version: 66.04
glider: 139
mission: 7
dive: 21
start: 10 8 109 13 17 56
data:
$ID,139
$MISSION,7
$DIVE,21
$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,-2117654.5
$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,32
$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
$GPS1,130752,4807.886,-12223.908,12,1.4,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.1
$GPS2,131706,4807.867,-12223.885,13,1.2,29,18.3
$SPEED_LIMITS,0.104,0.168
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.070,0.145
$KALMAN_X,2072.9,514.5,-117.7,-3357.9,95.7
$KALMAN_Y,-3714.9,16.5,441.5,4119.3,-247.1
$MHEAD_RNG_PITCHd_Wd,315.9,285,-17.0,-6.024
$D_GRID,103
$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,-1.15,-71.1,0.0,0.0,0,84,0.00,0.00,-63.17,0.000,6,0.000,0.000,434,1783,2994
$GC,87,-1.16,-77.9,2.6,-1.8,12,108,11.90,2.45,-0.75,0.000,4,0.166,0.062,2481,402,3025
$GC,345,-1.16,-77.9,24.7,-6.7,72,352,0.00,2.35,0.00,0.000,6,0.000,0.029,2480,1801,3026
$GC,416,-1.16,-77.9,28.7,-5.6,88,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1806,3027
$GC,486,-1.16,-77.9,32.7,-5.9,104,492,0.00,2.40,0.00,0.000,4,0.000,0.039,2481,3200,3027
$GC,545,-1.16,-77.9,36.5,-6.5,117,552,0.00,2.40,0.00,0.000,6,0.000,0.038,2481,1809,3027
$GC,617,-1.16,-77.9,41.1,-6.4,133,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1809,3026
$GC,759,-1.16,-77.9,50.6,-6.9,164,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1809,3026
$GC,901,-1.16,-77.9,59.6,-6.3,195,907,0.00,2.42,0.00,0.000,4,0.000,0.038,2481,3207,3026
$GC,989,-1.16,-77.9,65.2,-6.6,214,995,0.00,2.45,0.00,0.000,6,0.000,0.038,2481,1798,3027
$GC,1132,-1.16,-77.9,74.2,-6.2,245,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1797,3027
$GC,1275,-1.16,-77.9,83.0,-6.0,276,1281,0.00,2.45,0.00,0.000,4,0.000,0.038,2481,3211,3027
$GC,1314,-1.16,-77.9,85.4,-6.2,284,1320,0.00,2.45,0.00,0.000,6,0.000,0.038,2481,1797,3027
$GC,1460,-1.16,-77.9,93.6,-6.0,315,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1797,3026
$GC,1602,-1.16,-77.9,102.0,-5.9,346,1609,0.00,2.45,0.00,0.000,4,0.000,0.038,2481,3212,3026
$STATE,1617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1618,begin apogee
$GC,1626,-0.31,0.0,103.0,5.8,349,1694,0.90,0.00,62.28,0.698,6,0.091,0.000,2665,1839,2704
$STATE,1695,end apogee,CONTROL_FINISHED_OK
$STATE,1695,begin climb
$GC,1697,1.16,77.9,104.5,0.0,361,1767,1.48,2.62,62.92,0.680,4,0.057,0.056,2986,436,2386
$GC,1783,1.16,77.9,99.3,7.2,376,1789,0.00,2.42,0.00,0.000,6,0.000,0.029,2987,1853,2383
$GC,1928,1.16,77.9,84.3,10.8,407,1934,0.00,2.55,0.00,0.000,4,0.000,0.056,2987,446,2381
$GC,1944,1.16,77.9,82.4,10.7,410,1951,0.00,2.40,0.00,0.000,6,0.000,0.029,2987,1858,2379
$GC,2088,1.16,77.9,67.7,10.1,441,2094,0.00,2.58,0.00,0.000,4,0.000,0.061,2987,435,2379
$GC,2105,1.16,77.9,65.8,10.1,444,2111,0.00,2.40,0.00,0.000,6,0.000,0.029,2987,1853,2378
$GC,2250,1.16,77.9,51.4,10.0,475,2256,0.00,2.55,0.00,0.000,4,0.000,0.058,2986,442,2379
$GC,2266,1.16,77.9,49.5,10.0,478,2273,0.00,2.38,0.00,0.000,6,0.000,0.029,2987,1855,2378
$GC,2408,1.16,77.9,36.0,9.4,509,2415,0.00,2.55,0.00,0.000,4,0.000,0.056,2987,437,2378
$GC,2425,1.16,77.9,34.1,9.7,512,2431,0.00,2.38,0.00,0.000,6,0.000,0.029,2987,1851,2378
$GC,2496,1.16,77.9,27.3,9.1,528,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1857,2378
$GC,2566,1.16,77.9,21.0,8.9,544,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1857,2378
$GC,2636,1.16,77.9,15.0,8.4,560,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1857,2378
$GC,2705,1.16,77.9,9.0,8.8,576,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1856,2378
$GC,2776,1.16,77.9,3.6,7.3,592,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1857,2377
$STATE,2786,end climb,SURFACE_DEPTH_REACHED
$STATE,2786,begin surface coast
$FINISH,1.0,1.021081
$STATE,2833,end surface coast,CONTROL_FINISHED_OK
$STATE,2833,begin surface
$SM_CCo,2855,119.28,0.627,0,0,1562,280.13
$SM_GC,0.79,0.00,0.00,119.28,0.000,0.000,0.627,434,1787,1562,-10.60,-0.37,280.13
$IRIDIUM_FIX,4748.51,-12226.29,020199,131321
$TT8_MAMPS,0.029146
$HUMID,1576
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,17.60
$XPDR_PINGS,2
$24V_AH,23.3,1.771
$10V_AH,10.1,1.715
$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,25.950,49.175,125.200,119.275,0.000,58.775,56.064,252.370,0.500,0.000,0.000,29.802,946.661,621.099,369.508,1081.156,518.418,33.303,879.806,0.000,1071.491,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,67.496,697.970,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.597,321.358,706.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31627,605
$CAP_FILE_SIZE,60705,0
$CFSIZE,260165632,257474560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,140834,4808.123,-12224.042,8,4.5,27,18.3