version: 66.04
glider: 114
mission: 4
dive: 1
start: 5 19 109 18 39 14
data:
$ID,114
$MISSION,4
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$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,200
$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,710
$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,-603352.06
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2480
$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,2050
$C_ROLL_CLIMB,2050
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,183508,4807.593,-12223.126,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.0
$GPS2,183814,4807.627,-12223.150,9,1.5,9,18.3
$SPEED_LIMITS,0.084,0.293
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,-0.289
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,152.6,1177,-15.4,-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,15,-1.37,-194.6,0.0,0.0,0,121,0.00,0.00,-103.18,0.000,2,0.000,0.000,408,2028,3275
$GC,125,-1.37,-194.6,3.8,-9.7,18,163,11.05,2.67,-20.55,0.000,4,0.196,0.079,2181,632,3962
$GC,297,-1.12,-194.6,12.7,-6.9,47,304,0.30,2.50,0.00,0.000,6,0.140,0.038,2233,2065,3963
$GC,374,-1.03,-194.6,17.6,-5.5,60,381,0.12,2.67,0.00,0.000,4,0.135,0.067,2254,632,3963
$GC,417,-0.95,-194.6,20.4,-6.7,67,424,0.00,2.50,0.00,0.000,6,0.000,0.038,2254,2065,3963
$GC,494,-0.92,-194.6,25.3,-6.4,80,501,0.15,2.67,0.00,0.000,4,0.130,0.067,2280,632,3963
$GC,525,-0.92,-194.6,27.4,-6.6,85,532,0.00,2.50,0.00,0.000,6,0.000,0.039,2280,2057,3963
$GC,602,-0.95,-194.6,31.9,-6.2,98,608,0.00,2.65,0.00,0.000,4,0.000,0.068,2280,638,3963
$GC,627,-0.95,-194.6,33.6,-6.3,102,633,0.00,2.50,0.00,0.000,6,0.000,0.039,2280,2060,3963
$GC,703,-0.99,-194.6,38.2,-6.1,115,710,0.00,2.65,0.00,0.000,4,0.000,0.070,2280,642,3963
$GC,740,-0.99,-194.6,40.7,-6.9,121,746,0.00,2.50,0.00,0.000,6,0.000,0.039,2280,2063,3962
$STATE,812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,812,begin apogee
$GC,819,-0.33,0.0,45.2,5.7,134,942,0.65,0.00,115.40,0.690,6,0.124,0.000,2404,2067,3338
$STATE,942,end apogee,CONTROL_FINISHED_OK
$STATE,942,begin climb
$GC,946,1.37,194.6,48.0,0.0,156,1100,1.88,2.83,144.95,0.653,4,0.103,0.074,2774,639,2543
$GC,1127,1.20,194.6,32.4,13.8,187,1134,0.20,2.55,0.00,0.000,6,0.147,0.041,2743,2062,2543
$GC,1204,1.15,194.6,23.5,10.3,200,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2063,2542
$GC,1279,1.14,208.6,15.7,9.5,213,1298,0.00,2.75,11.95,0.561,4,0.000,0.074,2742,639,2487
$GC,1362,1.14,208.6,6.9,10.6,227,1368,0.00,2.53,0.00,0.000,6,0.000,0.041,2743,2054,2486
$STATE,1417,end climb,SURFACE_DEPTH_REACHED
$STATE,1417,begin surface coast
$FINISH,2.2,1.016801
$STATE,1491,end surface coast,CONTROL_FINISHED_OK
$STATE,1492,begin surface
$SM_CCo,1515,300.77,0.612,0,0,443,710.14
$SM_GC,1.05,0.00,0.00,300.77,0.000,0.000,0.612,407,2056,443,-9.53,0.17,710.14
$IRIDIUM_FIX,4751.72,-12226.29,130898,181827
$TT8_MAMPS,0.027612
$HUMID,1509
$INTERNAL_PRESSURE,9.20731
$TCM_TEMP,17.60
$XPDR_PINGS,9
$24V_AH,23.7,0.330
$10V_AH,10.1,0.543
$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,25.800,36.475,272.300,300.775,0.000,0.000,0.000,0.000,2.250,0.000,0.000,10.776,355.800,334.328,639.337,476.101,84.175,29.237,948.437,0.000,480.785,0.000,1.000,0.000
$DEVICE_MAMPS,196.352,79.001,690.300,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,162.286,164.166,381.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12835,250
$CAP_FILE_SIZE,56898,0
$CFSIZE,260165632,223391744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,191014,4807.623,-12223.149,9,1.8,10,18.3