version: 66.04
glider: 114
mission: 4
dive: 17
start: 7 4 109 1 58 46
data:
$ID,114
$MISSION,4
$DIVE,17
$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,-609957.06
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2535
$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,1980
$C_ROLL_CLIMB,1950
$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
$GPS1,015236,2108.593,-15801.649,31,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-61.4
$GPS2,015756,2108.596,-15801.664,14,1.4,14,9.8
$SPEED_LIMITS,0.072,0.245
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.211,-0.125
$KALMAN_X,4604.8,735.4,-167.4,-21079.7,516.4
$KALMAN_Y,6706.0,-253.2,-100.0,-18096.0,691.8
$MHEAD_RNG_PITCHd_Wd,229.4,68898,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.30,-146.0,0.0,0.0,0,87,0.00,0.00,-68.57,0.000,2,0.000,0.000,409,2041,3021
$GC,91,-1.30,-146.0,3.2,-5.2,12,117,10.95,2.70,-5.80,0.000,4,0.177,0.058,2250,563,3376
$GC,197,-1.30,-146.0,29.0,-17.0,30,204,0.00,2.42,0.00,0.000,6,0.000,0.035,2250,1988,3376
$GC,402,-1.30,-146.0,61.9,-16.1,50,407,0.00,2.45,0.00,0.000,4,0.000,0.037,2250,3403,3377
$GC,421,-1.30,-146.0,64.9,-16.2,51,425,0.00,2.45,0.00,0.000,6,0.000,0.025,2251,1958,3377
$GC,683,-1.30,-146.0,100.4,-12.9,75,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,1958,3378
$GC,938,-1.30,-146.0,133.7,-13.0,99,942,0.00,2.45,0.00,0.000,4,0.000,0.046,2250,568,3379
$GC,982,-1.30,-146.0,140.0,-13.4,102,988,0.00,2.42,0.00,0.000,6,0.000,0.025,2250,1999,3379
$GC,1244,-1.30,-146.0,173.1,-13.1,127,1248,0.00,2.42,0.00,0.000,4,0.000,0.038,2250,3404,3380
$GC,1261,-1.30,-146.0,175.4,-12.7,128,1265,0.00,2.45,0.00,0.000,6,0.000,0.027,2250,1959,3380
$GC,1532,-1.30,-146.0,204.9,-10.5,151,1536,0.00,2.50,0.00,0.000,4,0.000,0.038,2250,3400,3380
$GC,1583,-1.30,-146.0,210.9,-10.9,153,1588,0.00,2.45,0.00,0.000,6,0.000,0.028,2250,1959,3380
$GC,1905,-1.30,-146.0,245.8,-10.1,169,1909,0.00,2.47,0.00,0.000,4,0.000,0.051,2250,565,3380
$GC,1991,-1.30,-146.0,254.8,-11.0,173,1995,0.00,2.42,0.00,0.000,6,0.000,0.026,2250,1993,3380
$GC,2318,-1.30,-146.0,287.8,-8.9,189,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,1996,3380
$GC,2645,-1.30,-146.0,313.6,-7.8,201,2649,0.00,2.58,0.00,0.000,4,0.000,0.054,2250,568,3379
$GC,2746,-1.30,-146.0,323.3,-9.4,203,2750,0.00,2.45,0.00,0.000,6,0.000,0.028,2250,2002,3379
$GC,3095,-1.30,-146.0,349.4,-7.2,212,3099,0.00,2.60,0.00,0.000,4,0.000,0.056,2251,566,3376
$GC,3139,-1.30,-146.0,353.1,-8.1,213,3144,0.00,2.45,0.00,0.000,6,0.000,0.031,2250,1989,3376
$GC,3459,-1.30,-146.0,373.1,-5.9,221,3463,0.00,2.58,0.00,0.000,4,0.000,0.057,2250,568,3374
$GC,3482,-1.30,-146.0,374.5,-5.5,221,3486,0.00,2.45,0.00,0.000,6,0.000,0.031,2250,1988,3375
$STATE,3816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3816,begin apogee
$GC,3824,-0.33,0.0,402.6,9.1,230,3944,1.08,0.00,116.60,0.820,6,0.118,0.000,2460,1924,2777
$STATE,3944,end apogee,CONTROL_FINISHED_OK
$STATE,3944,begin climb
$GC,3948,1.30,146.0,406.1,0.0,233,4075,1.75,2.65,117.32,0.795,4,0.086,0.061,2816,538,2179
$GC,4132,1.30,146.0,392.6,13.7,237,4136,0.00,2.53,0.00,0.000,6,0.000,0.031,2817,1968,2176
$GC,4480,1.30,146.0,349.1,12.2,246,4484,0.00,2.67,0.00,0.000,4,0.000,0.059,2816,530,2172
$GC,4610,1.30,146.0,332.5,12.7,249,4614,0.00,2.53,0.00,0.000,6,0.000,0.032,2816,1972,2171
$GC,4934,1.30,146.0,300.6,9.7,257,4938,0.00,2.65,0.00,0.000,4,0.000,0.059,2816,535,2169
$GC,5087,1.30,146.0,282.4,11.9,263,5091,0.00,2.50,0.00,0.000,6,0.000,0.031,2816,1973,2168
$GC,5414,1.31,151.4,252.5,8.4,279,5419,0.00,2.62,0.00,0.000,4,0.000,0.058,2817,537,2165
$GC,5500,1.31,151.4,245.0,9.0,283,5504,0.00,2.47,0.00,0.000,6,0.000,0.030,2817,1969,2165
$GC,5833,1.35,171.7,218.7,7.8,299,5859,0.00,2.67,19.88,0.700,4,0.000,0.058,2817,541,2074
$GC,5986,1.35,171.7,204.0,10.2,306,5990,0.00,2.47,0.00,0.000,6,0.000,0.028,2817,1973,2072
$GC,6313,1.38,189.3,174.5,7.9,334,6331,0.00,0.00,15.25,0.642,6,0.000,0.000,2817,1975,2005
$GC,6585,1.43,221.9,153.5,7.3,360,6620,0.15,2.47,27.30,0.641,4,0.086,0.049,2847,3366,1869
$GC,6678,1.43,221.9,144.0,12.1,368,6682,0.00,2.47,0.00,0.000,6,0.000,0.031,2847,1938,1866
$GC,6939,1.43,221.9,111.0,12.4,392,6944,0.00,2.53,0.00,0.000,4,0.000,0.052,2847,537,1864
$GC,7059,1.43,221.9,94.9,13.3,402,7063,0.00,2.45,0.00,0.000,6,0.000,0.026,2847,1970,1864
$GC,7321,1.43,221.9,66.9,9.3,426,7325,0.00,2.60,0.00,0.000,4,0.000,0.051,2847,535,1864
$GC,7410,1.43,221.9,58.2,9.7,433,7417,0.00,2.42,0.00,0.000,6,0.000,0.025,2847,1968,1864
$GC,7673,1.45,233.0,36.9,8.2,458,7688,0.00,2.45,9.93,0.478,4,0.000,0.035,2847,3375,1826
$GC,7734,1.45,233.0,31.2,9.0,463,7740,0.00,2.47,0.00,0.000,6,0.000,0.030,2848,1933,1825
$GC,8011,1.57,302.6,9.4,5.8,511,8072,0.15,1.25,56.65,0.505,3,0.072,0.044,2880,1229,1541
$STATE,8073,end climb,SURFACE_DEPTH_REACHED
$STATE,8073,begin surface coast
$FINISH,0.7,1.011472
$STATE,8112,end surface coast,CONTROL_FINISHED_OK
$STATE,8112,begin surface
$SM_CCo,8138,63.33,0.488,0,0,1023,430.01
$SM_GC,1.33,0.00,0.00,63.33,0.000,0.000,0.488,405,2026,1023,-9.80,1.30,430.01
$IRIDIUM_FIX,2104.07,-15800.33,270998,232307
$TT8_MAMPS,0.027612
$HUMID,1568
$INTERNAL_PRESSURE,9.59795
$TCM_TEMP,24.50
$XPDR_PINGS,11
$24V_AH,23.7,4.545
$10V_AH,10.2,2.588
$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,25.450,93.050,362.925,63.325,0.000,24.262,33.151,142.748,2.750,0.000,0.000,15.714,937.288,5407.218,483.425,1262.076,429.131,33.353,1131.165,0.000,1250.609,0.000,0.540,0.000
$DEVICE_MAMPS,177.177,60.593,819.923,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.714,353.641,551.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28500,528
$CAP_FILE_SIZE,75120,0
$CFSIZE,260165632,222760960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040709,041637,2108.061,-15802.547,34,1.8,34,9.8