version: 66.04
glider: 114
mission: 4
dive: 13
start: 7 3 109 16 21 38
data:
$ID,114
$MISSION,4
$DIVE,13
$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,-609878
$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
$GPS1,161537,2110.315,-15758.845,30,1.3,30,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.0
$GPS2,162044,2110.301,-15758.803,12,1.8,12,9.8
$SPEED_LIMITS,0.076,0.256
$TGT_NAME,TRANSIT
$TGT_LATLONG,2109.000,-15800.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.202,-0.157
$KALMAN_X,3444.5,-750.7,-204.4,-13452.8,1048.8
$KALMAN_Y,4408.9,141.7,134.7,-13274.7,522.9
$MHEAD_RNG_PITCHd_Wd,222.4,3175,-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,13,begin dive
$GC,16,-1.33,-155.7,0.0,0.0,0,87,0.00,0.00,-68.55,0.000,2,0.000,0.000,407,1991,3015
$GC,91,-1.33,-155.7,3.1,-5.4,12,117,10.98,2.50,-6.75,0.000,4,0.179,0.058,2240,596,3415
$GC,303,-1.33,-155.7,49.4,-17.8,40,309,0.00,2.42,0.00,0.000,6,0.000,0.025,2240,2024,3417
$GC,565,-1.33,-155.7,88.2,-13.9,65,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2024,3418
$GC,821,-1.33,-155.7,124.0,-13.3,89,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2024,3418
$GC,1074,-1.33,-155.7,154.4,-10.9,113,1078,0.00,2.53,0.00,0.000,4,0.000,0.045,2241,598,3419
$GC,1113,-1.33,-155.7,159.1,-12.1,116,1118,0.00,2.42,0.00,0.000,6,0.000,0.025,2240,2031,3419
$GC,1375,-1.33,-155.7,187.1,-8.6,140,1380,0.00,2.55,0.00,0.000,4,0.000,0.048,2240,597,3419
$GC,1461,-1.33,-155.7,195.6,-10.2,147,1465,0.00,2.42,0.00,0.000,6,0.000,0.025,2240,2031,3419
$GC,1717,-1.33,-155.7,223.6,-10.8,161,1721,0.00,2.55,0.00,0.000,4,0.000,0.048,2240,593,3420
$GC,1767,-1.33,-155.7,229.2,-10.5,163,1771,0.00,2.42,0.00,0.000,6,0.000,0.025,2240,2029,3420
$GC,2088,-1.33,-155.7,261.0,-10.4,179,2092,0.00,2.58,0.00,0.000,4,0.000,0.051,2240,589,3420
$GC,2116,-1.33,-155.7,264.3,-11.7,180,2120,0.00,2.45,0.00,0.000,6,0.000,0.027,2240,2031,3419
$GC,2432,-1.33,-155.7,296.1,-9.8,195,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2031,3419
$GC,2758,-1.33,-155.7,325.2,-8.7,204,2762,0.00,2.60,0.00,0.000,4,0.000,0.055,2240,592,3418
$GC,2903,-1.33,-155.7,339.9,-10.3,207,2907,0.00,2.45,0.00,0.000,6,0.000,0.030,2240,2017,3418
$GC,3252,-1.33,-155.7,369.8,-8.3,216,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2017,3415
$GC,3578,-1.33,-155.7,398.1,-8.9,224,3583,0.00,2.58,0.00,0.000,4,0.000,0.058,2240,601,3413
$STATE,3598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3598,begin apogee
$GC,3608,-0.33,0.0,400.4,8.8,224,3736,1.10,0.00,124.28,0.817,6,0.123,0.000,2455,2015,2777
$STATE,3736,end apogee,CONTROL_FINISHED_OK
$STATE,3736,begin climb
$GC,3740,1.33,155.7,403.0,0.0,227,3875,1.77,2.58,125.15,0.788,4,0.085,0.051,2817,3419,2140
$GC,3923,1.33,155.7,389.6,13.9,231,3927,0.00,2.53,0.00,0.000,6,0.000,0.035,2817,1999,2136
$GC,4271,1.33,155.7,347.0,11.8,240,4275,0.00,2.58,0.00,0.000,4,0.000,0.060,2818,597,2132
$GC,4454,1.33,155.7,322.2,12.5,244,4458,0.00,2.50,0.00,0.000,6,0.000,0.031,2817,2029,2130
$GC,4780,1.35,165.9,292.3,8.6,254,4794,0.00,2.70,7.57,0.636,4,0.000,0.057,2817,596,2099
$GC,4970,1.35,165.9,269.1,12.2,262,4974,0.00,2.47,0.00,0.000,6,0.000,0.030,2818,2024,2097
$GC,5291,1.35,165.9,232.8,10.6,278,5296,0.00,2.62,0.00,0.000,4,0.000,0.058,2817,593,2095
$GC,5387,1.35,165.9,222.2,10.2,282,5391,0.00,2.47,0.00,0.000,6,0.000,0.030,2817,2021,2094
$GC,5706,1.35,165.9,194.6,9.1,299,5710,0.00,2.60,0.00,0.000,4,0.000,0.055,2817,595,2094
$GC,5796,1.35,165.9,185.6,10.1,306,5802,0.00,2.47,0.00,0.000,6,0.000,0.029,2818,2031,2094
$GC,6058,1.39,191.0,163.5,8.0,331,6084,0.00,2.65,20.92,0.660,4,0.000,0.054,2817,601,1997
$GC,6212,1.39,191.0,147.2,11.4,344,6216,0.00,2.45,0.00,0.000,6,0.000,0.028,2818,2029,1994
$GC,6473,1.39,191.0,119.1,10.6,368,6478,0.00,2.60,0.00,0.000,4,0.000,0.053,2818,596,1993
$GC,6559,1.39,191.0,110.2,10.1,375,6563,0.00,2.45,0.00,0.000,6,0.000,0.028,2817,2030,1992
$GC,6822,1.45,222.7,89.4,7.7,399,6855,0.15,2.47,26.10,0.581,4,0.082,0.038,2849,3431,1867
$GC,6883,1.45,222.7,83.6,10.6,404,6890,0.00,2.47,0.00,0.000,6,0.000,0.029,2849,1993,1865
$GC,7146,1.45,222.7,53.8,11.8,429,7150,0.00,2.50,0.00,0.000,4,0.000,0.050,2849,593,1863
$GC,7175,1.45,222.7,50.2,12.9,431,7179,0.00,2.45,0.00,0.000,6,0.000,0.037,2849,2029,1862
$GC,7441,1.49,247.7,26.5,8.0,458,7466,0.00,0.00,21.17,0.511,6,0.000,0.000,2849,2033,1766
$GC,7672,1.57,295.5,6.2,7.1,498,7704,0.12,0.00,28.80,0.495,2,0.080,0.000,2876,2033,1626
$STATE,7704,end climb,SURFACE_DEPTH_REACHED
$STATE,7704,begin surface coast
$FINISH,0.6,1.014128
$STATE,7755,end surface coast,CONTROL_FINISHED_OK
$STATE,7755,begin surface
$SM_CCo,7779,74.05,0.490,0,0,1023,430.01
$SM_GC,1.44,0.00,0.00,74.05,0.000,0.000,0.490,406,2032,1023,-9.77,0.65,430.01
$IRIDIUM_FIX,2101.76,-15801.19,270998,141422
$TT8_MAMPS,0.027612
$HUMID,1583
$INTERNAL_PRESSURE,9.59795
$TCM_TEMP,24.20
$XPDR_PINGS,8
$24V_AH,23.7,4.166
$10V_AH,10.2,2.347
$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,25.525,80.525,354.000,74.050,0.000,22.504,26.605,146.782,2.000,0.000,0.000,14.052,917.008,5125.004,482.100,1225.200,412.862,33.322,1107.198,0.000,1217.952,0.000,0.540,0.000
$DEVICE_MAMPS,178.711,59.826,816.855,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.487,348.837,536.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,512
$CAP_FILE_SIZE,71472,0
$CFSIZE,260165632,222928896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030709,183319,2109.831,-15759.374,7,1.3,12,9.8