version: 66.04
glider: 114
mission: 4
dive: 16
start: 7 3 109 23 33 58
data:
$ID,114
$MISSION,4
$DIVE,16
$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,-609940.75
$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,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
$GPS1,232732,2109.227,-15800.987,7,1.9,7,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.1
$GPS2,233309,2109.212,-15800.990,17,1.9,28,9.8
$SPEED_LIMITS,0.072,0.245
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.195,-0.149
$KALMAN_X,3968.3,570.3,-12.6,-19267.9,281.3
$KALMAN_Y,6468.8,-222.6,-141.9,-16708.7,867.3
$MHEAD_RNG_PITCHd_Wd,222.7,70365,-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,13,begin dive
$GC,16,-1.30,-146.0,0.0,0.0,0,93,0.00,0.00,-74.62,0.000,2,0.000,0.000,408,2036,3244
$GC,97,-1.30,-146.0,4.1,-7.8,13,117,11.00,2.58,-1.98,0.000,4,0.180,0.049,2243,575,3374
$GC,309,-1.30,-146.0,51.9,-17.5,39,315,0.00,2.45,0.00,0.000,6,0.000,0.025,2243,2015,3375
$GC,570,-1.30,-146.0,89.5,-13.7,64,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2016,3377
$GC,827,-1.30,-146.0,122.8,-12.2,88,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2017,3378
$GC,1080,-1.30,-146.0,155.5,-12.9,112,1084,0.00,2.55,0.00,0.000,4,0.000,0.046,2243,581,3378
$GC,1108,-1.30,-146.0,159.5,-14.1,114,1112,0.00,2.42,0.00,0.000,6,0.000,0.025,2242,2013,3378
$GC,1370,-1.30,-146.0,190.4,-11.3,138,1374,0.00,2.55,0.00,0.000,4,0.000,0.048,2243,583,3379
$GC,1477,-1.30,-146.0,202.8,-12.0,146,1481,0.00,2.42,0.00,0.000,6,0.000,0.026,2243,2013,3379
$GC,1804,-1.30,-146.0,237.9,-9.9,162,1808,0.00,2.55,0.00,0.000,4,0.000,0.050,2243,589,3379
$GC,1867,-1.30,-146.0,244.2,-10.5,165,1871,0.00,2.42,0.00,0.000,6,0.000,0.027,2243,2013,3379
$GC,2194,-1.30,-146.0,276.0,-9.0,181,2198,0.00,2.58,0.00,0.000,4,0.000,0.053,2243,585,3379
$GC,2227,-1.30,-146.0,279.3,-9.7,182,2233,0.00,2.45,0.00,0.000,6,0.000,0.028,2243,2021,3379
$GC,2544,-1.30,-146.0,307.6,-8.4,196,2548,0.00,2.60,0.00,0.000,4,0.000,0.054,2243,584,3378
$GC,2616,-1.30,-146.0,314.1,-9.0,197,2620,0.00,2.45,0.00,0.000,6,0.000,0.029,2243,2013,3378
$GC,2948,-1.30,-146.0,340.3,-7.8,205,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2012,3375
$GC,3274,-1.30,-146.0,367.5,-8.5,213,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2013,3374
$GC,3598,-1.30,-146.0,398.5,-9.8,221,3601,0.00,2.60,0.00,0.000,4,0.000,0.059,2242,582,3372
$STATE,3611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3611,begin apogee
$GC,3621,-0.33,0.0,400.3,10.0,221,3741,1.08,0.00,116.60,0.817,6,0.120,0.000,2454,1998,2777
$STATE,3742,end apogee,CONTROL_FINISHED_OK
$STATE,3742,begin climb
$GC,3746,1.30,146.0,405.3,0.0,224,3873,1.75,2.62,117.18,0.798,4,0.087,0.051,2810,3397,2179
$GC,3918,1.30,146.0,397.5,10.2,228,3923,0.00,2.53,0.00,0.000,6,0.000,0.035,2810,1977,2176
$GC,4238,1.30,146.0,365.0,10.4,236,4242,0.00,2.60,0.00,0.000,4,0.000,0.060,2810,571,2172
$GC,4338,1.30,146.0,354.4,10.3,238,4343,0.00,2.50,0.00,0.000,6,0.000,0.031,2810,1997,2171
$GC,4687,1.30,146.0,319.2,11.0,247,4691,0.00,2.62,0.00,0.000,4,0.000,0.058,2810,579,2169
$GC,4765,1.30,146.0,309.1,12.1,248,4771,0.00,2.47,0.00,0.000,6,0.000,0.031,2810,1997,2168
$GC,5080,1.30,146.0,276.5,9.2,262,5084,0.00,2.62,0.00,0.000,4,0.000,0.058,2810,573,2166
$GC,5338,1.30,146.0,249.6,9.8,273,5344,0.00,2.47,0.00,0.000,6,0.000,0.031,2810,2001,2166
$GC,5654,1.37,184.0,224.1,7.1,289,5689,0.00,2.67,29.65,0.725,4,0.000,0.057,2810,572,2024
$GC,5774,1.37,184.0,213.0,10.5,294,5778,0.00,2.50,0.00,0.000,6,0.000,0.029,2810,2008,2020
$GC,6100,1.37,184.0,184.6,8.8,318,6105,0.00,2.60,0.00,0.000,4,0.000,0.055,2810,580,2018
$GC,6129,1.37,184.0,181.7,10.3,320,6133,0.00,2.45,0.00,0.000,6,0.000,0.029,2810,2006,2018
$GC,6397,1.37,184.0,155.7,9.1,345,6402,0.00,2.60,0.00,0.000,4,0.000,0.054,2810,578,2018
$GC,6453,1.37,184.0,149.8,10.2,349,6459,0.00,2.45,0.00,0.000,6,0.000,0.027,2810,2008,2017
$GC,6716,1.37,184.0,124.9,10.0,374,6720,0.00,2.45,0.00,0.000,4,0.000,0.039,2810,3411,2017
$GC,6762,1.37,184.0,120.3,9.7,377,6768,0.00,2.47,0.00,0.000,6,0.000,0.029,2810,1974,2017
$GC,7023,1.37,184.0,98.1,9.1,402,7027,0.00,2.50,0.00,0.000,4,0.000,0.051,2810,573,2017
$GC,7090,1.37,184.0,91.1,10.6,407,7096,0.00,2.45,0.00,0.000,6,0.000,0.025,2810,2015,2017
$GC,7353,1.45,232.3,71.8,6.6,432,7398,0.17,2.62,38.42,0.566,4,0.078,0.050,2851,580,1827
$GC,7485,1.45,232.3,60.5,9.5,443,7491,0.00,2.45,0.00,0.000,6,0.000,0.025,2851,2015,1824
$GC,7747,1.45,232.3,37.9,9.8,468,7752,0.00,2.60,0.00,0.000,4,0.000,0.049,2851,572,1824
$GC,7822,1.45,232.3,29.3,11.8,474,7828,0.00,2.45,0.00,0.000,6,0.000,0.025,2851,2013,1824
$GC,8033,1.49,253.9,10.1,7.7,511,8058,0.00,2.60,18.75,0.484,4,0.000,0.046,2851,574,1739
$STATE,8096,end climb,SURFACE_DEPTH_REACHED
$STATE,8096,begin surface coast
$FINISH,0.8,1.022880
$STATE,8131,end surface coast,CONTROL_FINISHED_OK
$STATE,8131,begin surface
$SM_CCo,8157,93.45,0.494,0,0,1023,430.01
$SM_GC,1.40,0.00,0.00,93.45,0.000,0.000,0.494,409,2041,1023,-9.76,1.16,430.01
$IRIDIUM_FIX,2101.76,-15803.33,270998,212133
$TT8_MAMPS,0.028379
$HUMID,1548
$INTERNAL_PRESSURE,9.59795
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,23.7,4.450
$10V_AH,10.2,2.528
$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,25.200,95.950,320.600,93.450,0.000,30.834,30.197,147.596,1.750,0.000,0.000,30.006,938.552,5448.583,491.087,1269.597,436.585,33.338,1131.445,0.000,1246.012,0.000,0.541,0.000
$DEVICE_MAMPS,180.245,59.826,816.855,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.366,359.364,546.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28609,528
$CAP_FILE_SIZE,74008,0
$CFSIZE,260165632,222801920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040709,015236,2108.593,-15801.649,31,1.0,31,9.8