version: 66.04
glider: 114
mission: 4
dive: 8
start: 7 3 109 4 53 23
data:
$ID,114
$MISSION,4
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,350
$D_ABORT,450
$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,129
$T_MISSION,150
$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,440
$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,-609762.31
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2520
$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,2030
$C_ROLL_CLIMB,2030
$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
$GPS1,044140,2112.958,-15754.744,7,2.5,27,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-61.8
$GPS2,045228,2112.965,-15754.716,14,2.0,14,9.8
$SPEED_LIMITS,0.076,0.256
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.216,-0.139
$KALMAN_X,2353.2,269.5,-300.7,-6232.7,618.4
$KALMAN_Y,1158.5,24.4,251.1,-5089.4,228.5
$MHEAD_RNG_PITCHd_Wd,227.4,11715,-15.9,-9.044
$D_GRID,350
$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,-1.33,-155.7,0.0,0.0,0,93,0.00,0.00,-74.72,0.000,2,0.000,0.000,407,2005,3185
$GC,97,-1.33,-155.7,3.5,-6.0,13,118,10.90,2.58,-3.62,0.000,4,0.179,0.046,2227,3457,3415
$GC,294,-1.33,-155.7,49.1,-17.5,38,298,0.00,2.47,0.00,0.000,6,0.000,0.029,2227,2010,3416
$GC,555,-1.33,-155.7,88.2,-14.5,62,559,0.00,2.50,0.00,0.000,4,0.000,0.038,2227,3449,3417
$GC,584,-1.33,-155.7,92.3,-14.9,64,588,0.00,2.42,0.00,0.000,6,0.000,0.027,2227,2015,3417
$GC,846,-1.33,-155.7,123.8,-11.8,88,850,0.00,2.45,0.00,0.000,4,0.000,0.048,2227,616,3418
$GC,873,-1.33,-155.7,127.6,-14.0,90,880,0.00,2.42,0.00,0.000,6,0.000,0.026,2227,2054,3418
$GC,1137,-1.33,-155.7,162.5,-11.3,115,1141,0.00,2.55,0.00,0.000,4,0.000,0.047,2227,613,3418
$GC,1154,-1.33,-155.7,164.8,-12.1,116,1158,0.00,2.42,0.00,0.000,6,0.000,0.026,2227,2053,3418
$GC,1416,-1.33,-155.7,192.7,-10.1,140,1420,0.00,2.55,0.00,0.000,4,0.000,0.048,2227,615,3418
$GC,1456,-1.33,-155.7,196.9,-11.0,143,1460,0.00,2.42,0.00,0.000,6,0.000,0.027,2227,2054,3418
$GC,1716,-1.33,-155.7,225.0,-11.5,157,1721,0.00,2.58,0.00,0.000,4,0.000,0.050,2227,610,3418
$GC,1739,-1.33,-155.7,227.8,-11.9,158,1743,0.00,2.42,0.00,0.000,6,0.000,0.027,2227,2041,3417
$GC,2060,-1.33,-155.7,262.2,-9.9,174,2064,0.00,2.55,0.00,0.000,4,0.000,0.052,2227,618,3418
$GC,2199,-1.33,-155.7,277.2,-10.7,180,2203,0.00,2.42,0.00,0.000,6,0.000,0.028,2227,2041,3418
$GC,2520,-1.33,-155.7,309.1,-9.8,194,2524,0.00,2.58,0.00,0.000,4,0.000,0.055,2227,612,3417
$GC,2598,-1.33,-155.7,316.4,-9.1,195,2604,0.00,2.45,0.00,0.000,6,0.000,0.030,2227,2045,3417
$GC,2930,-1.33,-155.7,344.7,-8.7,204,2934,0.00,2.60,0.00,0.000,4,0.000,0.058,2227,611,3415
$GC,2951,-1.33,-155.7,346.9,-9.8,204,2956,0.00,2.45,0.00,0.000,6,0.000,0.031,2227,2038,3414
$STATE,3001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3001,begin apogee
$GC,3008,-0.33,0.0,351.7,9.4,206,3135,1.12,0.00,123.47,0.762,6,0.116,0.000,2447,2038,2776
$STATE,3136,end apogee,CONTROL_FINISHED_OK
$STATE,3136,begin climb
$GC,3139,1.33,155.7,354.9,0.0,209,3273,1.77,2.72,124.00,0.748,4,0.083,0.058,2809,618,2141
$GC,3313,1.33,155.7,344.5,11.1,213,3317,0.00,2.50,0.00,0.000,6,0.000,0.031,2809,2040,2137
$GC,3649,1.33,155.7,308.5,10.7,222,3654,0.00,2.62,0.00,0.000,4,0.000,0.058,2809,622,2133
$GC,3690,1.33,155.7,304.0,11.7,223,3694,0.00,2.47,0.00,0.000,6,0.000,0.031,2809,2041,2131
$GC,4019,1.33,155.7,269.0,10.0,238,4023,0.00,2.62,0.00,0.000,4,0.000,0.058,2809,618,2131
$GC,4248,1.33,155.7,243.2,11.4,248,4252,0.00,2.47,0.00,0.000,6,0.000,0.031,2809,2043,2128
$GC,4569,1.33,155.7,213.2,9.1,264,4573,0.00,2.60,0.00,0.000,4,0.000,0.056,2810,620,2127
$GC,4619,1.33,155.7,208.7,9.1,266,4623,0.00,2.45,0.00,0.000,6,0.000,0.030,2809,2042,2126
$GC,4940,1.36,169.3,183.1,8.5,290,4956,0.00,2.65,9.60,0.617,4,0.000,0.057,2809,625,2086
$GC,5078,1.36,169.3,169.5,11.0,302,5082,0.00,2.45,0.00,0.000,6,0.000,0.029,2810,2052,2085
$GC,5341,1.36,169.3,145.3,9.6,326,5345,0.00,2.60,0.00,0.000,4,0.000,0.054,2809,618,2084
$GC,5426,1.36,169.3,135.7,11.0,333,5430,0.00,2.45,0.00,0.000,6,0.000,0.028,2809,2053,2084
$GC,5688,1.42,202.9,112.8,7.7,357,5721,0.00,2.70,27.83,0.617,4,0.000,0.052,2809,619,1948
$GC,5772,1.42,202.9,104.8,10.6,364,5778,0.00,2.45,0.00,0.000,6,0.000,0.027,2809,2051,1945
$GC,6034,1.42,202.9,77.7,10.2,389,6038,0.00,2.60,0.00,0.000,4,0.000,0.051,2809,610,1944
$GC,6145,1.42,202.9,66.5,10.2,398,6152,0.00,2.45,0.00,0.000,6,0.000,0.028,2809,2049,1943
$GC,6407,1.50,253.0,47.2,7.0,423,6456,0.17,2.67,40.15,0.545,4,0.076,0.057,2851,619,1743
$GC,6587,1.50,253.0,27.3,10.6,441,6593,0.00,2.42,0.00,0.000,6,0.000,0.026,2851,2048,1739
$GC,6797,1.55,278.7,7.9,8.0,478,6828,0.00,2.65,21.27,0.489,4,0.000,0.049,2851,616,1639
$STATE,6832,end climb,SURFACE_DEPTH_REACHED
$STATE,6832,begin surface coast
$FINISH,0.5,1.009698
$STATE,6873,end surface coast,CONTROL_FINISHED_OK
$STATE,6873,begin surface
$SM_CCo,6899,80.15,0.495,0,0,982,440.07
$SM_GC,1.30,0.00,0.00,80.15,0.000,0.000,0.495,407,2053,982,-9.72,0.68,440.07
$IRIDIUM_FIX,2104.07,-15755.17,270998,040440
$TT8_MAMPS,0.027612
$HUMID,1591
$INTERNAL_PRESSURE,9.60771
$TCM_TEMP,24.10
$XPDR_PINGS,21
$24V_AH,23.8,3.677
$10V_AH,10.2,2.051
$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,25.250,95.925,346.325,80.150,0.000,49.801,56.515,327.150,5.250,0.000,0.000,15.686,877.879,4406.983,513.768,1160.679,673.037,33.327,1103.282,0.000,1146.243,0.000,0.541,0.000
$DEVICE_MAMPS,179.478,58.292,762.398,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.258,342.447,533.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25426,491
$CAP_FILE_SIZE,75680,0
$CFSIZE,260165632,223129600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030709,065026,2112.692,-15755.509,9,1.9,10,9.8