version: 66.04
glider: 114
mission: 4
dive: 9
start: 7 3 109 6 59 19
data:
$ID,114
$MISSION,4
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,148
$T_MISSION,170
$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,430
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-609802.19
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2530
$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,2010
$C_ROLL_CLIMB,2010
$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
$GPS1,065026,2112.692,-15755.509,9,1.9,10,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.3
$GPS2,065823,2112.710,-15755.494,15,4.7,34,9.8
$SPEED_LIMITS,0.076,0.256
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.192,-0.169
$KALMAN_X,2634.7,88.7,-81.5,-7893.0,549.0
$KALMAN_Y,1969.6,-0.9,73.1,-6173.1,482.7
$MHEAD_RNG_PITCHd_Wd,218.8,10382,-15.9,-9.009
$D_GRID,400
$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,-1.33,-155.7,0.0,0.0,0,92,0.00,0.00,-74.53,0.000,2,0.000,0.000,407,2054,3175
$GC,96,-1.33,-155.7,3.6,-6.4,13,117,10.95,2.67,-3.70,0.000,4,0.179,0.057,2238,593,3415
$GC,264,-1.33,-155.7,43.3,-18.3,36,270,0.00,2.45,0.00,0.000,6,0.000,0.026,2239,2032,3416
$GC,526,-1.33,-155.7,82.0,-14.4,61,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2037,3417
$GC,780,-1.33,-155.7,114.1,-11.7,85,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2038,3418
$GC,1035,-1.33,-155.7,145.8,-11.9,109,1039,0.00,2.55,0.00,0.000,4,0.000,0.047,2238,589,3419
$GC,1070,-1.33,-155.7,150.1,-11.9,112,1074,0.00,2.42,0.00,0.000,6,0.000,0.025,2238,2031,3419
$GC,1338,-1.33,-155.7,180.0,-11.3,137,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2031,3419
$GC,1589,-1.33,-155.7,206.6,-9.4,158,1593,0.00,2.55,0.00,0.000,4,0.000,0.050,2238,597,3419
$GC,1673,-1.33,-155.7,214.8,-9.9,161,1679,0.00,2.42,0.00,0.000,6,0.000,0.027,2238,2026,3419
$GC,1990,-1.33,-155.7,244.5,-9.2,177,1994,0.00,2.58,0.00,0.000,4,0.000,0.053,2238,591,3419
$GC,2062,-1.33,-155.7,251.7,-9.7,180,2066,0.00,2.45,0.00,0.000,6,0.000,0.028,2238,2030,3419
$GC,2384,-1.33,-155.7,279.9,-9.0,196,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2031,3419
$GC,2711,-1.33,-155.7,312.2,-10.0,209,2716,0.00,2.60,0.00,0.000,4,0.000,0.056,2238,590,3417
$GC,2807,-1.33,-155.7,321.9,-9.4,211,2811,0.00,2.45,0.00,0.000,6,0.000,0.030,2238,2020,3417
$GC,3120,-1.33,-155.7,352.7,-10.2,219,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2020,3414
$GC,3445,-1.33,-155.7,382.2,-8.2,227,3449,0.00,2.58,0.00,0.000,4,0.000,0.059,2238,599,3412
$GC,3478,-1.33,-155.7,385.2,-9.1,227,3484,0.00,2.45,0.00,0.000,6,0.000,0.032,2238,2021,3411
$STATE,3684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3684,begin apogee
$GC,3692,-0.33,0.0,401.4,7.7,233,3819,1.12,0.00,123.40,0.826,6,0.120,0.000,2457,2021,2777
$STATE,3819,end apogee,CONTROL_FINISHED_OK
$STATE,3819,begin climb
$GC,3823,1.33,155.7,403.2,0.0,236,3956,1.75,2.58,124.78,0.801,4,0.086,0.050,2815,3426,2141
$GC,3964,1.33,155.7,395.2,10.4,239,3969,0.00,2.55,0.00,0.000,6,0.000,0.036,2815,1996,2138
$GC,4307,1.33,155.7,352.9,11.9,248,4311,0.00,2.58,0.00,0.000,4,0.000,0.061,2815,601,2132
$GC,4408,1.33,155.7,339.5,13.5,250,4412,0.00,2.47,0.00,0.000,6,0.000,0.032,2815,2016,2132
$GC,4756,1.33,155.7,300.3,10.6,259,4760,0.00,2.62,0.00,0.000,4,0.000,0.059,2815,597,2129
$GC,4779,1.33,155.7,297.8,10.7,259,4783,0.00,2.50,0.00,0.000,6,0.000,0.032,2815,2031,2128
$GC,5100,1.33,155.7,266.5,10.7,275,5104,0.00,2.65,0.00,0.000,4,0.000,0.060,2815,595,2127
$GC,5358,1.33,155.7,237.7,10.6,286,5364,0.00,2.47,0.00,0.000,6,0.000,0.031,2815,2031,2126
$GC,5674,1.33,155.7,206.2,9.8,302,5678,0.00,2.62,0.00,0.000,4,0.000,0.058,2815,597,2125
$GC,5792,1.33,155.7,193.5,10.5,310,5796,0.00,2.45,0.00,0.000,6,0.000,0.030,2815,2019,2124
$GC,6053,1.35,167.4,171.0,8.5,334,6067,0.00,2.67,7.80,0.597,4,0.000,0.057,2815,593,2094
$GC,6206,1.38,186.9,158.1,8.2,347,6228,0.00,2.45,17.42,0.659,6,0.000,0.028,2815,2025,2015
$GC,6486,1.42,210.0,135.1,8.1,373,6514,0.12,2.65,19.80,0.635,4,0.090,0.054,2840,593,1918
$GC,6527,1.42,210.0,130.9,10.5,377,6531,0.00,2.47,0.00,0.000,6,0.000,0.028,2840,2027,1917
$GC,6789,1.42,210.0,100.4,11.1,401,6793,0.00,2.60,0.00,0.000,4,0.000,0.053,2840,593,1916
$GC,6953,1.42,210.0,82.0,9.3,415,6957,0.00,2.45,0.00,0.000,6,0.000,0.026,2840,2032,1914
$GC,7214,1.42,210.0,57.1,9.4,439,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2032,1915
$GC,7470,1.52,262.9,37.7,6.9,463,7518,0.00,2.65,42.72,0.547,4,0.000,0.051,2840,589,1703
$GC,7587,1.52,262.9,26.5,11.3,475,7593,0.00,2.45,0.00,0.000,6,0.000,0.025,2840,2026,1699
$GC,7799,1.52,262.9,6.4,9.0,512,7806,0.00,2.58,0.00,0.000,4,0.000,0.049,2840,591,1698
$STATE,7821,end climb,SURFACE_DEPTH_REACHED
$STATE,7821,begin surface coast
$FINISH,0.5,1.023048
$STATE,7862,end surface coast,CONTROL_FINISHED_OK
$STATE,7862,begin surface
$SM_CCo,7888,82.70,0.501,0,0,1023,430.01
$SM_GC,1.41,0.00,0.00,82.70,0.000,0.000,0.501,406,2041,1023,-9.77,0.88,430.01
$IRIDIUM_FIX,2106.38,-15755.17,270998,040424
$TT8_MAMPS,0.027612
$HUMID,1584
$INTERNAL_PRESSURE,9.59795
$TCM_TEMP,24.10
$XPDR_PINGS,8
$24V_AH,23.7,3.778
$10V_AH,10.2,2.112
$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,25.175,81.150,335.925,82.700,0.000,24.706,25.795,254.471,2.000,0.000,0.000,39.230,924.021,5254.718,489.571,1238.637,545.525,33.325,1099.441,0.000,1204.516,0.000,0.541,0.000
$DEVICE_MAMPS,179.478,61.360,826.059,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.392,354.182,546.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28582,523
$CAP_FILE_SIZE,73678,0
$CFSIZE,260165632,223092736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030709,091306,2112.192,-15756.537,21,2.0,21,9.8