version: 66.04
glider: 114
mission: 4
dive: 14
start: 5 20 109 9 52 17
data:
$ID,114
$MISSION,4
$DIVE,14
$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,712.1059
$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,-604792.62
$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,0.029999999
$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,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
$GPS1,081437,4806.923,-12222.362,8,1.7,14,18.3
$_CALLS,5
$_XMS_NAKs,63
$_XMS_TOUTs,3
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.3
$GPS2,095123,4807.249,-12222.641,37,1.3,44,18.3
$SPEED_LIMITS,0.084,0.266
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,-0.238
$KALMAN_X,-546.0,25.8,-99.9,1259.0,-132.8
$KALMAN_Y,5320.6,406.0,186.6,-6633.2,140.3
$MHEAD_RNG_PITCHd_Wd,134.7,2445,-17.4,-10.000
$D_GRID,107
$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,-103.68,0.000,2,0.000,0.000,408,1876,3548
$GC,126,-1.43,-155.7,3.1,-2.4,18,158,11.05,2.67,-13.35,0.000,4,0.198,0.072,2174,441,3962
$GC,172,-1.22,-155.7,4.3,-3.2,25,179,0.30,2.47,0.00,0.000,6,0.147,0.028,2225,1879,3962
$GC,249,-1.13,-155.7,8.3,-5.8,38,255,0.00,2.67,0.00,0.000,4,0.000,0.061,2225,439,3962
$GC,370,-1.04,-155.7,17.0,-7.9,59,378,0.22,2.47,0.00,0.000,6,0.135,0.030,2263,1868,3963
$GC,448,-1.07,-155.7,22.1,-6.5,72,454,0.00,2.65,0.00,0.000,4,0.000,0.061,2263,445,3963
$GC,467,-1.07,-155.7,23.4,-6.5,75,474,0.00,2.47,0.00,0.000,6,0.000,0.030,2263,1873,3963
$GC,545,-1.11,-155.7,28.6,-6.6,88,551,0.00,2.67,0.00,0.000,4,0.000,0.061,2263,435,3963
$GC,560,-1.15,-155.7,29.5,-6.5,90,567,0.15,2.47,0.00,0.000,6,0.082,0.031,2233,1862,3963
$GC,636,-1.15,-155.7,35.5,-7.3,103,642,0.00,2.65,0.00,0.000,4,0.000,0.061,2232,440,3963
$GC,650,-1.15,-155.7,36.6,-7.7,105,656,0.00,2.47,0.00,0.000,6,0.000,0.031,2233,1866,3963
$GC,726,-1.15,-155.7,42.6,-7.1,118,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1872,3963
$GC,869,-1.15,-155.7,53.7,-8.0,143,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1872,3963
$GC,1010,-1.15,-155.7,64.6,-7.2,168,1016,0.00,2.67,0.00,0.000,4,0.000,0.064,2233,440,3962
$GC,1035,-1.15,-155.7,66.6,-8.4,172,1041,0.00,2.50,0.00,0.000,6,0.000,0.031,2233,1871,3963
$GC,1178,-1.15,-155.7,77.4,-7.1,197,1184,0.00,2.67,0.00,0.000,4,0.000,0.063,2233,443,3963
$GC,1208,-1.15,-155.7,79.7,-8.1,202,1214,0.00,2.50,0.00,0.000,6,0.000,0.032,2233,1872,3963
$GC,1351,-1.15,-155.7,89.9,-6.4,227,1357,0.00,2.67,0.00,0.000,4,0.000,0.062,2233,441,3963
$GC,1376,-1.15,-155.7,91.8,-7.8,231,1382,0.00,2.50,0.00,0.000,6,0.000,0.031,2233,1872,3963
$GC,1519,-1.15,-155.7,102.0,-7.2,256,1526,0.00,2.65,0.00,0.000,4,0.000,0.063,2233,446,3963
$GC,1533,-1.15,-155.7,102.9,-6.6,258,1539,0.00,2.47,0.00,0.000,6,0.000,0.031,2233,1864,3963
$STATE,1588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1588,begin apogee
$GC,1596,-0.33,0.0,107.3,7.3,268,1719,0.95,0.00,118.68,0.713,6,0.131,0.000,2412,1786,3338
$STATE,1720,end apogee,CONTROL_FINISHED_OK
$STATE,1720,begin climb
$GC,1724,1.43,155.7,109.6,0.0,291,1852,1.95,0.00,119.38,0.686,6,0.104,0.000,2799,1786,2702
$GC,1989,1.26,155.7,79.2,14.1,339,1994,0.17,0.00,0.00,0.000,6,0.150,0.000,2769,1786,2702
$GC,2131,1.17,155.7,61.3,12.4,364,2137,0.15,2.62,0.00,0.000,4,0.150,0.067,2746,397,2702
$GC,2179,1.08,155.7,55.6,12.0,372,2185,0.00,2.50,0.00,0.000,6,0.000,0.034,2745,1810,2701
$GC,2322,1.04,155.7,40.3,10.8,397,2328,0.17,0.00,0.00,0.000,6,0.141,0.000,2714,1814,2701
$GC,2465,1.12,184.0,27.5,8.8,422,2490,0.00,0.00,23.02,0.630,6,0.000,0.000,2714,1815,2587
$GC,2560,1.19,195.0,19.2,9.5,438,2580,0.17,2.75,9.75,0.565,4,0.088,0.067,2751,400,2542
$GC,2593,1.14,195.0,15.7,10.8,443,2600,0.00,2.50,0.00,0.000,6,0.000,0.033,2752,1817,2542
$GC,2669,1.14,195.0,7.4,10.1,456,2675,0.00,2.50,0.00,0.000,4,0.000,0.046,2751,3219,2541
$GC,2689,1.16,207.8,5.5,9.4,459,2708,0.00,2.55,10.85,0.574,6,0.000,0.041,2751,1793,2488
$STATE,2712,end climb,SURFACE_DEPTH_REACHED
$STATE,2712,begin surface coast
$FINISH,1.9,1.016216
$STATE,2775,end surface coast,CONTROL_FINISHED_OK
$STATE,2775,begin surface
$SM_CCo,2799,317.62,0.616,0,0,434,712.11
$SM_GC,1.42,0.00,0.00,317.62,0.000,0.000,0.616,412,1872,434,-9.56,0.62,712.11
$IRIDIUM_FIX,4748.51,-12219.12,140898,090923
$TT8_MAMPS,0.027612
$HUMID,1516
$INTERNAL_PRESSURE,9.15848
$TCM_TEMP,17.10
$XPDR_PINGS,29
$24V_AH,22.9,2.100
$10V_AH,10.1,1.274
$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,26.950,62.025,281.675,317.625,0.000,151.618,204.889,896.383,7.250,0.000,0.000,46.105,700.146,1096.590,710.318,818.019,1509.326,33.332,1185.658,0.000,789.628,0.000,0.537,0.000
$DEVICE_MAMPS,197.886,72.098,712.543,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,313.909,215.085,324.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22240,474
$CAP_FILE_SIZE,78727,0
$CFSIZE,260165632,222883840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,104502,4807.032,-12222.437,12,1.1,12,18.3