version: 66.04
glider: 114
mission: 4
dive: 10
start: 5 20 109 5 1 24
data:
$ID,114
$MISSION,4
$DIVE,10
$D_SURF,4
$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,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,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,650
$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,-603790.31
$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,1850
$C_ROLL_CLIMB,1850
$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,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
$GPS1,045231,4807.350,-12222.601,13,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.2
$GPS2,050028,4807.336,-12222.532,10,3.1,29,18.3
$SPEED_LIMITS,0.084,0.266
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.053,-0.261
$KALMAN_X,-40.2,-72.8,270.7,607.8,60.2
$KALMAN_Y,3121.5,799.0,-164.9,-4302.5,-43.4
$MHEAD_RNG_PITCHd_Wd,150.2,2560,-17.4,-10.000
$D_GRID,150
$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,16,-1.43,-155.7,0.0,0.0,0,122,0.00,0.00,-103.95,0.000,2,0.000,0.000,407,1873,3450
$GC,126,-1.43,-155.7,3.2,-5.0,18,158,11.35,2.47,-13.40,0.000,4,0.207,0.053,2174,3264,3963
$GC,413,-1.30,-155.7,25.7,-9.4,68,420,0.17,2.50,0.00,0.000,6,0.151,0.038,2202,1848,3964
$GC,490,-1.22,-155.7,32.3,-8.7,81,497,0.12,2.53,0.00,0.000,4,0.153,0.040,2221,3269,3964
$GC,505,-1.14,-155.7,33.5,-8.2,83,512,0.00,2.50,0.00,0.000,6,0.000,0.036,2221,1850,3964
$GC,581,-1.14,-155.7,39.8,-8.7,96,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1850,3964
$GC,656,-1.14,-155.7,46.1,-8.3,109,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1850,3964
$GC,797,-1.14,-155.7,57.5,-7.9,134,804,0.00,2.65,0.00,0.000,4,0.000,0.067,2222,435,3964
$GC,818,-1.11,-155.7,59.2,-8.8,137,825,0.15,2.50,0.00,0.000,6,0.144,0.031,2246,1864,3964
$GC,964,-1.15,-155.7,69.9,-6.6,162,970,0.00,2.67,0.00,0.000,4,0.000,0.064,2246,443,3964
$GC,1000,-1.15,-155.7,72.9,-8.2,168,1006,0.00,2.50,0.00,0.000,6,0.000,0.032,2246,1868,3964
$GC,1145,-1.19,-155.7,83.1,-6.8,193,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1873,3964
$GC,1287,-1.23,-155.7,93.3,-7.4,218,1294,0.15,2.70,0.00,0.000,4,0.090,0.064,2216,435,3964
$GC,1301,-1.23,-155.7,94.3,-6.9,220,1307,0.00,2.50,0.00,0.000,6,0.000,0.032,2216,1862,3964
$GC,1444,-1.23,-155.7,106.1,-8.4,245,1450,0.00,2.67,0.00,0.000,4,0.000,0.064,2216,440,3964
$GC,1463,-1.20,-155.7,107.7,-8.6,248,1469,0.00,2.50,0.00,0.000,6,0.000,0.033,2216,1867,3964
$STATE,1507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1507,begin apogee
$GC,1514,-0.33,0.0,111.7,8.1,256,1638,1.05,0.00,118.75,0.714,6,0.135,0.000,2412,1873,3338
$STATE,1638,end apogee,CONTROL_FINISHED_OK
$STATE,1638,begin climb
$GC,1642,1.43,155.7,114.2,0.0,279,1770,1.98,0.00,119.38,0.695,6,0.108,0.000,2801,1873,2702
$GC,1906,1.26,155.7,84.6,14.5,327,1913,0.20,2.70,0.00,0.000,4,0.150,0.065,2765,446,2701
$GC,1943,1.11,155.7,79.3,14.1,333,1949,0.22,2.53,0.00,0.000,6,0.150,0.035,2729,1867,2702
$GC,2085,1.11,155.7,64.2,10.3,358,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1872,2701
$GC,2227,1.11,155.7,49.9,10.0,383,2233,0.00,2.70,0.00,0.000,4,0.000,0.067,2729,446,2701
$GC,2291,1.07,155.7,43.0,11.0,394,2297,0.00,2.50,0.00,0.000,6,0.000,0.034,2729,1857,2701
$GC,2434,1.13,190.0,29.8,8.5,419,2470,0.00,2.78,27.52,0.640,4,0.000,0.067,2729,439,2562
$GC,2488,1.13,190.0,24.5,10.3,428,2495,0.00,2.53,0.00,0.000,6,0.000,0.035,2729,1864,2561
$GC,2564,1.13,190.9,17.0,10.0,441,2570,0.00,2.50,0.00,0.000,4,0.000,0.049,2729,3259,2561
$GC,2584,1.17,214.0,15.2,9.0,444,2609,0.00,2.53,19.65,0.614,6,0.000,0.040,2729,1844,2464
$GC,2679,1.36,273.4,7.1,7.4,460,2721,0.25,0.00,39.83,0.621,2,0.087,0.000,2782,1844,2262
$STATE,2722,end climb,SURFACE_DEPTH_REACHED
$STATE,2722,begin surface coast
$FINISH,2.3,1.017723
$STATE,2789,end surface coast,CONTROL_FINISHED_OK
$STATE,2789,begin surface
$SM_CCo,2813,241.68,0.606,0,0,688,650.04
$SM_GC,1.39,0.00,0.00,241.68,0.000,0.000,0.606,408,1841,688,-9.58,-0.25,650.04
$IRIDIUM_FIX,4751.72,-12223.57,140898,030331
$TT8_MAMPS,0.028379
$HUMID,1535
$INTERNAL_PRESSURE,9.18778
$TCM_TEMP,16.90
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,80.3,41.2
$24V_AH,23.1,1.532
$10V_AH,10.1,1.055
$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,27.525,51.450,325.125,241.675,0.000,23.972,27.487,263.358,6.500,0.000,0.000,32.313,688.040,874.635,650.211,813.507,511.020,33.323,1122.188,0.000,788.762,0.000,5.529,0.000
$DEVICE_MAMPS,207.090,67.496,714.077,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.908,207.233,305.670,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22192,479
$CAP_FILE_SIZE,57775,0
$CFSIZE,260165632,223055872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,055355,4807.103,-12222.436,63,1.4,63,18.3