version: 66.04
glider: 139
mission: 4
dive: 11
start: 12 11 108 5 38 36
data:
$ID,139
$MISSION,4
$DIVE,11
$D_SURF,5
$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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,51851
$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,580
$N_FILEKB,4
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1277621.2
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,360
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3700
$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,4
$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,-14.263241
$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,1
$XPDR_VALID,2
$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,-9.8723097
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,052627,4806.785,-12222.913,12,2.0,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.5
$GPS2,053745,4806.675,-12222.839,11,1.8,11,18.3
$SPEED_LIMITS,0.173,0.195
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,0.180
$KALMAN_X,-317.6,-103.1,172.4,662.4,83.5
$KALMAN_Y,-1363.4,-328.0,-263.5,-731.3,-118.6
$MHEAD_RNG_PITCHd_Wd,319.3,633,-24.9,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.65,-77.9,0.0,0.0,0,98,0.00,0.00,-80.82,0.000,2,0.000,0.000,433,1873,2538
$GC,101,-1.65,-77.9,3.7,-9.1,14,155,12.20,2.47,-35.15,0.000,4,0.166,0.094,2531,3275,3861
$GC,185,-1.65,-77.9,7.1,-2.4,28,191,0.00,1.85,0.00,0.000,6,0.000,0.031,2531,2199,3862
$GC,259,-1.65,-77.9,8.2,-2.0,41,266,0.00,2.45,0.00,0.000,4,0.000,0.077,2531,796,3862
$GC,347,-1.65,-77.9,10.8,-3.4,56,353,0.00,1.88,0.00,0.000,6,0.000,0.035,2531,1870,3862
$GC,422,-1.65,-77.9,13.8,-4.6,69,428,0.00,2.47,0.00,0.000,4,0.000,0.048,2531,3274,3863
$GC,492,-1.65,-77.9,18.0,-6.4,81,499,0.00,1.85,0.00,0.000,6,0.000,0.031,2531,2200,3863
$GC,567,-1.65,-77.9,23.1,-6.7,94,573,0.00,1.90,0.00,0.000,4,0.000,0.044,2531,3268,3863
$GC,598,-1.65,-77.9,25.2,-7.1,99,604,0.00,1.83,0.00,0.000,6,0.000,0.031,2531,2204,3863
$GC,673,-1.65,-77.9,30.5,-6.7,112,679,0.00,2.45,0.00,0.000,4,0.000,0.080,2531,803,3863
$GC,731,-1.65,-77.9,34.8,-7.3,122,737,0.00,1.85,0.00,0.000,6,0.000,0.035,2531,1867,3863
$GC,806,-1.65,-77.9,40.1,-7.1,135,812,0.00,2.47,0.00,0.000,4,0.000,0.081,2531,3276,3863
$GC,897,-1.65,-77.9,46.9,-7.4,151,903,0.00,1.83,0.00,0.000,6,0.000,0.030,2531,2192,3863
$GC,1038,-1.65,-77.9,57.1,-7.2,176,1044,0.00,1.92,0.00,0.000,4,0.000,0.044,2531,3275,3863
$GC,1073,-1.65,-77.9,59.6,-8.3,182,1079,0.00,1.85,0.00,0.000,6,0.000,0.030,2531,2193,3863
$GC,1216,-1.65,-77.9,69.6,-7.1,207,1222,0.00,2.42,0.00,0.000,4,0.000,0.044,2531,800,3863
$GC,1245,-1.65,-77.9,71.9,-7.8,212,1251,0.00,1.85,0.00,0.000,6,0.000,0.034,2531,1867,3863
$GC,1387,-1.65,-77.9,81.9,-7.2,237,1393,0.00,2.45,0.00,0.000,4,0.000,0.046,2531,3275,3864
$GC,1513,-1.65,-77.9,91.1,-7.4,259,1519,0.00,1.80,0.00,0.000,6,0.000,0.029,2531,2200,3863
$GC,1654,-1.65,-77.9,100.8,-7.0,284,1660,0.00,2.42,0.00,0.000,4,0.000,0.044,2531,805,3864
$GC,1740,-1.65,-77.9,106.7,-6.8,299,1746,0.00,1.80,0.00,0.000,6,0.000,0.033,2531,1869,3864
$STATE,1767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1767,begin apogee
$GC,1772,-0.31,0.0,108.6,6.5,304,1812,1.45,0.00,32.85,0.697,6,0.089,0.000,2828,1869,3699
$STATE,1813,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1816,1.65,77.9,109.1,0.0,311,1884,1.88,1.98,61.50,0.682,4,0.036,0.045,3269,797,3382
$GC,2059,1.65,77.9,82.9,12.7,354,2066,0.00,1.85,0.00,0.000,6,0.000,0.033,3269,1865,3381
$GC,2201,1.65,77.9,66.2,11.5,379,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1865,3382
$GC,2342,1.65,77.9,50.3,11.5,404,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1866,3381
$GC,2483,1.65,77.9,35.1,10.4,429,2489,0.00,2.38,0.00,0.000,4,0.000,0.078,3269,3239,3382
$GC,2552,1.65,77.9,27.5,11.0,441,2558,0.00,1.77,0.00,0.000,6,0.000,0.030,3269,2203,3382
$GC,2627,1.66,83.1,20.0,9.6,454,2639,0.00,0.00,5.70,0.514,6,0.000,0.000,3269,2203,3361
$GC,2707,1.66,83.1,11.9,10.1,468,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2203,3361
$GC,2781,1.71,128.8,5.5,6.1,481,2823,0.00,2.55,36.50,0.621,4,0.000,0.044,3269,796,3175
$GC,3077,1.87,251.2,6.0,-0.5,533,3177,0.12,1.85,94.35,0.617,6,0.054,0.032,3306,1875,2676
$STATE,3187,end climb,SURFACE_DEPTH_REACHED
$STATE,3187,begin surface coast
$FINISH,5.1,1.018537
$STATE,3468,end surface coast,CONTROL_FINISHED_OK
$STATE,3468,begin surface
$SM_CCo,3490,261.58,0.616,0,0,1335,580.13
$SM_GC,1.46,0.00,0.00,261.58,0.000,0.000,0.616,431,1873,1335,-11.36,-9.27,580.13
$IRIDIUM_FIX,4748.51,-12226.29,070398,050552
$TT8_MAMPS,0.029146
$HUMID,1467
$INTERNAL_PRESSURE,9.16681
$TCM_TEMP,17.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,85.3,33.1
$24V_AH,23.3,1.495
$10V_AH,10.1,0.643
$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,28.975,54.200,230.900,261.575,0.000,77.489,182.914,174.558,2.250,0.000,0.000,12.733,899.968,1250.498,610.010,1084.718,579.974,33.328,1161.320,0.000,1084.076,0.000,9.843,0.000
$DEVICE_MAMPS,166.439,94.341,697.203,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.988,337.736,773.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31634,602
$CAP_FILE_SIZE,65495,2
$CFSIZE,260165632,257847296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,064415,4806.824,-12222.933,129,5.0,148,18.3