version: 66.04
glider: 139
mission: 7
dive: 12
start: 10 8 109 3 53 11
data:
$ID,139
$MISSION,7
$DIVE,12
$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,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,280
$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,-2117425.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2738
$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,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,38
$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
$GPS1,034658,4806.524,-12222.478,10,2.5,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.8
$GPS2,035219,4806.478,-12222.443,14,1.5,14,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,0.136
$KALMAN_X,699.8,-240.0,55.3,374.7,692.1
$KALMAN_Y,-1755.8,206.7,311.2,-467.6,-975.4
$MHEAD_RNG_PITCHd_Wd,305.9,3414,-16.1,-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,-1.10,-77.9,0.0,0.0,0,91,0.00,0.00,-68.95,0.000,6,0.000,0.000,434,1963,3022
$GC,94,-1.10,-77.9,2.0,-1.3,13,113,11.95,2.00,0.00,0.000,4,0.166,0.041,2491,3102,3024
$GC,165,-1.10,-77.9,8.8,-6.1,28,172,0.00,2.42,0.00,0.000,6,0.000,0.039,2491,1703,3024
$GC,237,-1.10,-77.9,12.9,-5.6,44,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1703,3024
$GC,307,-1.10,-77.9,16.7,-5.6,60,314,0.00,2.55,0.00,0.000,4,0.000,0.061,2490,291,3024
$GC,324,-1.10,-77.9,17.7,-5.6,63,331,0.00,2.38,0.00,0.000,6,0.000,0.030,2490,1703,3024
$GC,396,-1.10,-77.9,21.7,-5.4,79,402,0.00,2.40,0.00,0.000,4,0.000,0.038,2490,3107,3024
$GC,483,-1.10,-77.9,26.9,-5.9,99,490,0.00,2.42,0.00,0.000,6,0.000,0.038,2490,1700,3024
$GC,554,-1.10,-77.9,30.8,-5.7,115,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1700,3025
$GC,626,-1.10,-77.9,34.9,-5.5,131,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1700,3025
$GC,696,-1.10,-77.9,38.7,-5.4,147,702,0.00,2.40,0.00,0.000,4,0.000,0.038,2491,3104,3024
$GC,734,-1.10,-77.9,40.9,-5.8,155,740,0.00,2.45,0.00,0.000,6,0.000,0.038,2490,1691,3025
$GC,877,-1.10,-77.9,49.3,-6.0,186,883,0.00,2.45,0.00,0.000,4,0.000,0.038,2490,3107,3024
$GC,1024,-1.10,-77.9,58.5,-6.1,218,1030,0.00,2.45,0.00,0.000,6,0.000,0.040,2490,1697,3024
$GC,1170,-1.10,-77.9,66.6,-5.6,249,1176,0.00,2.42,0.00,0.000,4,0.000,0.037,2490,3104,3024
$GC,1248,-1.10,-77.9,71.5,-6.1,266,1255,0.00,2.45,0.00,0.000,6,0.000,0.040,2490,1693,3024
$GC,1393,-1.10,-77.9,79.8,-5.8,297,1405,0.00,2.42,0.00,0.000,4,0.000,0.037,2490,3102,3024
$GC,1469,-1.10,-77.9,84.5,-6.2,312,1475,0.00,2.42,0.00,0.000,6,0.000,0.039,2490,1700,3024
$GC,1616,-1.10,-77.9,92.7,-5.7,343,1622,0.00,2.40,0.00,0.000,4,0.000,0.037,2490,3101,3024
$GC,1700,-1.10,-77.9,97.7,-6.1,361,1706,0.00,2.42,0.00,0.000,6,0.000,0.039,2490,1698,3024
$GC,1845,-1.10,-77.9,105.8,-5.7,392,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1698,3024
$GC,1988,-1.10,-77.9,113.8,-5.3,423,1994,0.00,2.40,0.00,0.000,4,0.000,0.036,2490,3099,3024
$STATE,2008,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2008,begin apogee
$GC,2016,-0.31,0.0,115.1,5.4,427,2084,0.85,0.00,62.10,0.703,6,0.088,0.000,2666,1697,2705
$STATE,2085,end apogee,CONTROL_FINISHED_OK
$STATE,2085,begin climb
$GC,2088,1.10,77.9,116.5,0.0,439,2156,1.42,0.00,63.20,0.681,6,0.057,0.000,2976,1697,2387
$GC,2294,1.10,77.9,100.0,9.6,481,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1697,2382
$GC,2436,1.10,77.9,86.3,9.3,512,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1697,2381
$GC,2577,1.10,77.9,73.3,9.3,543,2583,0.00,2.42,0.00,0.000,4,0.000,0.035,2976,3103,2380
$GC,2594,1.10,77.9,71.7,9.4,546,2600,0.00,2.45,0.00,0.000,6,0.000,0.041,2977,1699,2380
$GC,2739,1.10,77.9,58.6,9.0,577,2746,0.00,2.42,0.00,0.000,4,0.000,0.036,2976,3101,2379
$GC,2752,1.10,77.9,57.3,8.8,579,2758,0.00,2.45,0.00,0.000,6,0.000,0.038,2976,1693,2379
$GC,2897,1.10,77.9,44.0,9.6,610,2903,0.00,2.42,0.00,0.000,4,0.000,0.035,2976,3101,2379
$GC,2936,1.10,77.9,40.1,9.4,618,2942,0.00,2.45,0.00,0.000,6,0.000,0.041,2975,1701,2379
$GC,3070,1.10,77.9,27.7,9.2,649,3076,0.00,2.40,0.00,0.000,4,0.000,0.037,2976,3101,2379
$GC,3082,1.10,77.9,26.5,9.2,651,3089,0.00,2.42,0.00,0.000,6,0.000,0.040,2976,1699,2379
$GC,3152,1.10,77.9,20.1,9.1,667,3159,0.00,2.40,0.00,0.000,4,0.000,0.037,2976,3101,2378
$GC,3179,1.10,77.9,17.9,9.1,672,3185,0.00,2.45,0.00,0.000,6,0.000,0.041,2976,1690,2379
$GC,3251,1.10,77.9,11.5,8.8,688,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1690,2379
$GC,3320,1.10,77.9,5.7,7.7,704,3327,0.00,2.50,0.00,0.000,4,0.000,0.060,2976,294,2378
$GC,3333,1.10,77.9,4.6,7.8,706,3340,0.00,2.35,0.00,0.000,6,0.000,0.029,2976,1698,2378
$STATE,3368,end climb,SURFACE_DEPTH_REACHED
$STATE,3368,begin surface coast
$FINISH,0.5,1.020381
$STATE,3394,end surface coast,CONTROL_FINISHED_OK
$STATE,3394,begin surface
$SM_CCo,3415,116.93,0.624,0,0,1563,280.13
$SM_GC,0.95,0.00,0.00,116.93,0.000,0.000,0.624,433,1702,1563,-10.61,0.06,280.13
$IRIDIUM_FIX,4751.72,-12221.84,020199,020254
$TT8_MAMPS,0.029913
$HUMID,1596
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,40.0
$24V_AH,23.4,1.236
$10V_AH,10.1,1.166
$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,25.850,72.500,125.300,116.925,0.000,28.009,31.447,154.408,1.000,0.000,0.000,14.312,1135.069,681.810,399.404,1270.302,364.566,33.310,1004.362,0.000,1267.111,0.000,9.952,0.000
$DEVICE_MAMPS,166.439,61.360,702.572,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.775,369.952,819.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37956,720
$CAP_FILE_SIZE,69974,0
$CFSIZE,260165632,257789952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,045306,4806.618,-12222.566,10,1.2,26,18.3