version: 66.04
glider: 114
mission: 4
dive: 10
start: 7 3 109 9 22 26
data:
$ID,114
$MISSION,4
$DIVE,10
$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,-609816.38
$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
$GPS1,091306,2112.192,-15756.537,21,2.0,21,9.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.1
$GPS2,092132,2112.208,-15756.521,12,1.4,12,9.8
$SPEED_LIMITS,0.076,0.256
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.142,-0.213
$KALMAN_X,2765.3,-320.1,120.7,-9586.4,44.9
$KALMAN_Y,2601.4,112.7,-96.0,-7677.7,683.4
$MHEAD_RNG_PITCHd_Wd,204.0,8451,-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,16,-1.33,-155.7,0.0,0.0,0,93,0.00,0.00,-74.75,0.000,2,0.000,0.000,407,2042,3247
$GC,97,-1.33,-155.7,3.9,-7.2,13,117,11.02,2.42,-2.50,0.000,4,0.180,0.047,2239,3439,3414
$GC,299,-1.33,-155.7,49.3,-15.1,38,305,0.00,2.45,0.00,0.000,6,0.000,0.026,2239,1994,3416
$GC,561,-1.33,-155.7,87.5,-13.6,63,565,0.00,2.47,0.00,0.000,4,0.000,0.047,2239,590,3416
$GC,601,-1.33,-155.7,93.2,-14.7,66,605,0.00,2.42,0.00,0.000,6,0.000,0.025,2239,2021,3417
$GC,862,-1.33,-155.7,125.6,-11.6,90,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2021,3418
$GC,1117,-1.33,-155.7,156.1,-10.4,114,1121,0.00,2.53,0.00,0.000,4,0.000,0.048,2239,596,3418
$GC,1140,-1.33,-155.7,158.7,-11.6,116,1144,0.00,2.42,0.00,0.000,6,0.000,0.025,2239,2032,3418
$GC,1401,-1.33,-155.7,187.3,-11.6,140,1406,0.00,2.58,0.00,0.000,4,0.000,0.048,2239,586,3419
$GC,1448,-1.33,-155.7,192.2,-10.5,143,1454,0.00,2.42,0.00,0.000,6,0.000,0.025,2239,2026,3419
$GC,1714,-1.33,-155.7,220.2,-10.9,160,1718,0.00,2.55,0.00,0.000,4,0.000,0.051,2239,597,3419
$GC,1826,-1.33,-155.7,233.7,-11.5,165,1830,0.00,2.42,0.00,0.000,6,0.000,0.027,2239,2025,3419
$GC,2147,-1.33,-155.7,265.1,-9.2,181,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2025,3419
$GC,2456,-1.33,-155.7,293.9,-10.6,196,2460,0.00,2.58,0.00,0.000,4,0.000,0.055,2239,597,3418
$GC,2473,-1.33,-155.7,295.8,-11.1,197,2478,0.00,2.45,0.00,0.000,6,0.000,0.029,2239,2032,3418
$GC,2796,-1.33,-155.7,330.0,-10.2,206,2801,0.00,2.60,0.00,0.000,4,0.000,0.056,2239,596,3416
$GC,2836,-1.33,-155.7,334.1,-10.2,207,2841,0.00,2.45,0.00,0.000,6,0.000,0.030,2239,2027,3416
$GC,3161,-1.33,-155.7,360.7,-7.7,215,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2028,3413
$GC,3486,-1.33,-155.7,384.7,-8.0,223,3491,0.00,2.60,0.00,0.000,4,0.000,0.058,2239,597,3411
$GC,3572,-1.33,-155.7,392.4,-9.6,225,3576,0.00,2.45,0.00,0.000,6,0.000,0.032,2239,2020,3411
$STATE,3696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3696,begin apogee
$GC,3703,-0.33,0.0,403.0,8.1,228,3830,1.12,0.00,123.57,0.829,6,0.120,0.000,2457,2020,2777
$STATE,3831,end apogee,CONTROL_FINISHED_OK
$STATE,3831,begin climb
$GC,3834,1.33,155.7,403.6,0.0,231,3964,1.77,0.00,125.28,0.793,6,0.087,0.000,2818,2020,2142
$GC,4282,1.33,155.7,356.8,11.6,242,4286,0.00,2.65,0.00,0.000,4,0.000,0.060,2818,597,2134
$GC,4412,1.33,155.7,339.8,13.0,245,4416,0.00,2.50,0.00,0.000,6,0.000,0.032,2818,2024,2132
$GC,4736,1.33,155.7,303.8,10.4,253,4741,0.00,2.65,0.00,0.000,4,0.000,0.060,2819,594,2130
$GC,4780,1.33,155.7,299.0,11.1,254,4785,0.00,2.50,0.00,0.000,6,0.000,0.032,2818,2026,2128
$GC,5102,1.33,155.7,266.3,9.8,270,5106,0.00,2.62,0.00,0.000,4,0.000,0.058,2818,603,2127
$GC,5157,1.33,155.7,259.7,12.4,272,5164,0.00,2.47,0.00,0.000,6,0.000,0.032,2818,2026,2127
$GC,5473,1.36,174.8,230.2,8.2,288,5496,0.00,2.67,14.52,0.696,4,0.000,0.059,2818,595,2064
$GC,5646,1.36,174.8,214.1,10.1,295,5650,0.00,2.47,0.00,0.000,6,0.000,0.030,2818,2024,2060
$GC,5966,1.36,174.8,181.8,9.5,318,5971,0.00,2.60,0.00,0.000,4,0.000,0.056,2818,598,2058
$GC,6155,1.36,174.8,162.1,10.8,334,6159,0.00,2.45,0.00,0.000,6,0.000,0.028,2818,2029,2058
$GC,6422,1.40,194.0,138.0,8.2,359,6445,0.00,2.62,16.52,0.624,4,0.000,0.054,2818,598,1984
$GC,6480,1.40,194.0,132.8,9.8,364,6484,0.00,2.45,0.00,0.000,6,0.000,0.028,2818,2025,1982
$GC,6741,1.41,200.1,110.7,8.8,388,6754,0.00,2.60,6.20,0.492,4,0.000,0.052,2818,597,1959
$GC,6801,1.41,200.1,104.8,10.2,393,6805,0.00,2.45,0.00,0.000,6,0.000,0.027,2818,2029,1958
$GC,7063,1.41,200.1,81.0,10.1,417,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2029,1958
$GC,7318,1.49,248.4,57.2,7.1,441,7364,0.17,2.70,39.58,0.559,4,0.076,0.050,2860,590,1763
$GC,7411,1.49,248.4,47.5,12.3,449,7415,0.00,2.47,0.00,0.000,6,0.000,0.026,2860,2034,1760
$GC,7680,1.49,248.4,21.5,9.3,481,7687,0.00,2.42,0.00,0.000,4,0.000,0.038,2860,3432,1759
$GC,7739,1.49,248.4,14.9,10.9,491,7745,0.00,2.47,0.00,0.000,6,0.000,0.040,2860,1996,1758
$STATE,7862,end climb,SURFACE_DEPTH_REACHED
$STATE,7862,begin surface coast
$FINISH,0.6,0.999613
$STATE,7931,end surface coast,CONTROL_FINISHED_OK
$STATE,7931,begin surface
$SM_CCo,7954,88.07,0.498,0,0,1023,430.01
$SM_GC,1.33,0.00,0.00,88.07,0.000,0.000,0.498,405,1986,1023,-9.77,-0.65,430.01
$IRIDIUM_FIX,2106.38,-15757.32,270998,090936
$TT8_MAMPS,0.027612
$HUMID,1588
$INTERNAL_PRESSURE,9.59795
$TCM_TEMP,24.10
$XPDR_PINGS,15
$24V_AH,23.7,3.879
$10V_AH,10.2,2.172
$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,25.225,85.625,325.675,88.075,0.000,57.297,56.540,215.754,3.750,0.000,0.000,13.539,937.684,5363.369,490.156,1218.760,541.985,33.336,1104.764,0.000,1210.575,0.000,0.541,0.000
$DEVICE_MAMPS,180.245,59.826,829.127,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.014,356.244,546.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28583,525
$CAP_FILE_SIZE,73964,0
$CFSIZE,260165632,223047680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030709,113736,2111.462,-15757.450,31,1.2,31,9.8