version: 66.04
glider: 139
mission: 7
dive: 10
start: 10 8 109 1 52 48
data:
$ID,139
$MISSION,7
$DIVE,10
$D_SURF,2
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-2117398.2
$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,1950
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,52
$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
$GPS1,014644,4806.066,-12222.148,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.5
$GPS2,015155,4806.034,-12222.114,13,1.3,30,18.3
$SPEED_LIMITS,0.104,0.250
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,0.195
$KALMAN_X,-511.0,-187.5,116.5,1883.0,17.1
$KALMAN_Y,6.8,-180.4,155.7,-2510.8,218.4
$MHEAD_RNG_PITCHd_Wd,302.9,4323,-9.1,-6.024
$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,13,begin dive
$GC,15,-0.81,-194.6,0.0,0.0,0,98,0.00,0.00,-80.47,0.000,2,0.000,0.000,432,1966,3367
$GC,101,-0.81,-194.6,3.0,-2.6,14,121,12.38,0.00,-2.65,0.000,6,0.166,0.000,2562,1966,3502
$GC,184,-0.81,-194.6,16.6,-7.4,32,190,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1966,3503
$GC,254,-0.81,-194.6,21.7,-7.2,48,261,0.00,2.55,0.00,0.000,4,0.000,0.055,2561,539,3503
$GC,292,-0.81,-194.6,24.6,-7.4,56,299,0.00,2.38,0.00,0.000,6,0.000,0.031,2562,1938,3503
$GC,362,-0.81,-194.6,29.4,-6.8,72,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1942,3503
$GC,432,-0.81,-194.6,34.0,-6.4,88,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1942,3503
$GC,501,-0.81,-194.6,38.2,-6.3,104,508,0.00,2.53,0.00,0.000,4,0.000,0.055,2562,533,3504
$GC,531,-0.81,-194.6,40.1,-6.4,110,538,0.00,2.42,0.00,0.000,6,0.000,0.031,2562,1957,3504
$GC,674,-0.81,-194.6,49.4,-6.5,141,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1961,3504
$GC,816,-0.81,-194.6,58.6,-6.4,172,823,0.00,2.55,0.00,0.000,4,0.000,0.055,2562,538,3504
$GC,870,-0.81,-194.6,62.0,-6.6,183,876,0.00,2.40,0.00,0.000,6,0.000,0.031,2562,1953,3504
$GC,1013,-0.81,-194.6,70.9,-6.3,214,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1957,3504
$GC,1156,-0.81,-194.6,79.9,-6.2,245,1163,0.00,2.55,0.00,0.000,4,0.000,0.055,2562,530,3504
$GC,1200,-0.81,-194.6,83.0,-6.8,254,1206,0.00,2.42,0.00,0.000,6,0.000,0.031,2562,1963,3504
$GC,1345,-0.81,-194.6,92.3,-6.5,285,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1970,3504
$GC,1487,-0.81,-194.6,101.6,-6.6,316,1493,0.00,2.55,0.00,0.000,4,0.000,0.054,2561,539,3504
$GC,1548,-0.81,-194.6,106.0,-7.0,329,1555,0.00,2.40,0.00,0.000,6,0.000,0.030,2562,1960,3504
$GC,1692,-0.81,-194.6,115.2,-6.3,360,1699,0.00,2.55,0.00,0.000,4,0.000,0.054,2562,535,3504
$STATE,1708,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1708,begin apogee
$GC,1716,-0.31,0.0,116.4,6.3,363,1875,0.52,0.00,152.77,0.694,6,0.076,0.000,2674,1865,2704
$STATE,1878,end apogee,CONTROL_FINISHED_OK
$STATE,1878,begin climb
$GC,1880,0.81,194.6,119.9,0.0,391,2047,1.10,2.70,157.35,0.674,4,0.054,0.061,2917,442,1910
$GC,2075,0.81,194.6,106.2,10.3,426,2082,0.00,2.40,0.00,0.000,6,0.000,0.030,2917,1849,1904
$GC,2221,0.81,194.6,91.6,10.1,457,2227,0.00,2.60,0.00,0.000,4,0.000,0.061,2917,436,1902
$GC,2283,0.81,194.6,84.4,11.5,470,2289,0.00,2.40,0.00,0.000,6,0.000,0.030,2917,1847,1899
$GC,2428,0.81,194.6,70.2,9.9,501,2434,0.00,2.58,0.00,0.000,4,0.000,0.060,2917,441,1899
$GC,2489,0.81,194.6,62.9,11.4,514,2496,0.00,2.40,0.00,0.000,6,0.000,0.030,2917,1855,1897
$GC,2634,0.81,194.6,48.2,10.1,545,2640,0.00,2.60,0.00,0.000,4,0.000,0.067,2917,437,1897
$GC,2690,0.81,194.6,41.8,11.3,557,2697,0.00,2.40,0.00,0.000,6,0.000,0.030,2917,1854,1896
$GC,2825,0.81,194.6,28.8,9.3,588,2831,0.00,2.58,0.00,0.000,4,0.000,0.061,2917,439,1896
$GC,2871,0.81,194.6,23.7,10.6,598,2878,0.00,2.38,0.00,0.000,6,0.000,0.030,2917,1851,1896
$GC,2943,0.81,194.6,16.8,9.5,614,2950,0.00,2.55,0.00,0.000,4,0.000,0.060,2917,444,1896
$GC,2961,0.81,194.6,14.8,9.5,617,2967,0.00,2.38,0.00,0.000,6,0.000,0.029,2917,1866,1896
$GC,3032,0.81,194.6,8.0,9.0,633,3039,0.00,2.58,0.00,0.000,4,0.000,0.060,2917,442,1896
$GC,3054,0.81,194.6,6.0,9.0,637,3061,0.00,2.35,0.00,0.000,6,0.000,0.029,2917,1847,1896
$STATE,3099,end climb,SURFACE_DEPTH_REACHED
$STATE,3099,begin surface coast
$FINISH,0.4,1.020491
$STATE,3120,end surface coast,CONTROL_FINISHED_OK
$STATE,3121,begin surface
$SM_CCo,3142,58.83,0.617,0,0,1482,300.00
$SM_GC,1.02,0.00,0.00,58.83,0.000,0.000,0.617,429,1954,1482,-10.65,0.11,300.00
$IRIDIUM_FIX,4748.51,-12220.12,020199,010111
$TT8_MAMPS,0.029146
$HUMID,1605
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.2,41.1
$24V_AH,23.4,1.096
$10V_AH,10.1,1.042
$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,25.125,64.600,310.125,58.825,0.000,30.141,24.068,133.574,1.000,0.000,0.000,31.008,973.662,589.906,456.750,1165.801,324.797,33.335,1047.314,0.000,1146.198,0.000,7.084,0.000
$DEVICE_MAMPS,166.439,66.729,694.135,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.485,320.830,719.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31686,652
$CAP_FILE_SIZE,62373,0
$CFSIZE,260165632,257884160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,024725,4806.315,-12222.363,40,1.2,40,18.3