version: 66.04
glider: 139
mission: 7
dive: 13
start: 10 8 109 4 59 25
data:
$ID,139
$MISSION,7
$DIVE,13
$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,-2117455.2
$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,19
$R_STBD_OVSHOOT,36
$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
$GPS1,045306,4806.618,-12222.566,10,1.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.1
$GPS2,045834,4806.573,-12222.555,9,2.1,28,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.092,0.141
$KALMAN_X,675.0,-9.8,183.8,-90.9,587.8
$KALMAN_Y,-1771.8,96.4,-36.7,177.4,-898.1
$MHEAD_RNG_PITCHd_Wd,308.7,3190,-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,12,begin dive
$GC,15,-1.10,-77.9,0.0,0.0,0,84,0.00,0.00,-65.28,0.000,6,0.000,0.000,433,1702,3024
$GC,87,-1.10,-77.9,1.8,-1.1,12,107,11.85,2.45,0.00,0.000,4,0.163,0.038,2494,3103,3026
$GC,256,-1.10,-77.9,14.0,-5.5,50,262,0.00,2.42,0.00,0.000,6,0.000,0.038,2495,1697,3026
$GC,328,-1.10,-77.9,17.7,-5.3,66,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1697,3027
$GC,398,-1.10,-77.9,21.5,-5.5,82,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1697,3026
$GC,468,-1.10,-77.9,25.6,-5.5,98,474,0.00,2.42,0.00,0.000,4,0.000,0.037,2494,3102,3026
$GC,532,-1.10,-77.9,29.2,-6.0,112,538,0.00,2.42,0.00,0.000,6,0.000,0.038,2495,1694,3027
$GC,604,-1.10,-77.9,33.4,-5.6,128,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1694,3027
$GC,674,-1.10,-77.9,37.2,-5.5,144,681,0.00,2.45,0.00,0.000,4,0.000,0.037,2495,3111,3027
$GC,712,-1.10,-77.9,39.3,-5.7,152,719,0.00,2.45,0.00,0.000,6,0.000,0.039,2494,1700,3027
$GC,787,-1.10,-77.9,43.6,-5.7,168,793,0.00,2.42,0.00,0.000,4,0.000,0.038,2495,3104,3027
$GC,862,-1.10,-77.9,48.2,-6.1,184,868,0.00,2.45,0.00,0.000,6,0.000,0.039,2494,1694,3027
$GC,1007,-1.10,-77.9,56.4,-5.5,215,1013,0.00,2.42,0.00,0.000,4,0.000,0.037,2494,3101,3026
$GC,1083,-1.10,-77.9,60.9,-5.9,231,1089,0.00,2.42,0.00,0.000,6,0.000,0.038,2495,1700,3027
$GC,1226,-1.10,-77.9,69.0,-5.7,262,1233,0.00,2.42,0.00,0.000,4,0.000,0.037,2495,3110,3026
$GC,1320,-1.10,-77.9,74.6,-6.0,282,1326,0.00,2.45,0.00,0.000,6,0.000,0.040,2494,1698,3026
$GC,1467,-1.10,-77.9,83.0,-5.8,313,1473,0.00,2.42,0.00,0.000,4,0.000,0.036,2495,3108,3026
$GC,1504,-1.10,-77.9,85.1,-5.8,320,1510,0.00,2.45,0.00,0.000,6,0.000,0.040,2495,1697,3025
$GC,1649,-1.10,-77.9,93.7,-5.9,351,1655,0.00,2.42,0.00,0.000,4,0.000,0.036,2494,3108,3026
$GC,1719,-1.10,-77.9,97.9,-5.9,366,1726,0.00,2.45,0.00,0.000,6,0.000,0.039,2494,1694,3026
$GC,1866,-1.10,-77.9,106.2,-5.7,397,1872,0.00,2.42,0.00,0.000,4,0.000,0.036,2494,3107,3026
$GC,1901,-1.10,-77.9,108.4,-5.8,404,1907,0.00,2.45,0.00,0.000,6,0.000,0.039,2495,1692,3026
$GC,2045,-1.10,-77.9,116.3,-5.4,435,2051,0.00,2.42,0.00,0.000,4,0.000,0.036,2494,3105,3026
$STATE,2056,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2056,begin apogee
$GC,2064,-0.31,0.0,117.1,5.4,437,2133,0.82,0.00,62.65,0.703,6,0.089,0.000,2664,1690,2704
$STATE,2133,end apogee,CONTROL_FINISHED_OK
$STATE,2134,begin climb
$GC,2136,1.10,77.9,118.3,0.0,449,2204,1.42,0.00,63.35,0.684,6,0.058,0.000,2975,1690,2387
$GC,2342,1.10,77.9,101.5,9.9,491,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1691,2382
$GC,2482,1.10,77.9,87.3,10.0,522,2488,0.00,2.45,0.00,0.000,4,0.000,0.035,2975,3108,2380
$GC,2503,1.10,77.9,85.2,10.1,526,2509,0.00,2.47,0.00,0.000,6,0.000,0.041,2975,1698,2380
$GC,2648,1.10,77.9,71.3,9.4,557,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1698,2379
$GC,2788,1.10,77.9,57.4,9.9,588,2794,0.00,2.42,0.00,0.000,4,0.000,0.036,2975,3102,2379
$GC,2814,1.10,77.9,54.9,10.0,593,2820,0.00,2.47,0.00,0.000,6,0.000,0.041,2975,1689,2379
$GC,2957,1.10,77.9,41.1,9.3,624,2964,0.00,2.45,0.00,0.000,4,0.000,0.036,2975,3104,2379
$GC,2992,1.10,77.9,37.7,9.3,631,2998,0.00,2.47,0.00,0.000,6,0.000,0.042,2975,1692,2378
$GC,3063,1.10,77.9,30.8,9.7,647,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1692,2378
$GC,3133,1.10,77.9,24.6,8.9,663,3139,0.00,2.42,0.00,0.000,4,0.000,0.036,2975,3106,2378
$GC,3154,1.10,77.9,22.7,8.9,667,3160,0.00,2.45,0.00,0.000,6,0.000,0.041,2975,1694,2379
$GC,3225,1.10,77.9,16.4,8.7,683,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1694,2379
$GC,3295,1.10,77.9,10.4,8.7,699,3301,0.00,2.42,0.00,0.000,4,0.000,0.035,2975,3110,2378
$GC,3309,1.10,77.9,9.1,8.7,701,3315,0.00,2.45,0.00,0.000,6,0.000,0.041,2975,1700,2378
$GC,3381,1.10,77.9,3.8,6.8,717,3387,0.00,2.42,0.00,0.000,4,0.000,0.037,2975,3105,2378
$STATE,3412,end climb,SURFACE_DEPTH_REACHED
$STATE,3412,begin surface coast
$FINISH,0.2,1.020482
$STATE,3447,end surface coast,CONTROL_FINISHED_OK
$STATE,3447,begin surface
$SM_CCo,3471,118.00,0.623,0,0,1563,280.13
$SM_GC,1.04,0.00,0.00,118.00,0.000,0.000,0.623,431,1691,1563,-10.61,-0.28,280.13
$IRIDIUM_FIX,4748.51,-12224.57,020199,030332
$TT8_MAMPS,0.029146
$HUMID,1602
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,41.5
$24V_AH,23.4,1.294
$10V_AH,10.1,1.232
$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,25.600,78.200,126.000,118.000,0.000,23.060,28.202,148.530,1.000,0.000,0.000,29.312,1158.293,689.370,399.238,1308.015,357.179,33.319,1008.887,0.000,1284.526,0.000,11.485,0.000
$DEVICE_MAMPS,162.604,42.185,702.572,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.036,374.573,834.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37954,732
$CAP_FILE_SIZE,71716,0
$CFSIZE,260165632,257748992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,060002,4806.723,-12222.647,12,1.2,12,18.3