version: 66.04
glider: 139
mission: 7
dive: 7
start: 10 7 109 23 4 15
data:
$ID,139
$MISSION,7
$DIVE,7
$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,67
$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,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,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,-2117335
$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,27
$R_STBD_OVSHOOT,31
$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,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
$GPS1,225816,4806.721,-12222.496,7,2.6,26,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-70.5
$GPS2,230326,4806.711,-12222.480,14,1.9,14,18.3
$SPEED_LIMITS,0.129,0.184
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.044,-0.179
$KALMAN_X,-347.2,-245.0,-115.2,1553.3,34.9
$KALMAN_Y,-150.1,-245.3,-147.0,-735.2,154.1
$MHEAD_RNG_PITCHd_Wd,147.8,1446,-19.0,-7.463
$D_GRID,107
$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,14,-1.29,-77.9,0.0,0.0,0,89,0.00,0.00,-69.07,0.000,6,0.000,0.000,435,2070,3021
$GC,93,-1.29,-77.9,1.8,-1.5,13,112,11.57,2.47,0.00,0.000,4,0.160,0.053,2458,674,3022
$GC,352,-1.29,-77.9,25.1,-7.7,73,359,0.00,2.38,0.00,0.000,6,0.000,0.031,2458,2083,3023
$GC,423,-1.29,-77.9,30.1,-7.2,89,429,0.00,2.50,0.00,0.000,4,0.000,0.050,2458,665,3024
$GC,444,-1.29,-77.9,31.8,-7.5,93,450,0.00,2.40,0.00,0.000,6,0.000,0.031,2458,2087,3024
$GC,515,-1.29,-77.9,36.7,-6.8,109,522,0.00,2.53,0.00,0.000,4,0.000,0.050,2458,663,3023
$GC,541,-1.29,-77.9,38.4,-6.5,114,548,0.00,2.40,0.00,0.000,6,0.000,0.031,2458,2083,3024
$GC,616,-1.29,-77.9,43.0,-6.0,130,623,0.00,2.50,0.00,0.000,4,0.000,0.050,2458,671,3023
$GC,629,-1.29,-77.9,43.8,-6.0,132,635,0.00,2.40,0.00,0.000,6,0.000,0.031,2459,2088,3023
$GC,774,-1.29,-77.9,53.1,-6.8,163,780,0.00,2.50,0.00,0.000,4,0.000,0.051,2458,674,3024
$GC,787,-1.29,-77.9,54.1,-6.7,165,793,0.00,2.38,0.00,0.000,6,0.000,0.031,2458,2079,3023
$GC,930,-1.29,-77.9,64.1,-7.0,196,937,0.00,2.50,0.00,0.000,4,0.000,0.051,2458,665,3024
$GC,943,-1.29,-77.9,65.0,-6.9,198,950,0.00,2.40,0.00,0.000,6,0.000,0.031,2458,2080,3024
$GC,1089,-1.29,-77.9,74.9,-6.6,229,1095,0.00,2.50,0.00,0.000,4,0.000,0.051,2458,668,3024
$GC,1102,-1.29,-77.9,75.9,-6.9,231,1108,0.00,2.40,0.00,0.000,6,0.000,0.031,2458,2088,3024
$GC,1249,-1.29,-77.9,85.8,-6.5,262,1255,0.00,2.50,0.00,0.000,4,0.000,0.051,2458,676,3024
$GC,1261,-1.29,-77.9,86.8,-6.5,264,1268,0.00,2.38,0.00,0.000,6,0.000,0.031,2458,2083,3024
$GC,1407,-1.29,-77.9,96.7,-6.7,295,1413,0.00,2.50,0.00,0.000,4,0.000,0.051,2458,669,3024
$GC,1419,-1.29,-77.9,97.6,-6.8,297,1425,0.00,2.38,0.00,0.000,6,0.000,0.030,2458,2078,3024
$STATE,1555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1555,begin apogee
$GC,1561,-0.31,0.0,107.0,6.5,327,1630,1.02,0.00,62.08,0.692,6,0.093,0.000,2668,2082,2705
$STATE,1630,end apogee,CONTROL_FINISHED_OK
$STATE,1631,begin climb
$GC,1633,1.29,77.9,108.5,0.0,339,1707,1.62,2.50,63.62,0.673,4,0.055,0.040,3024,3476,2386
$GC,1717,1.29,77.9,102.9,8.6,354,1723,0.00,2.45,0.00,0.000,6,0.000,0.037,3023,2077,2386
$GC,1862,1.29,77.9,86.3,11.4,385,1868,0.00,2.53,0.00,0.000,4,0.000,0.054,3022,662,2381
$GC,1918,1.29,77.9,78.9,12.7,397,1925,0.00,2.42,0.00,0.000,6,0.000,0.029,3022,2090,2378
$GC,2062,1.29,77.9,62.2,11.3,428,2068,0.00,2.55,0.00,0.000,4,0.000,0.054,3022,670,2378
$GC,2116,1.29,77.9,55.2,13.1,439,2122,0.00,2.40,0.00,0.000,6,0.000,0.028,3022,2089,2377
$GC,2260,1.29,77.9,38.6,11.1,470,2266,0.00,2.55,0.00,0.000,4,0.000,0.054,3023,667,2377
$GC,2297,1.29,77.9,33.9,12.3,478,2304,0.00,2.38,0.00,0.000,6,0.000,0.028,3022,2081,2377
$GC,2367,1.29,77.9,26.0,10.7,494,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2086,2377
$GC,2436,1.29,77.9,18.4,10.9,510,2443,0.00,2.53,0.00,0.000,4,0.000,0.061,3023,663,2377
$GC,2479,1.29,77.9,13.5,12.1,519,2485,0.00,2.40,0.00,0.000,6,0.000,0.031,3023,2084,2376
$GC,2550,1.29,77.9,6.1,9.8,535,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2089,2377
$STATE,2598,end climb,SURFACE_DEPTH_REACHED
$STATE,2598,begin surface coast
$FINISH,0.2,1.011102
$STATE,2656,end surface coast,CONTROL_FINISHED_OK
$STATE,2656,begin surface
$SM_CCo,2677,124.75,0.621,0,0,1481,300.00
$SM_GC,0.96,0.00,0.00,124.75,0.000,0.000,0.621,432,2088,1481,-10.64,0.28,300.00
$IRIDIUM_FIX,4751.72,-12219.12,010199,222225
$TT8_MAMPS,0.029913
$HUMID,1607
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.3,40.4
$24V_AH,23.4,0.895
$10V_AH,10.1,0.871
$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,25.800,68.700,125.700,124.750,0.000,31.243,28.944,144.823,1.250,0.000,0.000,14.571,878.941,512.925,381.673,998.145,336.747,33.352,870.372,0.000,991.226,0.000,9.932,0.000
$DEVICE_MAMPS,159.536,61.360,691.834,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.124,290.744,647.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28631,560
$CAP_FILE_SIZE,58542,0
$CFSIZE,260165632,258002944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,235204,4806.538,-12222.338,10,2.7,29,18.3