version: 66.04
glider: 139
mission: 7
dive: 14
start: 10 8 109 6 6 6
data:
$ID,139
$MISSION,7
$DIVE,14
$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,-2117472.2
$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,20
$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
$GPS1,060002,4806.723,-12222.647,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.1
$GPS2,060514,4806.689,-12222.635,15,1.2,15,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.139
$KALMAN_X,704.6,234.6,252.3,-533.2,321.8
$KALMAN_Y,-1749.6,-14.1,-412.7,856.5,-475.2
$MHEAD_RNG_PITCHd_Wd,307.4,2957,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.10,-77.9,0.0,0.0,0,85,0.00,0.00,-63.42,0.000,6,0.000,0.000,431,1691,3025
$GC,88,-1.10,-77.9,2.9,-2.3,12,108,12.02,2.45,0.00,0.000,4,0.168,0.041,2491,3108,3026
$GC,294,-1.10,-77.9,19.2,-5.4,59,301,0.00,2.47,0.00,0.000,6,0.000,0.040,2491,1689,3026
$GC,366,-1.10,-77.9,23.2,-5.5,75,373,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3111,3027
$GC,412,-1.10,-77.9,25.7,-5.5,85,419,0.00,2.45,0.00,0.000,6,0.000,0.039,2492,1697,3027
$GC,483,-1.10,-77.9,29.7,-5.7,101,489,0.00,2.42,0.00,0.000,4,0.000,0.037,2492,3106,3026
$GC,545,-1.10,-77.9,33.5,-6.0,115,552,0.00,2.45,0.00,0.000,6,0.000,0.039,2492,1690,3026
$GC,616,-1.10,-77.9,37.5,-5.8,131,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1690,3027
$GC,688,-1.10,-77.9,41.9,-6.0,147,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1690,3027
$GC,830,-1.10,-77.9,50.2,-5.7,178,837,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3104,3027
$GC,1000,-1.10,-77.9,61.0,-6.3,215,1007,0.00,2.45,0.00,0.000,6,0.000,0.040,2492,1694,3027
$GC,1145,-1.10,-77.9,69.2,-5.5,246,1151,0.00,2.45,0.00,0.000,4,0.000,0.038,2492,3110,3027
$GC,1203,-1.10,-77.9,72.6,-5.9,258,1209,0.00,2.45,0.00,0.000,6,0.000,0.040,2491,1699,3026
$GC,1349,-1.10,-77.9,80.7,-5.4,289,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1698,3027
$GC,1495,-1.10,-77.9,88.9,-5.5,320,1501,0.00,2.40,0.00,0.000,4,0.000,0.037,2492,3100,3026
$GC,1616,-1.10,-77.9,96.1,-6.0,346,1623,0.00,2.42,0.00,0.000,6,0.000,0.039,2492,1700,3027
$GC,1761,-1.10,-77.9,104.0,-5.1,377,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1699,3026
$STATE,1901,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1902,begin apogee
$GC,1908,-0.31,0.0,112.2,5.7,408,1977,0.82,0.00,62.47,0.701,6,0.088,0.000,2663,1700,2705
$STATE,1977,end apogee,CONTROL_FINISHED_OK
$STATE,1977,begin climb
$GC,1980,1.10,77.9,113.6,0.0,420,2054,1.45,2.62,63.25,0.683,4,0.060,0.061,2977,302,2385
$GC,2069,1.10,77.9,108.1,7.2,436,2075,0.00,2.40,0.00,0.000,6,0.000,0.029,2977,1711,2383
$GC,2214,1.10,77.9,94.3,9.6,467,2220,0.00,2.40,0.00,0.000,4,0.000,0.037,2976,3104,2380
$GC,2230,1.10,77.9,92.5,9.5,470,2237,0.00,2.47,0.00,0.000,6,0.000,0.040,2977,1690,2381
$GC,2375,1.10,77.9,78.8,9.4,501,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1690,2380
$GC,2516,1.10,77.9,65.1,9.6,532,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1690,2379
$GC,2657,1.10,77.9,51.4,9.6,563,2663,0.00,2.45,0.00,0.000,4,0.000,0.035,2976,3109,2379
$GC,2680,1.10,77.9,49.4,9.5,567,2686,0.00,2.47,0.00,0.000,6,0.000,0.041,2976,1693,2379
$GC,2822,1.10,77.9,36.4,9.4,598,2828,0.00,2.42,0.00,0.000,4,0.000,0.036,2977,3101,2379
$GC,2852,1.10,77.9,33.4,9.5,604,2859,0.00,2.45,0.00,0.000,6,0.000,0.042,2977,1702,2379
$GC,2923,1.10,77.9,26.7,9.1,620,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1702,2379
$GC,2992,1.10,77.9,20.7,9.0,636,2999,0.00,2.42,0.00,0.000,4,0.000,0.038,2977,3108,2379
$GC,3013,1.10,77.9,19.0,8.6,640,3020,0.00,2.45,0.00,0.000,6,0.000,0.041,2977,1695,2378
$GC,3084,1.10,77.9,12.6,8.7,656,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1695,2378
$GC,3154,1.10,77.9,6.6,8.7,672,3161,0.00,2.53,0.00,0.000,4,0.000,0.061,2976,291,2378
$GC,3167,1.10,77.9,5.4,8.6,674,3173,0.00,2.38,0.00,0.000,6,0.000,0.029,2977,1714,2377
$STATE,3221,end climb,SURFACE_DEPTH_REACHED
$STATE,3221,begin surface coast
$FINISH,0.7,1.021052
$STATE,3255,end surface coast,CONTROL_FINISHED_OK
$STATE,3256,begin surface
$SM_CCo,3276,118.18,0.624,0,0,1563,280.13
$SM_GC,0.83,0.00,0.00,118.18,0.000,0.000,0.624,434,1717,1563,-10.60,0.48,280.13
$IRIDIUM_FIX,4748.51,-12221.84,020199,050529
$TT8_MAMPS,0.029146
$HUMID,1600
$INTERNAL_PRESSURE,9.3133
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.0,37.1
$24V_AH,23.3,1.351
$10V_AH,10.1,1.295
$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,25.975,58.800,125.725,118.175,0.000,30.063,25.167,145.950,0.750,0.000,0.000,16.142,1090.508,663.852,377.950,1226.693,344.002,33.328,955.379,0.000,1223.204,0.000,8.605,0.000
$DEVICE_MAMPS,167.973,61.360,701.038,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.401,356.949,791.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34772,694
$CAP_FILE_SIZE,64995,0
$CFSIZE,260165632,257724416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,070346,4806.842,-12222.736,9,3.3,28,18.3