version: 66.04
glider: 114
mission: 4
dive: 14
start: 7 3 109 18 39 11
data:
$ID,114
$MISSION,4
$DIVE,14
$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,155
$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,150
$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,-609894.12
$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,2000
$C_ROLL_CLIMB,1990
$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
$GPS1,183319,2109.831,-15759.374,7,1.3,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.2
$GPS2,183820,2109.806,-15759.361,14,1.7,14,9.8
$SPEED_LIMITS,0.072,0.245
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.229,-0.088
$KALMAN_X,3550.0,-332.4,84.5,-15228.7,971.0
$KALMAN_Y,5032.9,30.6,94.7,-14663.8,425.1
$MHEAD_RNG_PITCHd_Wd,239.1,73387,-15.7,-8.602
$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,-1.30,-146.0,0.0,0.0,0,87,0.00,0.00,-69.38,0.000,2,0.000,0.000,406,2033,3037
$GC,91,-1.30,-146.0,3.2,-4.7,12,117,11.05,2.65,-5.65,0.000,4,0.180,0.059,2245,583,3376
$GC,278,-1.30,-146.0,40.9,-16.3,39,282,0.00,2.45,0.00,0.000,6,0.000,0.027,2245,2014,3376
$GC,540,-1.30,-146.0,78.8,-13.5,63,544,0.00,2.42,0.00,0.000,4,0.000,0.035,2245,3422,3377
$GC,551,-1.30,-146.0,80.5,-13.7,63,557,0.00,2.45,0.00,0.000,6,0.000,0.025,2245,1975,3377
$GC,812,-1.30,-146.0,116.5,-13.1,88,816,0.00,2.50,0.00,0.000,4,0.000,0.036,2245,3415,3378
$GC,830,-1.30,-146.0,118.9,-13.7,89,834,0.00,2.42,0.00,0.000,6,0.000,0.026,2245,1982,3379
$GC,1092,-1.30,-146.0,149.1,-11.0,113,1096,0.00,2.47,0.00,0.000,4,0.000,0.046,2245,577,3379
$GC,1132,-1.30,-146.0,154.0,-12.7,116,1136,0.00,2.42,0.00,0.000,6,0.000,0.025,2245,2014,3379
$GC,1393,-1.30,-146.0,187.1,-11.1,140,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2015,3380
$GC,1655,-1.30,-146.0,212.7,-9.9,159,1659,0.00,2.55,0.00,0.000,4,0.000,0.049,2245,587,3380
$GC,1722,-1.30,-146.0,219.7,-9.8,162,1727,0.00,2.42,0.00,0.000,6,0.000,0.026,2245,2016,3380
$GC,2044,-1.30,-146.0,250.1,-8.7,178,2048,0.00,2.58,0.00,0.000,4,0.000,0.051,2245,581,3380
$GC,2106,-1.30,-146.0,256.2,-9.7,181,2111,0.00,2.45,0.00,0.000,6,0.000,0.028,2245,2020,3380
$GC,2434,-1.30,-146.0,284.7,-8.8,197,2438,0.00,2.45,0.00,0.000,4,0.000,0.044,2246,3422,3380
$GC,2451,-1.30,-146.0,286.1,-8.7,198,2455,0.00,2.45,0.00,0.000,6,0.000,0.030,2245,1991,3380
$GC,2776,-1.30,-146.0,314.4,-8.6,210,2780,0.00,2.53,0.00,0.000,4,0.000,0.054,2245,580,3378
$GC,2838,-1.30,-146.0,320.5,-9.9,211,2842,0.00,2.45,0.00,0.000,6,0.000,0.029,2246,2013,3378
$GC,3180,-1.30,-146.0,350.6,-8.5,220,3185,0.00,2.58,0.00,0.000,4,0.000,0.056,2246,590,3376
$GC,3203,-1.30,-146.0,352.9,-9.8,220,3207,0.00,2.45,0.00,0.000,6,0.000,0.030,2245,2018,3376
$GC,3541,-1.30,-146.0,382.8,-8.4,229,3545,0.00,2.60,0.00,0.000,4,0.000,0.057,2245,584,3374
$GC,3581,-1.30,-146.0,386.2,-8.3,230,3585,0.00,2.45,0.00,0.000,6,0.000,0.031,2245,2011,3375
$STATE,3780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3780,begin apogee
$GC,3787,-0.33,0.0,400.9,7.1,235,3907,1.08,0.00,116.90,0.818,6,0.118,0.000,2454,2012,2776
$STATE,3908,end apogee,CONTROL_FINISHED_OK
$STATE,3908,begin climb
$GC,3912,1.30,146.0,402.1,0.0,238,4039,1.75,2.60,116.97,0.795,4,0.086,0.051,2811,3403,2179
$GC,4053,1.30,146.0,393.4,10.8,241,4057,0.00,2.53,0.00,0.000,6,0.000,0.035,2811,1985,2177
$GC,4401,1.30,146.0,357.2,10.3,250,4405,0.00,2.60,0.00,0.000,4,0.000,0.060,2811,577,2172
$GC,4490,1.30,146.0,346.3,11.6,252,4495,0.00,2.50,0.00,0.000,6,0.000,0.032,2811,2003,2171
$GC,4809,1.30,146.0,308.8,11.2,260,4814,0.00,2.65,0.00,0.000,4,0.000,0.058,2811,574,2170
$GC,4888,1.30,146.0,299.7,10.8,261,4894,0.00,2.50,0.00,0.000,6,0.000,0.031,2811,2007,2168
$GC,5205,1.32,159.6,273.6,8.1,277,5221,0.00,2.65,10.60,0.686,4,0.000,0.056,2811,580,2124
$GC,5273,1.32,159.6,267.0,9.8,279,5278,0.00,2.47,0.00,0.000,6,0.000,0.031,2811,2001,2123
$GC,5596,1.32,159.6,236.0,9.9,295,5600,0.00,2.62,0.00,0.000,4,0.000,0.057,2811,570,2121
$GC,5646,1.32,159.6,230.9,10.3,297,5650,0.00,2.47,0.00,0.000,6,0.000,0.031,2812,1998,2120
$GC,5968,1.37,185.2,205.6,7.6,313,5992,0.00,0.00,21.75,0.703,6,0.000,0.000,2811,1998,2020
$GC,6305,1.37,185.2,175.2,9.2,341,6310,0.00,2.60,0.00,0.000,4,0.000,0.054,2811,573,2016
$GC,6380,1.37,185.2,167.1,11.5,347,6384,0.00,2.47,0.00,0.000,6,0.000,0.036,2811,2009,2014
$GC,6644,1.37,185.2,143.0,9.0,371,6648,0.00,2.60,0.00,0.000,4,0.000,0.054,2811,576,2014
$GC,6841,1.37,185.2,125.6,8.7,388,6845,0.00,2.45,0.00,0.000,6,0.000,0.026,2811,2014,2013
$GC,7103,1.44,224.5,106.6,7.0,412,7141,0.15,2.47,31.77,0.606,4,0.084,0.038,2843,3408,1859
$GC,7182,1.44,224.5,98.9,11.8,419,7187,0.00,2.47,0.00,0.000,6,0.000,0.030,2843,1981,1856
$GC,7444,1.44,224.5,69.2,11.0,443,7448,0.00,2.53,0.00,0.000,4,0.000,0.050,2842,567,1855
$GC,7534,1.44,224.5,59.2,11.9,450,7541,0.00,2.45,0.00,0.000,6,0.000,0.026,2842,2008,1854
$GC,7796,1.44,224.5,37.1,8.8,475,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2014,1854
$GC,8061,1.49,254.6,15.8,7.4,514,8092,0.00,2.62,25.05,0.506,4,0.000,0.049,2842,570,1737
$GC,8117,1.50,259.1,11.4,8.4,523,8130,0.00,2.45,5.25,0.380,6,0.000,0.024,2842,2012,1718
$STATE,8196,end climb,SURFACE_DEPTH_REACHED
$STATE,8196,begin surface coast
$FINISH,0.6,1.015526
$STATE,8262,end surface coast,CONTROL_FINISHED_OK
$STATE,8262,begin surface
$SM_CCo,8286,87.30,0.496,0,0,1024,430.01
$SM_GC,1.23,0.00,0.00,87.30,0.000,0.000,0.496,409,2017,1024,-9.76,0.48,430.01
$IRIDIUM_FIX,2059.45,-15801.19,270998,161602
$TT8_MAMPS,0.027612
$HUMID,1550
$INTERNAL_PRESSURE,9.59795
$TCM_TEMP,24.40
$XPDR_PINGS,10
$24V_AH,23.7,4.258
$10V_AH,10.2,2.407
$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,25.175,100.475,328.300,87.300,0.000,25.473,30.354,130.232,2.500,0.000,0.000,15.520,973.376,5540.199,495.031,1249.757,414.559,33.330,1129.379,0.000,1241.322,0.000,0.541,0.000
$DEVICE_MAMPS,180.245,59.826,817.622,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.346,372.283,575.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28591,548
$CAP_FILE_SIZE,76467,0
$CFSIZE,260165632,222887936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030709,210000,2109.670,-15800.199,36,1.1,41,9.8