version: 66.04
glider: 114
mission: 4
dive: 12
start: 5 20 109 7 13 11
data:
$ID,114
$MISSION,4
$DIVE,12
$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,-4
$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,-603824.69
$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,1800
$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,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
$GPS1,070156,4806.942,-12222.345,12,1.9,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.2
$GPS2,071214,4807.004,-12222.446,10,1.4,10,18.3
$SPEED_LIMITS,0.084,0.266
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.251
$KALMAN_X,-220.5,30.1,147.3,916.7,-82.5
$KALMAN_Y,4225.0,489.1,-119.7,-5755.6,167.2
$MHEAD_RNG_PITCHd_Wd,142.1,1941,-17.4,-10.000
$D_GRID,108
$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,15,-1.43,-155.7,0.0,0.0,0,109,0.00,0.00,-91.62,0.000,2,0.000,0.000,412,1872,2970
$GC,113,-1.43,-155.7,3.4,-4.8,16,162,11.10,2.67,-29.30,0.000,4,0.199,0.074,2175,443,3963
$GC,181,-1.16,-155.7,6.2,-7.1,27,188,0.35,2.47,0.00,0.000,6,0.150,0.030,2234,1871,3963
$GC,258,-1.11,-155.7,10.0,-4.8,40,265,0.00,2.67,0.00,0.000,4,0.000,0.061,2234,435,3963
$GC,279,-1.04,-155.7,11.1,-5.5,43,286,0.17,2.47,0.00,0.000,6,0.140,0.030,2263,1863,3963
$GC,355,-1.04,-155.7,15.5,-5.2,56,362,0.00,2.65,0.00,0.000,4,0.000,0.061,2263,444,3964
$GC,397,-1.04,-155.7,18.2,-7.0,63,404,0.00,2.47,0.00,0.000,6,0.000,0.031,2263,1867,3963
$GC,474,-1.08,-155.7,22.9,-6.4,76,480,0.00,2.65,0.00,0.000,4,0.000,0.061,2263,444,3964
$GC,512,-1.08,-155.7,25.6,-7.7,82,518,0.00,2.47,0.00,0.000,6,0.000,0.031,2263,1865,3964
$GC,588,-1.12,-155.7,30.9,-6.6,95,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1871,3964
$GC,664,-1.18,-155.7,36.1,-7.3,108,671,0.17,2.67,0.00,0.000,4,0.084,0.062,2225,435,3964
$GC,703,-1.12,-155.7,39.2,-8.9,114,710,0.12,2.50,0.00,0.000,6,0.139,0.031,2244,1871,3964
$GC,779,-1.12,-155.7,45.3,-7.9,127,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1876,3964
$GC,920,-1.12,-155.7,55.2,-6.6,152,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1876,3964
$GC,1062,-1.15,-155.7,64.4,-7.3,177,1068,0.00,2.67,0.00,0.000,4,0.000,0.063,2244,446,3964
$GC,1092,-1.15,-155.7,66.6,-7.9,182,1098,0.00,2.47,0.00,0.000,6,0.000,0.032,2244,1860,3964
$GC,1235,-1.19,-155.7,76.4,-6.6,207,1241,0.00,2.67,0.00,0.000,4,0.000,0.064,2244,435,3964
$GC,1249,-1.22,-155.7,77.5,-6.8,209,1255,0.00,2.50,0.00,0.000,6,0.000,0.032,2244,1861,3964
$GC,1393,-1.26,-155.7,87.7,-7.1,234,1398,0.15,0.00,0.00,0.000,6,0.091,0.000,2215,1865,3964
$GC,1535,-1.26,-155.7,99.3,-8.4,259,1541,0.00,2.67,0.00,0.000,4,0.000,0.064,2215,435,3964
$GC,1548,-1.26,-155.7,100.5,-8.4,261,1554,0.00,2.50,0.00,0.000,6,0.000,0.032,2215,1864,3964
$STATE,1642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1642,begin apogee
$GC,1650,-0.33,0.0,108.5,8.2,278,1778,1.05,0.00,119.50,0.723,6,0.136,0.000,2410,1786,3337
$STATE,1779,end apogee,CONTROL_FINISHED_OK
$STATE,1779,begin climb
$GC,1782,1.43,155.7,110.8,0.0,302,1911,1.98,0.00,119.62,0.696,6,0.107,0.000,2801,1786,2702
$GC,2048,1.27,155.7,80.8,13.9,350,2053,0.17,0.00,0.00,0.000,6,0.147,0.000,2770,1786,2702
$GC,2190,1.18,155.7,63.5,11.9,375,2196,0.15,0.00,0.00,0.000,6,0.149,0.000,2747,1786,2702
$GC,2333,1.15,155.7,48.0,10.1,400,2339,0.00,2.62,0.00,0.000,4,0.000,0.067,2746,396,2701
$GC,2357,1.08,155.7,45.1,11.7,404,2364,0.15,2.50,0.00,0.000,6,0.150,0.034,2723,1809,2702
$GC,2501,1.15,196.8,32.1,8.2,429,2543,0.00,2.58,32.58,0.641,4,0.000,0.046,2723,3204,2534
$GC,2568,1.22,210.1,26.2,9.4,440,2588,0.17,2.53,11.88,0.581,6,0.091,0.042,2756,1804,2481
$GC,2658,1.19,210.1,16.5,11.4,455,2665,0.00,2.65,0.00,0.000,4,0.000,0.069,2756,396,2480
$GC,2717,1.14,210.1,9.2,12.0,465,2724,0.00,2.50,0.00,0.000,6,0.000,0.035,2756,1813,2480
$STATE,2778,end climb,SURFACE_DEPTH_REACHED
$STATE,2779,begin surface coast
$FINISH,2.8,1.017539
$STATE,2853,end surface coast,CONTROL_FINISHED_OK
$STATE,2855,begin surface
$SM_CCo,2880,286.62,0.617,0,0,688,650.04
$SM_GC,1.41,0.00,0.00,286.62,0.000,0.000,0.617,411,1872,688,-9.56,0.62,650.04
$IRIDIUM_FIX,4748.51,-12229.01,140898,070757
$TT8_MAMPS,0.027612
$HUMID,1519
$INTERNAL_PRESSURE,9.17801
$TCM_TEMP,17.00
$XPDR_PINGS,18
$24V_AH,23.6,1.797
$10V_AH,10.1,1.150
$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,27.450,56.775,283.575,286.625,0.000,58.232,54.090,300.024,4.500,0.000,0.000,14.206,718.393,955.156,686.162,811.551,620.044,33.336,1167.628,0.000,811.729,0.000,0.534,0.000
$DEVICE_MAMPS,199.420,101.244,723.281,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,324.245,215.477,331.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22246,489
$CAP_FILE_SIZE,64028,0
$CFSIZE,260165632,222986240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,080707,4806.830,-12222.299,35,1.7,35,18.3