version: 66.04
glider: 139
mission: 7
dive: 8
start: 10 7 109 23 57 45
data:
$ID,139
$MISSION,7
$DIVE,8
$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,-2117352.2
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,235204,4806.538,-12222.338,10,2.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.8
$GPS2,235656,4806.515,-12222.322,16,1.3,16,18.3
$SPEED_LIMITS,0.129,0.184
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.021,-0.183
$KALMAN_X,-344.8,-244.0,-52.7,1682.8,72.0
$KALMAN_Y,-75.0,-248.6,-65.7,-1248.5,213.1
$MHEAD_RNG_PITCHd_Wd,155.2,1034,-19.0,-7.463
$D_GRID,108
$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,-77.9,0.0,0.0,0,90,0.00,0.00,-68.88,0.000,6,0.000,0.000,432,2089,3023
$GC,93,-1.29,-77.9,2.0,-1.7,13,112,11.68,2.45,0.00,0.000,4,0.163,0.041,2459,3504,3024
$GC,351,-1.29,-77.9,23.8,-6.6,73,358,0.00,2.45,0.00,0.000,6,0.000,0.035,2459,2075,3025
$GC,422,-1.29,-77.9,28.4,-6.0,89,429,0.00,2.45,0.00,0.000,4,0.000,0.041,2459,3487,3025
$GC,637,-1.29,-77.9,43.9,-7.5,139,643,0.00,2.42,0.00,0.000,6,0.000,0.036,2459,2081,3025
$GC,782,-1.29,-77.9,53.3,-6.3,170,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2081,3025
$GC,925,-1.29,-77.9,62.5,-6.5,201,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2080,3024
$GC,1067,-1.29,-77.9,71.9,-6.9,232,1073,0.00,2.50,0.00,0.000,4,0.000,0.052,2459,664,3025
$GC,1080,-1.29,-77.9,72.7,-6.8,234,1086,0.00,2.40,0.00,0.000,6,0.000,0.031,2459,2080,3025
$GC,1225,-1.29,-77.9,83.0,-7.1,265,1231,0.00,2.50,0.00,0.000,4,0.000,0.051,2459,668,3025
$GC,1255,-1.29,-77.9,85.3,-7.4,271,1261,0.00,2.40,0.00,0.000,6,0.000,0.031,2459,2087,3025
$GC,1399,-1.29,-77.9,95.2,-7.1,302,1405,0.00,2.53,0.00,0.000,4,0.000,0.051,2459,663,3025
$GC,1413,-1.29,-77.9,96.1,-6.9,304,1419,0.00,2.40,0.00,0.000,6,0.000,0.031,2459,2081,3025
$GC,1558,-1.29,-77.9,105.6,-6.3,335,1564,0.00,2.50,0.00,0.000,4,0.000,0.051,2459,666,3025
$GC,1571,-1.29,-77.9,106.5,-6.3,337,1577,0.00,2.40,0.00,0.000,6,0.000,0.031,2459,2087,3025
$STATE,1594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1594,begin apogee
$GC,1599,-0.31,0.0,108.2,6.5,342,1668,1.02,0.00,62.45,0.693,6,0.091,0.000,2670,2091,2705
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1668,begin climb
$GC,1671,1.29,77.9,109.4,0.0,354,1739,1.62,0.00,63.50,0.675,6,0.055,0.000,3025,2091,2387
$GC,1876,1.29,77.9,89.1,12.0,396,1882,0.00,2.55,0.00,0.000,4,0.000,0.053,3025,668,2381
$GC,1915,1.29,77.9,83.9,13.4,404,1921,0.00,2.40,0.00,0.000,6,0.000,0.030,3025,2079,2379
$GC,2058,1.29,77.9,66.8,11.9,435,2064,0.00,2.53,0.00,0.000,4,0.000,0.054,3025,670,2379
$GC,2116,1.29,77.9,58.9,13.6,447,2122,0.00,2.40,0.00,0.000,6,0.000,0.029,3025,2085,2377
$GC,2259,1.29,77.9,41.6,11.8,478,2266,0.00,2.55,0.00,0.000,4,0.000,0.053,3025,664,2378
$GC,2293,1.29,77.9,37.3,12.4,485,2299,0.00,2.40,0.00,0.000,6,0.000,0.030,3025,2080,2377
$GC,2364,1.29,77.9,29.1,11.0,501,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2084,2377
$GC,2433,1.29,77.9,21.2,11.7,517,2440,0.00,2.50,0.00,0.000,4,0.000,0.052,3025,670,2377
$GC,2463,1.29,77.9,17.9,11.4,523,2469,0.00,2.38,0.00,0.000,6,0.000,0.029,3025,2083,2376
$GC,2536,1.29,77.9,10.3,10.5,539,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2088,2377
$GC,2606,1.29,77.9,3.9,7.7,555,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2088,2377
$STATE,2628,end climb,SURFACE_DEPTH_REACHED
$STATE,2628,begin surface coast
$FINISH,0.6,1.021809
$STATE,2687,end surface coast,CONTROL_FINISHED_OK
$STATE,2687,begin surface
$SM_CCo,2708,127.12,0.618,0,0,1481,300.00
$SM_GC,0.90,0.00,0.00,127.12,0.000,0.000,0.618,432,2087,1481,-10.64,0.23,300.00
$IRIDIUM_FIX,4748.51,-12224.57,010199,232348
$TT8_MAMPS,0.029913
$HUMID,1616
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,51.3
$24V_AH,23.4,0.952
$10V_AH,10.1,0.924
$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,26.000,49.100,125.950,127.125,0.000,25.408,26.397,133.941,0.500,0.000,0.000,16.537,892.490,531.860,368.213,1022.207,308.760,33.332,853.169,0.000,1015.286,0.000,5.554,0.000
$DEVICE_MAMPS,162.604,53.690,693.368,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.326,300.233,670.039,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28529,574
$CAP_FILE_SIZE,55059,0
$CFSIZE,260165632,257970176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,004549,4806.346,-12222.301,7,1.1,12,18.3