version: 66.04
glider: 114
mission: 4
dive: 4
start: 7 2 109 22 5 17
data:
$ID,114
$MISSION,4
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$D_NO_BLEED,80
$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,100
$T_MISSION,120
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52290
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2110
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,460
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-609695.25
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,15
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3961
$C_VBD,2777
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017500001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.062535
$PRESSURE_SLOPE,0.000116376
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2
$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,0.0044139405
$SEABIRD_T_H,0.0006546143
$SEABIRD_T_I,2.8137214e-05
$SEABIRD_T_J,3.1112556e-06
$SEABIRD_C_G,-10.003699
$SEABIRD_C_H,1.1230496
$SEABIRD_C_I,-0.0013255846
$SEABIRD_C_J,0.00018004949
$GPS1,215808,2114.547,-15752.562,12,1.8,12,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.9
$GPS2,220425,2114.540,-15752.564,40,2.0,40,9.8
$SPEED_LIMITS,0.084,0.266
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.237,-0.122
$KALMAN_X,422.4,348.6,297.8,-1264.0,464.7
$KALMAN_Y,-38.7,-36.4,-35.5,-629.4,-35.9
$MHEAD_RNG_PITCHd_Wd,233.0,16439,-17.4,-10.000
$D_GRID,300
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.43,-155.7,0.0,0.0,0,101,0.00,0.00,-79.95,0.000,2,0.000,0.000,405,2074,3192
$GC,105,-1.43,-155.7,3.3,-7.3,14,125,10.40,2.53,-3.62,0.000,4,0.176,0.056,2167,637,3414
$GC,379,-1.43,-155.7,68.1,-18.0,46,384,0.00,2.42,0.00,0.000,6,0.000,0.026,2167,2074,3414
$GC,642,-1.43,-155.7,115.9,-18.9,70,647,0.00,2.55,0.00,0.000,4,0.000,0.047,2167,627,3414
$GC,773,-1.43,-155.7,138.5,-15.4,81,777,0.00,2.42,0.00,0.000,6,0.000,0.028,2167,2065,3415
$GC,1040,-1.43,-155.7,177.1,-15.5,106,1044,0.00,2.53,0.00,0.000,4,0.000,0.049,2167,636,3415
$GC,1062,-1.43,-155.7,181.0,-16.9,107,1068,0.00,2.42,0.00,0.000,6,0.000,0.028,2167,2074,3415
$GC,1329,-1.43,-155.7,220.9,-13.5,126,1334,0.00,2.58,0.00,0.000,4,0.000,0.051,2167,625,3415
$GC,1492,-1.43,-155.7,245.3,-14.9,133,1496,0.00,2.45,0.00,0.000,6,0.000,0.030,2167,2071,3415
$GC,1814,-1.43,-155.7,289.8,-13.2,149,1818,0.00,2.58,0.00,0.000,4,0.000,0.056,2167,635,3414
$STATE,1883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1883,begin apogee
$GC,1893,-0.33,0.0,300.8,14.6,152,2018,1.20,0.00,121.10,0.702,6,0.118,0.000,2404,2069,2776
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2019,begin climb
$GC,2022,1.43,155.7,306.6,0.0,155,2153,1.85,2.55,121.78,0.689,4,0.084,0.048,2786,3459,2140
$GC,2215,1.45,168.1,296.6,9.5,160,2232,0.00,2.53,10.90,0.591,6,0.000,0.040,2786,2037,2090
$GC,2542,1.49,189.8,264.7,9.0,176,2567,0.00,2.62,18.33,0.641,4,0.000,0.063,2786,640,2001
$GC,2680,1.49,189.8,250.5,10.6,182,2685,0.00,2.47,0.00,0.000,6,0.000,0.032,2786,2070,1998
$GC,3002,1.53,215.1,219.7,8.9,198,3029,0.15,2.67,20.67,0.651,4,0.087,0.060,2816,631,1898
$GC,3198,1.53,215.1,197.3,11.4,208,3202,0.00,2.47,0.00,0.000,6,0.000,0.032,2817,2068,1892
$GC,3460,1.53,215.1,169.6,11.1,232,3464,0.00,2.60,0.00,0.000,4,0.000,0.058,2816,639,1890
$GC,3560,1.53,215.1,157.7,12.1,240,3567,0.00,2.42,0.00,0.000,6,0.000,0.030,2817,2064,1889
$GC,3822,1.53,215.1,129.0,10.5,265,3827,0.00,2.58,0.00,0.000,4,0.000,0.055,2816,637,1887
$GC,3852,1.53,215.1,125.7,11.3,267,3856,0.00,2.42,0.00,0.000,6,0.000,0.030,2817,2064,1887
$GC,4114,1.53,215.1,99.5,10.1,291,4118,0.00,2.58,0.00,0.000,4,0.000,0.054,2817,630,1887
$GC,4135,1.53,215.1,97.1,10.4,292,4142,0.00,2.42,0.00,0.000,6,0.000,0.028,2817,2070,1887
$GC,4398,1.57,236.2,70.8,9.1,317,4421,0.00,2.60,16.70,0.551,4,0.000,0.052,2817,637,1811
$GC,4523,1.57,236.2,57.9,10.5,328,4528,0.00,2.42,0.00,0.000,6,0.000,0.028,2817,2064,1807
$GC,4786,1.65,278.1,35.0,8.1,352,4829,0.00,2.67,33.78,0.535,4,0.000,0.053,2817,630,1640
$GC,4842,1.66,288.5,30.1,9.5,357,4861,0.12,2.45,9.93,0.466,6,0.081,0.033,2844,2065,1598
$GC,5065,1.66,288.5,4.4,10.7,395,5071,0.00,2.58,0.00,0.000,4,0.000,0.053,2843,634,1594
$STATE,5075,end climb,SURFACE_DEPTH_REACHED
$STATE,5075,begin surface coast
$FINISH,0.4,1.006957
$STATE,5121,end surface coast,CONTROL_FINISHED_OK
$STATE,5122,begin surface
$SM_CCo,5148,81.95,0.495,0,0,900,460.18
$SM_GC,1.17,0.00,0.00,81.95,0.000,0.000,0.495,406,2078,900,-9.54,0.79,460.18
$IRIDIUM_FIX,2106.38,-15750.02,260998,212102
$TT8_MAMPS,0.027612
$HUMID,1623
$INTERNAL_PRESSURE,9.62725
$TCM_TEMP,24.00
$XPDR_PINGS,23
$24V_AH,23.9,3.288
$10V_AH,10.2,1.837
$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,24.900,70.525,353.175,81.950,0.000,25.276,41.700,160.942,5.750,0.000,0.000,41.740,721.705,2961.846,494.482,1029.499,408.181,32.326,1014.216,0.000,990.590,0.000,0.542,0.000
$DEVICE_MAMPS,176.410,62.894,701.805,495.482,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.457,292.304,471.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22353,405
$CAP_FILE_SIZE,58217,0
$CFSIZE,260165632,223289344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020709,233334,2114.251,-15753.093,12,2.9,32,9.8