version: 66.04
glider: 139
mission: 7
dive: 15
start: 10 8 109 7 10 7
data:
$ID,139
$MISSION,7
$DIVE,15
$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,-4
$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,-2117506.8
$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,18
$R_STBD_OVSHOOT,41
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,070346,4806.842,-12222.736,9,3.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.1
$GPS2,070916,4806.809,-12222.731,13,3.6,32,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.134
$KALMAN_X,1057.9,380.4,104.6,-1007.3,254.0
$KALMAN_Y,-2190.6,5.8,-456.7,1547.7,-328.1
$MHEAD_RNG_PITCHd_Wd,304.7,2706,-16.1,-6.024
$D_GRID,107
$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,-77.9,0.0,0.0,0,84,0.00,0.00,-64.32,0.000,6,0.000,0.000,434,1718,3022
$GC,87,-1.10,-77.9,2.5,-1.8,12,107,12.02,2.42,0.00,0.000,4,0.168,0.040,2492,3097,3025
$GC,313,-1.10,-77.9,19.3,-5.7,64,320,0.00,2.42,0.00,0.000,6,0.000,0.039,2492,1694,3025
$GC,384,-1.10,-77.9,23.2,-5.7,80,390,0.00,2.42,0.00,0.000,4,0.000,0.038,2492,3101,3025
$GC,451,-1.10,-77.9,27.0,-5.7,95,458,0.00,2.42,0.00,0.000,6,0.000,0.038,2492,1699,3025
$GC,522,-1.10,-77.9,31.2,-5.9,111,529,0.00,2.40,0.00,0.000,4,0.000,0.038,2492,3097,3025
$GC,548,-1.10,-77.9,32.7,-5.8,116,555,0.00,2.42,0.00,0.000,6,0.000,0.038,2492,1694,3025
$GC,621,-1.10,-77.9,37.0,-6.1,132,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1694,3025
$GC,691,-1.10,-77.9,41.1,-5.7,148,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1694,3025
$GC,834,-1.10,-77.9,49.8,-6.1,179,840,0.00,2.42,0.00,0.000,4,0.000,0.037,2492,3097,3025
$GC,996,-1.10,-77.9,60.2,-6.3,214,1002,0.00,2.42,0.00,0.000,6,0.000,0.039,2492,1701,3025
$GC,1141,-1.10,-77.9,69.1,-6.1,245,1147,0.00,2.42,0.00,0.000,4,0.000,0.038,2492,3104,3025
$GC,1170,-1.10,-77.9,71.1,-6.2,251,1177,0.00,2.45,0.00,0.000,6,0.000,0.039,2492,1692,3025
$GC,1315,-1.10,-77.9,79.4,-5.8,282,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1692,3025
$GC,1458,-1.10,-77.9,87.8,-5.9,313,1464,0.00,2.42,0.00,0.000,4,0.000,0.037,2492,3100,3025
$GC,1593,-1.10,-77.9,95.8,-6.0,342,1600,0.00,2.42,0.00,0.000,6,0.000,0.039,2492,1699,3025
$GC,1739,-1.10,-77.9,104.3,-5.8,373,1745,0.00,2.40,0.00,0.000,4,0.000,0.037,2492,3097,3025
$STATE,1780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1780,begin apogee
$GC,1788,-0.31,0.0,107.0,5.9,382,1857,0.85,0.00,62.30,0.698,6,0.091,0.000,2666,1698,2704
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1858,begin climb
$GC,1860,1.10,77.9,108.5,0.0,394,1934,1.42,2.62,63.17,0.680,4,0.058,0.061,2975,298,2385
$GC,1946,1.10,77.9,103.6,6.6,409,1952,0.00,2.40,0.00,0.000,6,0.000,0.029,2975,1705,2382
$GC,2088,1.10,77.9,90.4,9.6,440,2095,0.00,2.40,0.00,0.000,4,0.000,0.036,2975,3101,2380
$GC,2110,1.10,77.9,88.2,9.7,444,2116,0.00,2.47,0.00,0.000,6,0.000,0.041,2975,1693,2380
$GC,2255,1.10,77.9,74.6,9.3,475,2261,0.00,2.45,0.00,0.000,4,0.000,0.036,2974,3107,2379
$GC,2267,1.10,77.9,73.2,9.4,477,2273,0.00,2.47,0.00,0.000,6,0.000,0.040,2975,1693,2380
$GC,2411,1.10,77.9,59.6,9.2,508,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1692,2379
$GC,2553,1.10,77.9,46.3,9.7,539,2559,0.00,2.45,0.00,0.000,4,0.000,0.036,2975,3106,2378
$GC,2588,1.10,77.9,42.9,9.5,546,2594,0.00,2.47,0.00,0.000,6,0.000,0.041,2975,1693,2378
$GC,2725,1.10,77.9,30.3,9.5,577,2731,0.00,2.42,0.00,0.000,4,0.000,0.037,2975,3105,2379
$GC,2746,1.10,77.9,28.1,9.5,581,2753,0.00,2.45,0.00,0.000,6,0.000,0.040,2975,1699,2379
$GC,2816,1.10,77.9,21.8,9.0,597,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1699,2378
$GC,2885,1.10,77.9,15.9,8.3,613,2892,0.00,2.42,0.00,0.000,4,0.000,0.038,2975,3108,2378
$GC,2906,1.10,77.9,14.2,8.4,617,2913,0.00,2.45,0.00,0.000,6,0.000,0.040,2975,1694,2378
$GC,2976,1.10,77.9,8.3,8.0,633,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1695,2378
$GC,3045,1.10,77.9,2.9,7.3,649,3052,0.00,2.42,0.00,0.000,4,0.000,0.038,2975,3105,2378
$STATE,3061,end climb,SURFACE_DEPTH_REACHED
$STATE,3061,begin surface coast
$FINISH,0.6,1.021163
$STATE,3091,end surface coast,CONTROL_FINISHED_OK
$STATE,3091,begin surface
$SM_CCo,3115,117.45,0.625,0,0,1562,280.13
$SM_GC,1.00,0.00,0.00,117.45,0.000,0.000,0.625,434,1690,1562,-10.60,-0.28,280.13
$IRIDIUM_FIX,4748.51,-12224.57,020199,060632
$TT8_MAMPS,0.029146
$HUMID,1587
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.4,1.408
$10V_AH,10.1,1.356
$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,25.900,68.400,125.475,117.450,0.000,30.125,25.965,146.621,0.000,0.000,0.000,33.690,1033.954,613.702,382.759,1181.967,346.218,33.348,935.210,0.000,1164.200,0.000,0.534,0.000
$DEVICE_MAMPS,167.973,60.593,697.970,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.309,347.230,765.846,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34942,659
$CAP_FILE_SIZE,63129,0
$CFSIZE,260165632,257687552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,080507,4806.979,-12222.876,31,1.1,31,18.3