version: 66.04
glider: 114
mission: 4
dive: 11
start: 5 20 109 6 2 17
data:
$ID,114
$MISSION,4
$DIVE,11
$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,-603809.88
$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
$GPS1,055355,4807.103,-12222.436,63,1.4,63,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.9
$GPS2,060121,4807.134,-12222.424,16,1.6,17,18.3
$SPEED_LIMITS,0.084,0.266
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.259
$KALMAN_X,-75.5,-14.1,233.5,755.6,-18.8
$KALMAN_Y,3641.5,638.3,-179.1,-5023.1,124.8
$MHEAD_RNG_PITCHd_Wd,148.5,2164,-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,-155.7,0.0,0.0,0,81,0.00,0.00,-63.38,0.000,2,0.000,0.000,408,1841,2479
$GC,85,-1.43,-155.7,3.0,-2.8,11,151,11.50,2.58,-45.58,0.000,4,0.212,0.052,2173,3259,3964
$GC,176,-1.20,-155.7,7.3,-8.8,26,183,0.32,2.50,0.00,0.000,6,0.149,0.036,2228,1843,3964
$GC,253,-1.14,-155.7,12.3,-3.8,39,260,0.00,2.60,0.00,0.000,4,0.000,0.064,2228,445,3964
$GC,274,-1.06,-155.7,13.0,-3.6,42,281,0.17,2.47,0.00,0.000,6,0.143,0.030,2257,1871,3964
$GC,350,-1.06,-155.7,17.4,-6.3,55,357,0.00,2.70,0.00,0.000,4,0.000,0.069,2257,434,3964
$GC,365,-1.06,-155.7,18.5,-6.7,57,371,0.00,2.50,0.00,0.000,6,0.000,0.031,2257,1872,3964
$GC,441,-1.06,-155.7,23.2,-6.2,70,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,1876,3964
$GC,516,-1.06,-155.7,28.4,-6.7,83,522,0.00,2.67,0.00,0.000,4,0.000,0.062,2257,439,3964
$GC,536,-1.06,-155.7,29.9,-7.1,86,542,0.00,2.50,0.00,0.000,6,0.000,0.031,2257,1866,3964
$GC,612,-1.10,-155.7,35.1,-6.7,99,619,0.00,2.67,0.00,0.000,4,0.000,0.063,2257,433,3965
$GC,643,-1.10,-155.7,37.5,-8.0,104,650,0.00,2.50,0.00,0.000,6,0.000,0.032,2257,1868,3964
$GC,719,-1.14,-155.7,43.1,-7.4,117,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,1873,3964
$GC,861,-1.19,-155.7,53.2,-7.3,142,868,0.15,2.67,0.00,0.000,4,0.091,0.063,2228,446,3964
$GC,875,-1.19,-155.7,54.4,-7.5,144,881,0.00,2.47,0.00,0.000,6,0.000,0.031,2228,1860,3964
$GC,1018,-1.19,-155.7,66.2,-8.0,169,1024,0.00,2.67,0.00,0.000,4,0.000,0.064,2227,435,3964
$GC,1037,-1.19,-155.7,67.8,-8.1,172,1043,0.00,2.50,0.00,0.000,6,0.000,0.032,2228,1862,3964
$GC,1179,-1.19,-155.7,79.5,-7.8,197,1185,0.00,2.67,0.00,0.000,4,0.000,0.064,2228,444,3964
$GC,1200,-1.19,-155.7,81.1,-7.8,200,1206,0.00,2.50,0.00,0.000,6,0.000,0.032,2228,1868,3964
$GC,1342,-1.19,-155.7,92.0,-7.9,225,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1873,3964
$GC,1484,-1.19,-155.7,102.5,-7.8,250,1490,0.00,2.67,0.00,0.000,4,0.000,0.064,2227,445,3964
$GC,1508,-1.19,-155.7,104.5,-7.9,254,1514,0.00,2.50,0.00,0.000,6,0.000,0.032,2228,1868,3964
$STATE,1603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1603,begin apogee
$GC,1610,-0.33,0.0,112.0,6.9,271,1733,0.98,0.00,118.88,0.726,6,0.133,0.000,2410,1876,3338
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1734,begin climb
$GC,1737,1.43,155.7,114.7,0.0,294,1865,1.98,0.00,119.45,0.695,6,0.108,0.000,2802,1876,2702
$GC,2002,1.26,155.7,84.2,15.0,342,2008,0.20,2.72,0.00,0.000,4,0.157,0.064,2767,435,2702
$GC,2039,1.11,155.7,78.8,15.3,348,2045,0.22,2.53,0.00,0.000,6,0.150,0.034,2731,1858,2702
$GC,2182,1.11,157.4,63.1,9.9,373,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1860,2702
$GC,2324,1.13,169.4,49.4,9.5,398,2342,0.00,2.72,11.88,0.597,4,0.000,0.066,2731,438,2646
$GC,2371,1.09,169.4,44.3,10.9,406,2377,0.00,2.53,0.00,0.000,6,0.000,0.034,2731,1858,2646
$GC,2514,1.12,190.1,30.5,9.1,431,2538,0.00,0.00,17.65,0.627,6,0.000,0.000,2731,1862,2561
$GC,2608,1.13,191.7,21.2,9.9,447,2615,0.00,2.67,0.00,0.000,4,0.000,0.067,2731,446,2560
$GC,2650,1.13,191.7,16.6,11.6,454,2656,0.00,2.50,0.00,0.000,6,0.000,0.034,2731,1864,2560
$GC,2726,1.22,216.5,9.5,8.9,467,2751,0.12,0.00,21.25,0.628,6,0.098,0.000,2754,1870,2455
$GC,2822,1.73,357.4,4.0,3.8,483,2830,0.52,0.00,5.15,0.472,2,0.085,0.000,2865,1871,2430
$STATE,2830,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,4.2,1.018705
$STATE,3044,end surface coast,CONTROL_FINISHED_OK
$STATE,3044,begin surface
$SM_CCo,3049,354.52,0.607,3,0,435,712.11
$SM_GC,1.38,12.12,0.00,0.00,0.086,0.000,0.000,411,1871,427,-9.53,0.57,713.82
$IRIDIUM_FIX,4751.72,-12219.12,140898,050530
$TT8_MAMPS,0.027612
$HUMID,1545
$INTERNAL_PRESSURE,9.17801
$TCM_TEMP,17.00
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,80.5,41.5
$24V_AH,23.6,1.668
$10V_AH,10.1,1.105
$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,28.300,62.050,294.250,354.525,0.000,30.549,28.378,243.147,7.000,0.000,0.000,18.928,770.247,1047.707,770.916,877.031,520.595,33.353,1275.341,0.000,869.958,0.000,5.533,0.000
$DEVICE_MAMPS,211.692,69.030,726.349,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.882,240.382,376.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25394,522
$CAP_FILE_SIZE,64846,0
$CFSIZE,260165632,223014912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,200509,070156,4806.942,-12222.345,12,1.9,12,18.3