version: 66.04
glider: 114
mission: 4
dive: 11
start: 7 3 109 11 44 56
data:
$ID,114
$MISSION,4
$DIVE,11
$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,-609830.75
$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
$GPS1,113736,2111.462,-15757.450,31,1.2,31,9.8
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.3
$GPS2,114402,2111.469,-15757.478,12,1.5,12,9.8
$SPEED_LIMITS,0.076,0.256
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.138,-0.216
$KALMAN_X,2922.8,-722.5,-25.5,-10848.2,34.4
$KALMAN_Y,3067.2,179.0,-106.3,-9565.3,670.8
$MHEAD_RNG_PITCHd_Wd,202.7,6316,-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,-74.65,0.000,2,0.000,0.000,406,1986,3237
$GC,97,-1.33,-155.7,3.9,-7.5,13,117,11.02,2.45,-2.70,0.000,4,0.181,0.048,2236,590,3413
$GC,282,-1.33,-155.7,47.6,-18.6,37,286,0.00,2.45,0.00,0.000,6,0.000,0.026,2236,2030,3414
$GC,544,-1.33,-155.7,87.5,-14.1,61,548,0.00,2.55,0.00,0.000,4,0.000,0.046,2236,594,3415
$GC,641,-1.33,-155.7,102.4,-15.3,69,645,0.00,2.42,0.00,0.000,6,0.000,0.025,2236,2029,3416
$GC,903,-1.33,-155.7,136.4,-13.7,93,907,0.00,2.42,0.00,0.000,4,0.000,0.038,2235,3434,3417
$GC,919,-1.33,-155.7,139.3,-14.9,94,926,0.00,2.45,0.00,0.000,6,0.000,0.027,2236,1986,3417
$GC,1181,-1.33,-155.7,173.2,-12.3,119,1185,0.00,2.45,0.00,0.000,4,0.000,0.048,2236,596,3417
$GC,1210,-1.33,-155.7,177.0,-13.1,121,1214,0.00,2.42,0.00,0.000,6,0.000,0.025,2236,2033,3417
$GC,1481,-1.33,-155.7,208.1,-11.3,143,1485,0.00,2.58,0.00,0.000,4,0.000,0.049,2236,591,3418
$GC,1581,-1.33,-155.7,220.1,-11.9,147,1587,0.00,2.45,0.00,0.000,6,0.000,0.026,2236,2034,3418
$GC,1897,-1.33,-155.7,254.0,-10.9,163,1902,0.00,2.58,0.00,0.000,4,0.000,0.051,2236,596,3418
$GC,1970,-1.33,-155.7,262.3,-11.5,166,1974,0.00,2.42,0.00,0.000,6,0.000,0.027,2236,2020,3418
$GC,2292,-1.33,-155.7,295.7,-9.9,182,2296,0.00,2.45,0.00,0.000,4,0.000,0.044,2236,3424,3418
$GC,2319,-1.33,-155.7,298.7,-11.0,183,2324,0.00,2.45,0.00,0.000,6,0.000,0.030,2236,1994,3418
$GC,2631,-1.33,-155.7,331.2,-10.1,191,2635,0.00,2.50,0.00,0.000,4,0.000,0.056,2235,599,3416
$GC,2737,-1.33,-155.7,341.3,-8.8,193,2741,0.00,2.45,0.00,0.000,6,0.000,0.030,2236,2029,3416
$GC,3051,-1.33,-155.7,369.5,-9.4,201,3055,0.00,2.47,0.00,0.000,4,0.000,0.047,2236,3432,3414
$GC,3073,-1.33,-155.7,371.9,-10.4,201,3077,0.00,2.47,0.00,0.000,6,0.000,0.031,2236,1993,3413
$STATE,3371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3371,begin apogee
$GC,3379,-0.33,0.0,403.0,10.4,209,3506,1.12,0.00,124.10,0.811,6,0.116,0.000,2456,1993,2777
$STATE,3507,end apogee,CONTROL_FINISHED_OK
$STATE,3507,begin climb
$GC,3510,1.33,155.7,406.7,0.0,212,3644,1.75,2.62,124.88,0.787,4,0.082,0.045,2816,3424,2140
$GC,3697,1.33,155.7,393.0,13.3,216,3701,0.00,2.53,0.00,0.000,6,0.000,0.037,2816,2006,2136
$GC,4039,1.33,155.7,348.9,12.6,225,4043,0.00,2.60,0.00,0.000,4,0.000,0.061,2816,598,2132
$GC,4296,1.33,155.7,314.6,11.9,230,4303,0.00,2.47,0.00,0.000,6,0.000,0.031,2816,2021,2130
$GC,4610,1.33,155.7,282.4,10.9,242,4614,0.00,2.62,0.00,0.000,4,0.000,0.058,2816,594,2128
$GC,4710,1.33,155.7,271.9,10.6,246,4716,0.00,2.47,0.00,0.000,6,0.000,0.031,2816,2018,2127
$GC,5026,1.33,155.7,242.4,9.1,262,5030,0.00,2.60,0.00,0.000,4,0.000,0.058,2816,602,2126
$GC,5137,1.33,155.7,231.7,9.3,267,5142,0.00,2.45,0.00,0.000,6,0.000,0.030,2816,2020,2125
$GC,5460,1.39,191.3,208.7,7.6,283,5494,0.00,2.70,27.42,0.701,4,0.000,0.055,2816,598,1995
$GC,5750,1.39,191.3,178.5,10.2,305,5754,0.00,2.45,0.00,0.000,6,0.000,0.027,2816,2030,1990
$GC,6012,1.39,191.3,154.0,10.3,329,6016,0.00,2.60,0.00,0.000,4,0.000,0.054,2816,597,1989
$GC,6153,1.39,191.3,139.0,10.3,341,6157,0.00,2.45,0.00,0.000,6,0.000,0.027,2817,2031,1989
$GC,6415,1.39,191.3,114.8,9.4,365,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2032,1989
$GC,6670,1.50,252.3,94.8,6.6,389,6725,0.17,2.70,48.55,0.590,4,0.077,0.051,2857,595,1747
$GC,6862,1.50,252.3,70.4,14.3,406,6866,0.00,2.45,0.00,0.000,6,0.000,0.026,2858,2025,1743
$GC,7124,1.55,281.2,44.9,7.9,430,7157,0.00,2.50,24.35,0.522,4,0.000,0.038,2857,3422,1628
$GC,7238,1.55,281.2,33.4,10.5,440,7242,0.00,2.45,0.00,0.000,6,0.000,0.028,2857,1998,1626
$STATE,7482,end climb,SURFACE_DEPTH_REACHED
$STATE,7482,begin surface coast
$FINISH,0.7,1.010283
$STATE,7517,end surface coast,CONTROL_FINISHED_OK
$STATE,7517,begin surface
$SM_CCo,7541,74.03,0.491,0,0,1023,430.01
$SM_GC,1.52,0.00,0.00,74.03,0.000,0.000,0.491,406,1989,1023,-9.77,-0.59,430.01
$IRIDIUM_FIX,2106.38,-15755.17,270998,090950
$TT8_MAMPS,0.027612
$HUMID,1579
$INTERNAL_PRESSURE,9.59795
$TCM_TEMP,24.30
$XPDR_PINGS,7
$24V_AH,23.7,3.978
$10V_AH,10.2,2.229
$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,25.225,85.125,349.300,74.025,0.000,24.468,29.998,213.839,1.750,0.000,0.000,13.767,885.315,4918.104,485.086,1243.761,470.437,33.339,1113.750,0.000,1229.117,0.000,0.541,0.000
$DEVICE_MAMPS,181.012,60.593,811.486,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.485,325.459,495.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25434,486
$CAP_FILE_SIZE,71651,0
$CFSIZE,260165632,223010816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030709,135258,2110.910,-15758.303,11,6.0,30,9.8