280.13
$SM_GC,0.83,0.00,0.00,119.28,0.000,0.000,0.629,434,1783,1563,-10.60,-0.48,280.13
$IRIDIUM_FIX,4751.72,-12219.12,020199,111150
$TT8_MAMPS,0.029146
$HUMID,1565
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.3,1.705
$10V_AH,10.1,1.656
$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,25.875,59.025,124.975,119.275,0.000,25.173,24.527,188.968,0.250,0.000,0.000,14.484,976.907,572.613,379.978,1091.238,385.787,33.303,909.157,0.000,1094.283,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,81.302,701.038,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.764,325.169,718.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31750,619
$CAP_FILE_SIZE,61964,0
$CFSIZE,260165632,257507328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,130752,4807.886,-12223.908,12,1.4,15,18.3