version: 66.04
glider: 114
mission: 4
dive: 6
start: 7 3 109 1 13 38
data:
$ID,114
$MISSION,4
$DIVE,6
$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,-609730.94
$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
$GPS1,010544,2113.921,-15753.681,6,1.8,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-61.2
$GPS2,011244,2113.915,-15753.736,15,1.4,15,9.8
$SPEED_LIMITS,0.084,0.266
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.168,-0.207
$KALMAN_X,967.9,622.1,102.3,-3910.6,9.0
$KALMAN_Y,557.5,-27.4,-46.4,-2383.4,401.7
$MHEAD_RNG_PITCHd_Wd,209.2,14139,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.43,-155.7,0.0,0.0,0,99,0.00,0.00,-80.10,0.000,2,0.000,0.000,408,2073,3271
$GC,103,-1.43,-155.7,3.9,-9.4,14,123,10.50,2.53,-2.17,0.000,4,0.181,0.050,2163,628,3413
$GC,377,-1.43,-155.7,73.7,-18.7,45,381,0.00,2.42,0.00,0.000,6,0.000,0.026,2163,2061,3414
$GC,639,-1.43,-155.7,119.7,-16.7,69,643,0.00,2.53,0.00,0.000,4,0.000,0.045,2163,629,3415
$GC,701,-1.43,-155.7,130.7,-17.5,74,705,0.00,2.42,0.00,0.000,6,0.000,0.027,2163,2063,3415
$GC,963,-1.43,-155.7,173.1,-17.5,98,967,0.00,2.53,0.00,0.000,4,0.000,0.046,2164,632,3416
$GC,1003,-1.43,-155.7,180.1,-17.3,101,1007,0.00,2.42,0.00,0.000,6,0.000,0.027,2163,2069,3416
$GC,1271,-1.43,-155.7,223.4,-16.0,119,1275,0.00,2.55,0.00,0.000,4,0.000,0.049,2163,633,3416
$GC,1333,-1.43,-155.7,232.6,-13.7,121,1339,0.00,2.42,0.00,0.000,6,0.000,0.028,2163,2067,3416
$GC,1649,-1.43,-155.7,276.4,-13.6,137,1653,0.00,2.55,0.00,0.000,4,0.000,0.052,2164,638,3416
$GC,1780,-1.43,-155.7,294.7,-13.9,143,1784,0.00,2.42,0.00,0.000,6,0.000,0.029,2164,2064,3416
$STATE,1835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1835,begin apogee
$GC,1842,-0.33,0.0,302.2,12.8,146,1968,1.25,0.00,122.07,0.698,6,0.115,0.000,2408,2064,2777
$STATE,1969,end apogee,CONTROL_FINISHED_OK
$STATE,1969,begin climb
$GC,1972,1.43,155.7,306.2,0.0,149,2103,1.83,2.55,122.30,0.686,4,0.081,0.046,2787,3458,2140
$GC,2131,1.43,155.7,295.9,10.7,153,2137,0.00,2.50,0.00,0.000,6,0.000,0.037,2787,2047,2137
$GC,2448,1.47,177.5,264.2,9.0,169,2473,0.00,2.65,18.15,0.633,4,0.000,0.060,2788,637,2051
$GC,2607,1.48,181.2,248.1,9.8,176,2616,0.00,2.47,4.20,0.427,6,0.000,0.030,2787,2070,2037
$GC,2939,1.48,181.2,215.3,10.6,192,2944,0.00,2.62,0.00,0.000,4,0.000,0.058,2787,635,2034
$GC,3030,1.51,198.1,206.5,9.3,196,3050,0.00,2.47,14.68,0.621,6,0.000,0.030,2787,2071,1968
$GC,3376,1.53,212.4,178.2,9.4,225,3399,0.12,2.70,12.30,0.597,4,0.087,0.055,2813,636,1909
$GC,3494,1.53,212.4,164.0,11.8,235,3501,0.00,2.45,0.00,0.000,6,0.000,0.029,2812,2063,1905
$GC,3756,1.53,212.4,136.5,10.6,260,3760,0.00,2.58,0.00,0.000,4,0.000,0.054,2813,634,1904
$GC,3778,1.53,212.4,133.9,11.3,261,3784,0.00,2.45,0.00,0.000,6,0.000,0.028,2812,2069,1903
$GC,4039,1.53,212.4,105.8,11.5,286,4044,0.00,2.58,0.00,0.000,4,0.000,0.054,2812,638,1903
$GC,4118,1.53,212.4,96.5,11.4,292,4124,0.00,2.42,0.00,0.000,6,0.000,0.027,2812,2074,1903
$GC,4380,1.57,232.7,72.3,9.1,317,4403,0.00,2.62,16.85,0.545,4,0.000,0.051,2812,630,1826
$GC,4472,1.57,232.7,62.3,10.5,325,4476,0.00,2.45,0.00,0.000,6,0.000,0.027,2813,2071,1823
$GC,4734,1.59,246.1,39.6,9.4,349,4756,0.00,2.60,12.00,0.495,4,0.000,0.050,2812,633,1771
$GC,4870,1.59,246.1,25.7,10.9,364,4876,0.00,2.42,0.00,0.000,6,0.000,0.026,2812,2069,1768
$GC,5081,1.69,302.8,9.2,7.5,401,5135,0.17,2.62,45.45,0.505,4,0.072,0.054,2855,636,1539
$STATE,5139,end climb,SURFACE_DEPTH_REACHED
$STATE,5139,begin surface coast
$FINISH,0.5,1.018847
$STATE,5174,end surface coast,CONTROL_FINISHED_OK
$STATE,5177,begin surface
$SM_CCo,5203,77.10,0.486,0,0,900,460.18
$SM_GC,1.23,0.00,0.00,77.10,0.000,0.000,0.486,408,2081,900,-9.53,0.88,460.18
$IRIDIUM_FIX,2108.69,-15754.30,260998,232329
$TT8_MAMPS,0.027612
$HUMID,1600
$INTERNAL_PRESSURE,9.61748
$TCM_TEMP,24.10
$XPDR_PINGS,5
$24V_AH,23.8,3.476
$10V_AH,10.2,1.936
$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,25.125,70.475,368.000,77.100,0.000,24.835,33.083,218.521,1.250,0.000,0.000,16.753,727.725,2993.619,504.412,1002.695,476.844,33.338,1028.672,0.000,990.323,0.000,0.543,0.000
$DEVICE_MAMPS,181.012,59.826,697.970,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,275.445,300.847,488.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22297,417
$CAP_FILE_SIZE,59617,0
$CFSIZE,260165632,223223808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030709,024306,2113.532,-15754.192,43,1.3,55,9.8