version: 66.04
glider: 139
mission: 7
dive: 17
start: 10 8 109 9 12 37
data:
$ID,139
$MISSION,7
$DIVE,17
$D_SURF,3
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2117536.2
$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,1800
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,090632,4807.151,-12223.094,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.2
$GPS2,091144,4807.136,-12223.081,14,1.3,14,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.119
$KALMAN_X,1421.8,588.3,-141.1,-1764.0,130.3
$KALMAN_Y,-2655.2,-21.2,-258.9,2446.9,-13.0
$MHEAD_RNG_PITCHd_Wd,296.6,1962,-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,14,-1.10,-77.9,0.0,0.0,0,85,0.00,0.00,-64.03,0.000,6,0.000,0.000,435,1697,3022
$GC,88,-1.10,-77.9,2.7,-1.8,12,107,12.02,2.33,0.00,0.000,4,0.169,0.049,2491,397,3024
$GC,114,-1.10,-77.9,8.1,-10.2,16,120,0.00,2.38,0.00,0.000,6,0.000,0.029,2491,1806,3024
$GC,185,-1.10,-77.9,12.7,-6.1,32,191,0.00,2.40,0.00,0.000,4,0.000,0.039,2491,3201,3024
$GC,206,-1.10,-77.9,13.9,-5.4,36,213,0.00,2.42,0.00,0.000,6,0.000,0.037,2491,1796,3025
$GC,277,-1.10,-77.9,18.1,-5.9,52,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1796,3025
$GC,347,-1.10,-77.9,22.4,-6.2,68,354,0.00,2.42,0.00,0.000,4,0.000,0.039,2491,3200,3025
$GC,368,-1.10,-77.9,23.7,-6.3,72,375,0.00,2.42,0.00,0.000,6,0.000,0.037,2491,1800,3025
$GC,438,-1.10,-77.9,28.3,-6.4,88,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1800,3024
$GC,508,-1.10,-77.9,32.1,-5.5,104,514,0.00,2.42,0.00,0.000,4,0.000,0.038,2491,3205,3025
$GC,538,-1.10,-77.9,33.8,-5.3,110,544,0.00,2.42,0.00,0.000,6,0.000,0.038,2491,1799,3025
$GC,608,-1.10,-77.9,37.7,-5.5,126,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1799,3025
$GC,680,-1.10,-77.9,41.8,-5.7,142,687,0.00,2.42,0.00,0.000,4,0.000,0.038,2491,3206,3025
$GC,701,-1.10,-77.9,43.2,-6.1,146,708,0.00,2.45,0.00,0.000,6,0.000,0.038,2491,1795,3024
$GC,846,-1.10,-77.9,51.8,-5.8,177,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1794,3025
$GC,988,-1.10,-77.9,60.5,-6.1,208,994,0.00,2.45,0.00,0.000,4,0.000,0.039,2491,3205,3024
$GC,1117,-1.10,-77.9,68.5,-6.0,236,1123,0.00,2.45,0.00,0.000,6,0.000,0.038,2491,1791,3025
$GC,1262,-1.10,-77.9,76.2,-5.5,267,1268,0.00,2.45,0.00,0.000,4,0.000,0.038,2491,3206,3025
$GC,1365,-1.10,-77.9,82.8,-6.5,289,1371,0.00,2.45,0.00,0.000,6,0.000,0.038,2491,1792,3025
$GC,1507,-1.10,-77.9,91.5,-6.0,320,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1792,3025
$GC,1651,-1.10,-77.9,99.8,-5.6,351,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1792,3025
$STATE,1744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1744,begin apogee
$GC,1750,-0.31,0.0,105.1,5.4,372,1819,0.85,0.00,61.97,0.700,6,0.090,0.000,2666,1858,2705
$STATE,1820,end apogee,CONTROL_FINISHED_OK
$STATE,1820,begin climb
$GC,1822,1.10,77.9,106.1,0.0,384,1896,1.42,2.62,63.28,0.681,4,0.058,0.057,2976,450,2385
$GC,1912,1.10,77.9,100.5,7.3,400,1918,0.00,2.40,0.00,0.000,6,0.000,0.030,2976,1853,2383
$GC,2056,1.10,77.9,86.4,9.9,431,2063,0.00,2.55,0.00,0.000,4,0.000,0.055,2976,443,2380
$GC,2078,1.10,77.9,83.9,10.0,435,2084,0.00,2.40,0.00,0.000,6,0.000,0.029,2976,1863,2380
$GC,2221,1.10,77.9,70.2,9.8,466,2228,0.00,2.58,0.00,0.000,4,0.000,0.054,2976,435,2379
$GC,2239,1.10,77.9,68.1,10.1,469,2245,0.00,2.40,0.00,0.000,6,0.000,0.029,2976,1856,2378
$GC,2382,1.10,77.9,53.8,9.5,500,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1862,2378
$GC,2525,1.10,77.9,39.8,9.3,531,2532,0.00,2.55,0.00,0.000,4,0.000,0.055,2975,436,2378
$GC,2538,1.10,77.9,38.6,9.3,533,2545,0.00,2.38,0.00,0.000,6,0.000,0.029,2975,1853,2377
$GC,2610,1.10,77.9,31.9,9.2,549,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1858,2377
$GC,2680,1.10,77.9,25.5,8.7,565,2687,0.00,2.53,0.00,0.000,4,0.000,0.056,2976,446,2378
$GC,2697,1.10,77.9,24.0,8.8,568,2704,0.00,2.35,0.00,0.000,6,0.000,0.030,2976,1848,2378
$GC,2769,1.10,77.9,17.8,8.3,584,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1853,2377
$GC,2839,1.10,77.9,12.0,8.1,600,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1853,2378
$GC,2910,1.10,77.9,6.3,7.8,616,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1854,2378
$STATE,2957,end climb,SURFACE_DEPTH_REACHED
$STATE,2957,begin surface coast
$FINISH,0.8,1.021439
$STATE,3008,end surface coast,CONTROL_FINISHED_OK
$STATE,3008,begin surface
$SM_CCo,3030,120.60,0.625,0,0,1563,280.13
$SM_GC,0.97,0.00,0.00,120.60,0.000,0.000,0.625,431,1784,1563,-10.61,-0.45,280.13
$IRIDIUM_FIX,4748.51,-12224.57,020199,080837
$TT8_MAMPS,0.029913
$HUMID,1583
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.3,1.523
$10V_AH,10.1,1.476
$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,25.900,58.825,125.250,120.600,0.000,30.388,23.884,149.596,0.000,0.000,0.000,14.491,1008.179,586.815,390.376,1130.747,344.858,33.329,940.359,0.000,1132.181,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,70.564,699.504,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.207,335.901,743.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31662,639
$CAP_FILE_SIZE,63579,0
$CFSIZE,260165632,257613824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,100613,4807.354,-12223.279,12,2.0,29,18.3