version: 66.04
glider: 114
mission: 4
dive: 15
start: 5 20 109 11 20 25
data:
$ID,114
$MISSION,4
$DIVE,15
$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,-604833.75
$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
$GPS1,104502,4807.032,-12222.437,12,1.1,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-63.7
$GPS2,111931,4807.123,-12222.496,39,1.4,39,18.3
$SPEED_LIMITS,0.084,0.266
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.098,-0.248
$KALMAN_X,-568.3,45.0,-194.0,1525.6,-88.9
$KALMAN_Y,5565.1,305.6,305.8,-7113.6,121.7
$MHEAD_RNG_PITCHd_Wd,140.2,2169,-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,16,-1.43,-155.7,0.0,0.0,0,145,0.00,0.00,-125.93,0.000,2,0.000,0.000,412,1872,3783
$GC,149,-1.43,-155.7,3.1,-4.0,22,169,11.10,0.00,-5.18,0.000,6,0.201,0.000,2174,1873,3962
$GC,239,-1.25,-155.7,8.1,-6.4,37,246,0.20,2.47,0.00,0.000,4,0.142,0.041,2210,3271,3963
$GC,260,-1.12,-155.7,9.3,-5.8,40,267,0.20,2.50,0.00,0.000,6,0.141,0.035,2244,1850,3963
$GC,337,-1.12,-155.7,14.5,-6.1,53,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1849,3963
$GC,412,-1.12,-155.7,19.6,-6.9,66,418,0.00,2.60,0.00,0.000,4,0.000,0.064,2244,445,3963
$GC,426,-1.12,-155.7,20.7,-7.3,68,433,0.00,2.47,0.00,0.000,6,0.000,0.030,2244,1873,3963
$GC,503,-1.12,-155.7,26.6,-7.9,81,509,0.00,2.67,0.00,0.000,4,0.000,0.061,2244,436,3963
$GC,522,-1.12,-155.7,28.0,-7.3,84,529,0.00,2.50,0.00,0.000,6,0.000,0.031,2244,1867,3963
$GC,599,-1.12,-155.7,33.8,-7.3,97,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1872,3963
$GC,674,-1.12,-155.7,39.3,-7.6,110,681,0.00,2.67,0.00,0.000,4,0.000,0.063,2244,434,3963
$GC,688,-1.12,-155.7,40.3,-7.2,112,694,0.00,2.50,0.00,0.000,6,0.000,0.031,2244,1866,3963
$GC,831,-1.12,-155.7,50.8,-6.8,137,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1872,3963
$GC,973,-1.15,-155.7,60.6,-6.8,162,979,0.00,2.67,0.00,0.000,4,0.000,0.063,2244,440,3963
$GC,1003,-1.15,-155.7,62.8,-7.8,167,1009,0.00,2.50,0.00,0.000,6,0.000,0.031,2244,1870,3963
$GC,1147,-1.18,-155.7,72.6,-6.3,192,1153,0.00,2.67,0.00,0.000,4,0.000,0.064,2244,445,3963
$GC,1183,-1.18,-155.7,75.3,-7.6,198,1189,0.00,2.47,0.00,0.000,6,0.000,0.032,2244,1861,3963
$GC,1326,-1.22,-155.7,85.1,-6.7,223,1332,0.00,2.67,0.00,0.000,4,0.000,0.063,2244,434,3963
$GC,1340,-1.25,-155.7,86.0,-6.8,225,1347,0.15,2.50,0.00,0.000,6,0.087,0.031,2215,1865,3963
$GC,1486,-1.25,-155.7,97.5,-8.2,250,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1867,3963
$STATE,1618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1618,begin apogee
$GC,1626,-0.33,0.0,108.4,7.9,274,1749,1.05,0.00,118.70,0.719,6,0.133,0.000,2411,1788,3338
$STATE,1750,end apogee,CONTROL_FINISHED_OK
$STATE,1750,begin climb
$GC,1753,1.43,155.7,111.1,0.0,297,1881,1.98,0.00,119.22,0.690,6,0.104,0.000,2803,1788,2702
$GC,2018,1.25,155.7,80.4,14.3,345,2024,0.22,0.00,0.00,0.000,6,0.148,0.000,2764,1788,2702
$GC,2160,1.16,155.7,62.5,12.4,370,2167,0.15,2.65,0.00,0.000,4,0.143,0.067,2740,387,2702
$GC,2198,1.07,155.7,58.2,12.0,376,2204,0.00,2.53,0.00,0.000,6,0.000,0.034,2739,1814,2701
$GC,2341,1.07,155.7,42.8,10.2,401,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1819,2701
$GC,2483,1.07,155.7,28.3,10.3,426,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1819,2701
$GC,2558,1.07,157.8,20.9,9.9,439,2565,0.00,2.70,0.00,0.000,4,0.000,0.067,2740,390,2701
$GC,2589,1.02,157.8,17.7,11.0,444,2597,0.17,2.50,0.00,0.000,6,0.145,0.034,2712,1811,2701
$GC,2667,1.15,201.8,11.2,8.1,457,2710,0.15,2.80,36.25,0.638,4,0.092,0.067,2740,396,2514
$GC,2730,1.18,215.0,5.9,9.4,467,2748,0.00,2.50,11.18,0.572,6,0.000,0.033,2740,1813,2459
$STATE,2753,end climb,SURFACE_DEPTH_REACHED
$STATE,2753,begin surface coast
$FINISH,2.7,1.018543
$STATE,2816,end surface coast,CONTROL_FINISHED_OK
$STATE,2816,begin surface
$SM_CCo,2840,320.30,0.611,0,0,435,712.11
$SM_GC,1.40,0.00,0.00,320.30,0.000,0.000,0.611,409,1882,435,-9.57,0.90,712.11
$IRIDIUM_FIX,4751.72,-12223.57,140898,111100
$TT8_MAMPS,0.028379
$HUMID,1523
$INTERNAL_PRESSURE,9.15848
$TCM_TEMP,17.00
$XPDR_PINGS,28
$24V_AH,23.6,2.306
$10V_AH,10.1,1.337
$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,27.000,51.775,285.350,320.300,0.000,124.166,132.205,1368.458,7.000,0.000,0.000,40.528,701.272,1115.717,720.338,829.643,1866.019,33.330,1197.736,0.000,798.992,0.000,0.536,0.000
$DEVICE_MAMPS,200.954,75.166,718.679,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.184,213.057,324.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22271,482
$CAP_FILE_SIZE,79908,0
$CFSIZE,260165632,222810112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,121434,4807.149,-12222.430,33,2.9,53,18.3