version: 66.04
glider: 139
mission: 7
dive: 4
start: 10 7 109 20 55 21
data:
$ID,139
$MISSION,7
$DIVE,4
$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,50
$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,120
$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,-2117291.8
$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,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2665
$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
$GPS1,204801,4807.004,-12223.157,12,1.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.2
$GPS2,205432,4806.988,-12223.173,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.237
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.161,0.065
$KALMAN_X,-265.0,-187.5,-169.3,612.8,-77.8
$KALMAN_Y,-319.2,-200.1,-178.8,-63.3,-96.3
$MHEAD_RNG_PITCHd_Wd,49.7,215,-27.9,-10.000
$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,-1.82,-61.9,0.0,0.0,0,119,0.00,0.00,-100.43,0.000,6,0.000,0.000,431,2091,2917
$GC,122,-1.89,-116.8,1.5,-1.2,18,148,10.75,2.50,-7.10,0.000,4,0.157,0.061,2329,668,3143
$GC,233,-1.89,-116.8,16.1,-14.1,42,240,0.00,2.38,0.00,0.000,6,0.000,0.031,2329,2069,3144
$GC,306,-1.89,-116.8,25.8,-13.0,58,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2069,3145
$GC,377,-1.89,-116.8,35.1,-13.4,74,384,0.00,2.45,0.00,0.000,4,0.000,0.041,2329,3490,3145
$GC,456,-1.89,-116.8,45.9,-13.7,91,462,0.00,2.42,0.00,0.000,6,0.000,0.035,2329,2075,3146
$GC,598,-1.89,-116.8,65.4,-14.0,122,604,0.00,2.45,0.00,0.000,4,0.000,0.039,2329,3490,3145
$GC,735,-1.89,-116.8,84.3,-13.9,151,747,0.00,2.42,0.00,0.000,6,0.000,0.036,2329,2079,3145
$STATE,877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,877,begin apogee
$GC,882,-0.31,0.0,103.5,13.2,181,983,1.73,0.00,92.57,0.685,6,0.111,0.000,2675,2078,2664
$STATE,984,end apogee,CONTROL_FINISHED_OK
$STATE,984,begin climb
$GC,986,1.89,116.8,106.4,0.0,199,1093,2.17,2.60,95.55,0.665,4,0.052,0.054,3161,665,2187
$GC,1109,1.89,116.8,89.2,22.1,221,1115,0.00,2.42,0.00,0.000,6,0.000,0.030,3161,2085,2182
$GC,1254,1.89,116.8,56.6,21.8,252,1260,0.00,2.55,0.00,0.000,4,0.000,0.052,3161,662,2179
$GC,1266,1.89,116.8,53.4,21.6,254,1272,0.00,2.42,0.00,0.000,6,0.000,0.030,3161,2092,2177
$GC,1405,1.89,116.8,22.3,21.7,285,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2097,2177
$GC,1476,1.89,116.8,6.9,22.0,301,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2097,2177
$STATE,1494,end climb,SURFACE_DEPTH_REACHED
$STATE,1494,begin surface coast
$FINISH,0.5,1.021861
$STATE,1508,end surface coast,CONTROL_FINISHED_OK
$STATE,1508,begin surface
$SM_CCo,1529,94.25,0.607,0,0,1441,300.00
$SM_GC,1.03,0.00,0.00,94.25,0.000,0.000,0.607,434,2096,1441,-10.63,0.51,300.00
$IRIDIUM_FIX,4748.51,-12226.29,010199,202027
$TT8_MAMPS,0.03068
$HUMID,1621
$INTERNAL_PRESSURE,9.32307
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,34.2
$24V_AH,23.4,0.715
$10V_AH,10.1,0.725
$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,26.850,24.625,188.125,94.250,0.000,0.000,0.000,0.000,1.000,0.000,0.000,15.039,452.682,260.451,367.626,562.143,50.813,32.327,685.400,0.000,556.164,0.000,9.919,0.000
$DEVICE_MAMPS,157.235,61.360,684.931,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,204.394,160.752,363.543,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15976,308
$CAP_FILE_SIZE,41567,0
$CFSIZE,260165632,258113536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,212334,4807.009,-12222.932,13,2.2,32,18.3