version: 66.04
glider: 139
mission: 7
dive: 16
start: 10 8 109 8 11 7
data:
$ID,139
$MISSION,7
$DIVE,16
$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,-2117521
$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,21
$R_STBD_OVSHOOT,37
$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
$GPS1,080507,4806.979,-12222.876,31,1.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.6
$GPS2,081014,4806.958,-12222.870,13,1.1,13,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,0.123
$KALMAN_X,1259.8,490.2,-20.8,-1363.8,206.1
$KALMAN_Y,-2409.8,-18.5,-408.6,2018.3,-160.4
$MHEAD_RNG_PITCHd_Wd,298.7,2381,-16.1,-6.024
$D_GRID,105
$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,-64.15,0.000,6,0.000,0.000,434,1690,3022
$GC,88,-1.10,-77.9,2.5,-1.7,12,107,12.02,2.45,0.00,0.000,4,0.168,0.039,2494,3105,3024
$GC,312,-1.10,-77.9,18.7,-5.4,64,319,0.00,2.45,0.00,0.000,6,0.000,0.039,2493,1692,3025
$GC,385,-1.10,-77.9,22.7,-5.5,80,391,0.00,2.42,0.00,0.000,4,0.000,0.038,2494,3101,3025
$GC,423,-1.10,-77.9,24.9,-5.6,88,430,0.00,2.45,0.00,0.000,6,0.000,0.039,2493,1692,3025
$GC,494,-1.10,-77.9,28.8,-5.5,104,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1692,3025
$GC,564,-1.10,-77.9,32.8,-5.6,120,571,0.00,2.42,0.00,0.000,4,0.000,0.038,2494,3100,3026
$GC,586,-1.10,-77.9,33.9,-5.4,124,593,0.00,2.42,0.00,0.000,6,0.000,0.039,2493,1701,3025
$GC,657,-1.10,-77.9,38.1,-6.0,140,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1701,3025
$GC,730,-1.10,-77.9,42.3,-5.8,156,736,0.00,2.42,0.00,0.000,4,0.000,0.038,2494,3100,3025
$GC,788,-1.10,-77.9,45.8,-5.9,168,794,0.00,2.45,0.00,0.000,6,0.000,0.039,2494,1693,3025
$GC,932,-1.10,-77.9,53.6,-5.5,199,938,0.00,2.45,0.00,0.000,4,0.000,0.038,2493,3107,3025
$GC,1030,-1.10,-77.9,59.7,-6.4,220,1036,0.00,2.45,0.00,0.000,6,0.000,0.039,2493,1698,3025
$GC,1176,-1.10,-77.9,67.7,-5.3,251,1182,0.00,2.42,0.00,0.000,4,0.000,0.037,2494,3101,3026
$GC,1238,-1.10,-77.9,71.4,-5.8,264,1245,0.00,2.45,0.00,0.000,6,0.000,0.038,2493,1690,3025
$GC,1383,-1.10,-77.9,79.4,-5.8,295,1390,0.00,2.45,0.00,0.000,4,0.000,0.038,2494,3108,3026
$GC,1471,-1.10,-77.9,85.1,-6.5,314,1477,0.00,2.45,0.00,0.000,6,0.000,0.039,2493,1697,3025
$GC,1616,-1.10,-77.9,93.5,-5.7,345,1622,0.00,2.42,0.00,0.000,4,0.000,0.037,2493,3104,3025
$GC,1723,-1.10,-77.9,100.1,-6.2,368,1729,0.00,2.45,0.00,0.000,6,0.000,0.039,2493,1691,3025
$STATE,1809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1809,begin apogee
$GC,1815,-0.31,0.0,105.2,5.6,387,1884,0.82,0.00,62.28,0.699,6,0.087,0.000,2665,1691,2704
$STATE,1884,end apogee,CONTROL_FINISHED_OK
$STATE,1884,begin climb
$GC,1887,1.10,77.9,106.3,0.0,399,1955,1.42,0.00,63.08,0.681,6,0.059,0.000,2974,1690,2387
$GC,2092,1.10,77.9,90.4,9.1,441,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1691,2381
$GC,2234,1.10,77.9,77.0,9.2,472,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1691,2380
$GC,2376,1.10,77.9,63.7,9.5,503,2382,0.00,2.45,0.00,0.000,4,0.000,0.035,2974,3108,2379
$GC,2416,1.10,77.9,60.0,9.4,511,2422,0.00,2.47,0.00,0.000,6,0.000,0.041,2974,1696,2379
$GC,2561,1.10,77.9,47.2,8.9,542,2567,0.00,2.45,0.00,0.000,4,0.000,0.036,2974,3111,2379
$GC,2587,1.10,77.9,44.6,8.9,547,2593,0.00,2.47,0.00,0.000,6,0.000,0.041,2974,1696,2379
$GC,2724,1.10,77.9,32.6,8.7,578,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1696,2378
$GC,2794,1.10,77.9,26.5,8.3,594,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1696,2378
$GC,2865,1.10,77.9,20.5,8.1,610,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1696,2378
$GC,2934,1.10,77.9,14.8,8.3,626,2941,0.00,2.42,0.00,0.000,4,0.000,0.035,2974,3110,2378
$GC,2956,1.10,77.9,13.0,8.2,630,2963,0.00,2.47,0.00,0.000,6,0.000,0.041,2974,1693,2378
$GC,3026,1.10,77.9,7.2,8.1,646,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1693,2378
$GC,3096,1.10,77.9,2.3,6.8,662,3103,0.00,2.42,0.00,0.000,4,0.000,0.036,2974,3101,2378
$STATE,3107,end climb,SURFACE_DEPTH_REACHED
$STATE,3107,begin surface coast
$FINISH,0.5,1.021368
$STATE,3137,end surface coast,CONTROL_FINISHED_OK
$STATE,3138,begin surface
$SM_CCo,3161,117.75,0.627,0,0,1563,280.13
$SM_GC,1.04,0.00,0.00,117.75,0.000,0.000,0.627,434,1697,1563,-10.59,-0.08,280.13
$IRIDIUM_FIX,4748.51,-12221.84,020199,070715
$TT8_MAMPS,0.029146
$HUMID,1574
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.4,1.465
$10V_AH,10.1,1.417
$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,25.725,58.725,125.350,117.750,0.000,31.496,24.251,145.485,0.000,0.000,0.000,13.444,1052.412,622.383,376.489,1176.506,357.268,33.350,935.268,0.000,1191.350,0.000,0.535,0.000
$DEVICE_MAMPS,167.973,40.651,698.737,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.757,360.599,784.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34776,671
$CAP_FILE_SIZE,63088,0
$CFSIZE,260165632,257650688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,090632,4807.151,-12223.094,9,1.4,9,18.3