version: 66.04
glider: 114
mission: 4
dive: 3
start: 5 19 109 21 19 55
data:
$ID,114
$MISSION,4
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52448
$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,600
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-603608.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,15
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,5
$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,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,435
$VBD_MAX,3961
$C_VBD,3338
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$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
$GPS1,211513,4808.490,-12223.718,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.1
$GPS2,211902,4808.542,-12223.733,12,1.6,12,18.3
$SPEED_LIMITS,0.084,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.081,-0.201
$KALMAN_X,-352.9,-244.7,-230.5,110.7,-118.9
$KALMAN_Y,878.8,564.4,526.7,-292.1,272.0
$MHEAD_RNG_PITCHd_Wd,139.8,2997,-22.1,-10.000
$D_GRID,97
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.64,-97.3,0.0,0.0,0,115,0.00,0.00,-97.22,0.000,2,0.000,0.000,411,1873,3509
$GC,119,-1.64,-97.3,3.2,-3.3,17,139,10.82,0.00,-6.68,0.000,6,0.202,0.000,2129,1876,3735
$GC,209,-1.47,-97.3,5.7,-2.7,32,216,0.20,2.55,0.00,0.000,4,0.159,0.042,2165,3314,3736
$GC,224,-1.32,-97.3,6.2,-3.4,34,231,0.22,2.53,0.00,0.000,6,0.162,0.041,2200,1885,3735
$GC,300,-1.32,-97.3,9.4,-4.5,47,307,0.00,2.53,0.00,0.000,4,0.000,0.041,2200,3312,3736
$GC,314,-1.32,-97.3,10.0,-4.5,49,321,0.00,2.50,0.00,0.000,6,0.000,0.041,2200,1898,3736
$GC,390,-1.32,-97.3,13.8,-5.0,62,396,0.00,2.62,0.00,0.000,4,0.000,0.069,2201,486,3736
$GC,461,-1.28,-97.3,18.3,-6.3,74,467,0.00,2.47,0.00,0.000,6,0.000,0.032,2200,1917,3736
$GC,537,-1.28,-97.3,22.9,-6.1,87,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,1922,3736
$GC,612,-1.28,-97.3,27.2,-6.1,100,618,0.00,2.47,0.00,0.000,4,0.000,0.044,2200,3323,3736
$GC,626,-1.28,-97.3,28.2,-6.0,102,632,0.00,2.53,0.00,0.000,6,0.000,0.044,2201,1900,3736
$GC,702,-1.32,-97.3,33.1,-6.4,115,709,0.00,2.62,0.00,0.000,4,0.000,0.071,2200,490,3736
$GC,716,-1.32,-97.3,33.9,-6.2,117,723,0.00,2.47,0.00,0.000,6,0.000,0.033,2201,1916,3736
$GC,792,-1.36,-97.3,38.9,-6.6,130,799,0.00,2.67,0.00,0.000,4,0.000,0.068,2200,491,3736
$GC,806,-1.36,-97.3,39.9,-6.7,132,813,0.00,2.47,0.00,0.000,6,0.000,0.034,2200,1915,3736
$GC,883,-1.40,-97.3,45.2,-6.7,145,889,0.00,2.70,0.00,0.000,4,0.000,0.068,2200,485,3736
$GC,897,-1.44,-97.3,46.0,-6.6,147,903,0.12,2.50,0.00,0.000,6,0.094,0.034,2177,1916,3736
$GC,1040,-1.44,-97.3,56.2,-6.8,172,1046,0.00,2.67,0.00,0.000,4,0.000,0.068,2177,489,3736
$GC,1099,-1.40,-97.3,60.6,-7.6,182,1105,0.00,2.47,0.00,0.000,6,0.000,0.034,2177,1916,3735
$GC,1242,-1.40,-97.3,70.6,-7.0,207,1248,0.00,2.67,0.00,0.000,4,0.000,0.068,2177,491,3736
$GC,1307,-1.36,-97.3,75.5,-7.7,218,1313,0.00,2.47,0.00,0.000,6,0.000,0.034,2177,1917,3736
$GC,1454,-1.36,-97.3,85.7,-6.6,243,1460,0.00,2.67,0.00,0.000,4,0.000,0.068,2177,495,3736
$GC,1552,-1.36,-97.3,93.3,-7.8,260,1558,0.00,2.47,0.00,0.000,6,0.000,0.035,2177,1919,3736
$STATE,1602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1602,begin apogee
$GC,1609,-0.33,0.0,97.1,7.3,269,1693,1.27,0.00,75.70,0.754,6,0.144,0.000,2410,1923,3338
$STATE,1694,end apogee,CONTROL_FINISHED_OK
$STATE,1694,begin climb
$GC,1697,1.64,97.3,98.7,0.0,284,1782,2.17,2.55,74.40,0.728,4,0.108,0.051,2845,3309,2940
$GC,1796,1.54,97.3,90.8,11.7,301,1802,0.00,2.58,0.00,0.000,6,0.000,0.046,2844,1897,2940
$GC,1938,1.42,97.3,71.5,13.6,326,1945,0.22,2.65,0.00,0.000,4,0.162,0.071,2805,495,2940
$GC,2054,1.33,97.3,56.0,13.4,346,2061,0.17,2.53,0.00,0.000,6,0.166,0.036,2778,1919,2940
$GC,2201,1.40,117.2,41.4,8.6,371,2225,0.00,2.78,16.27,0.647,4,0.000,0.070,2778,497,2860
$GC,2266,1.40,117.2,34.2,11.3,382,2272,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,1912,2860
$GC,2342,1.45,119.3,26.6,9.8,395,2355,0.15,2.75,3.60,0.400,4,0.097,0.069,2807,491,2850
$GC,2375,1.40,119.3,22.9,11.6,400,2381,0.00,2.50,0.00,0.000,6,0.000,0.037,2806,1909,2850
$GC,2450,1.40,119.3,14.1,10.9,413,2457,0.00,2.53,0.00,0.000,4,0.000,0.050,2807,3317,2850
$GC,2464,1.40,119.3,12.6,10.8,415,2470,0.00,2.55,0.00,0.000,6,0.000,0.044,2807,1897,2851
$GC,2540,1.48,140.4,5.7,8.5,428,2565,0.00,2.70,17.70,0.642,4,0.000,0.072,2806,489,2764
$STATE,2575,end climb,SURFACE_DEPTH_REACHED
$STATE,2575,begin surface coast
$FINISH,3.3,1.019067
$STATE,2626,end surface coast,CONTROL_FINISHED_OK
$STATE,2626,begin surface
$SM_CCo,2630,379.55,0.627,0,0,434,712.11
$SM_GC,1.25,12.02,0.00,0.00,0.094,0.000,0.000,410,1941,425,-9.54,1.16,714.56
$IRIDIUM_FIX,4748.51,-12221.84,130898,212137
$TT8_MAMPS,0.027612
$HUMID,1563
$INTERNAL_PRESSURE,9.17801
$TCM_TEMP,17.00
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,80.2,32.3
$24V_AH,23.6,0.609
$10V_AH,10.1,0.671
$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,27.400,82.300,187.675,379.550,0.000,0.000,0.000,0.000,8.250,0.000,0.000,13.603,691.540,854.263,709.279,807.137,131.475,31.419,1159.909,0.000,806.560,0.000,5.505,0.000
$DEVICE_MAMPS,202.488,72.098,753.961,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,295.056,242.578,557.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22302,443
$CAP_FILE_SIZE,82825,0
$CFSIZE,260165632,223268864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,221306,4808.477,-12223.626,30,0.9,31,18.3