version: 66.04
glider: 139
mission: 7
dive: 9
start: 10 8 109 0 54 30
data:
$ID,139
$MISSION,7
$DIVE,9
$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,0
$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,-2117366.5
$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,1950
$C_ROLL_CLIMB,1850
$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,10
$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
$GPS1,004549,4806.346,-12222.301,7,1.1,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-71.4
$GPS2,005344,4806.307,-12222.226,13,1.9,13,18.3
$SPEED_LIMITS,0.129,0.184
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.036,-0.181
$KALMAN_X,-366.7,-234.7,20.5,1742.4,109.9
$KALMAN_Y,-64.4,-221.3,47.9,-1784.3,205.9
$MHEAD_RNG_PITCHd_Wd,150.4,634,-19.0,-7.463
$D_GRID,150
$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,-1.29,-77.9,0.0,0.0,0,91,0.00,0.00,-68.75,0.000,6,0.000,0.000,432,2087,3024
$GC,94,-1.29,-77.9,2.0,-1.8,13,113,11.82,2.22,0.00,0.000,4,0.168,0.041,2458,3351,3025
$GC,355,-1.29,-77.9,24.2,-6.8,73,361,0.00,2.42,0.00,0.000,6,0.000,0.036,2459,1938,3026
$GC,425,-1.29,-77.9,28.5,-5.8,89,432,0.00,2.45,0.00,0.000,4,0.000,0.039,2459,3357,3027
$GC,657,-1.29,-77.9,44.5,-7.1,143,663,0.00,2.45,0.00,0.000,6,0.000,0.036,2459,1938,3027
$GC,802,-1.29,-77.9,54.0,-6.5,174,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1938,3027
$GC,946,-1.29,-77.9,63.2,-6.6,205,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1938,3027
$GC,1087,-1.29,-77.9,72.8,-6.8,236,1093,0.00,2.45,0.00,0.000,4,0.000,0.040,2459,3353,3027
$GC,1114,-1.29,-77.9,74.7,-6.9,241,1120,0.00,2.42,0.00,0.000,6,0.000,0.036,2459,1944,3026
$GC,1259,-1.29,-77.9,84.3,-6.7,272,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1942,3027
$GC,1405,-1.29,-77.9,93.7,-6.6,303,1411,0.00,2.45,0.00,0.000,4,0.000,0.039,2458,3360,3026
$GC,1429,-1.29,-77.9,95.4,-6.6,307,1436,0.00,2.42,0.00,0.000,6,0.000,0.036,2459,1949,3026
$GC,1575,-1.29,-77.9,104.8,-6.5,338,1584,0.00,2.42,0.00,0.000,4,0.000,0.038,2459,3353,3026
$GC,1599,-1.29,-77.9,106.6,-6.4,342,1606,0.00,2.42,0.00,0.000,6,0.000,0.036,2459,1943,3027
$STATE,1738,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1738,begin apogee
$GC,1744,-0.31,0.0,115.6,6.4,371,1812,1.02,0.00,62.85,0.696,6,0.091,0.000,2670,1833,2705
$STATE,1813,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1816,1.29,77.9,116.9,0.0,383,1889,1.62,2.58,63.55,0.677,4,0.055,0.059,3024,453,2385
$GC,1909,1.29,77.9,109.9,10.1,400,1915,0.00,2.40,0.00,0.000,6,0.000,0.031,3023,1858,2382
$GC,2054,1.29,77.9,92.2,12.3,431,2060,0.00,2.40,0.00,0.000,4,0.000,0.037,3023,3253,2380
$GC,2079,1.29,77.9,89.0,11.9,436,2086,0.00,2.45,0.00,0.000,6,0.000,0.040,3024,1858,2380
$GC,2225,1.29,77.9,71.6,12.3,467,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1857,2380
$GC,2365,1.29,77.9,54.9,11.7,498,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1858,2379
$GC,2508,1.29,77.9,38.4,11.6,529,2515,0.00,2.53,0.00,0.000,4,0.000,0.058,3023,439,2379
$GC,2529,1.29,77.9,35.8,11.9,533,2535,0.00,2.40,0.00,0.000,6,0.000,0.030,3024,1860,2378
$GC,2600,1.29,77.9,27.7,10.9,549,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1866,2378
$GC,2669,1.29,77.9,19.9,11.4,565,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1866,2377
$GC,2739,1.29,77.9,12.7,9.7,581,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1866,2377
$GC,2809,1.29,77.9,6.3,8.7,597,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1866,2378
$STATE,2871,end climb,SURFACE_DEPTH_REACHED
$STATE,2871,begin surface coast
$FINISH,0.3,1.021914
$STATE,2936,end surface coast,CONTROL_FINISHED_OK
$STATE,2936,begin surface
$SM_CCo,2957,128.93,0.618,0,0,1482,300.00
$SM_GC,0.95,0.00,0.00,128.93,0.000,0.000,0.618,432,1966,1482,-10.64,0.45,300.00
$IRIDIUM_FIX,4748.51,-12220.12,020199,000018
$TT8_MAMPS,0.029146
$HUMID,1602
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.0,10.4
$24V_AH,23.4,1.015
$10V_AH,10.1,0.983
$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,26.075,39.200,126.400,128.925,0.000,61.528,105.717,139.326,4.000,0.000,0.000,13.548,969.113,657.974,369.909,1124.392,432.629,33.336,888.587,0.000,1104.890,0.000,37.513,0.000
$DEVICE_MAMPS,167.973,59.059,696.436,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.128,321.449,720.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31651,626
$CAP_FILE_SIZE,58816,0
$CFSIZE,260165632,257925120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,014644,4806.066,-12222.148,12,1.4,12,18.3