version: 66.04
glider: 114
mission: 4
dive: 2
start: 5 19 109 19 46 53
data:
$ID,114
$MISSION,4
$DIVE,2
$D_SURF,3
$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,100
$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,600
$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,-603487.88
$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,1980
$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,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
$GPS1,194201,4808.030,-12223.550,9,1.9,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.9
$GPS2,194602,4808.080,-12223.598,15,1.9,15,18.3
$SPEED_LIMITS,0.084,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.186
$KALMAN_X,-145.0,-145.0,-145.0,-103.3,-270.9
$KALMAN_Y,267.8,267.8,267.8,7.7,500.5
$MHEAD_RNG_PITCHd_Wd,131.2,2133,-22.1,-10.000
$D_GRID,105
$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,-1.64,-97.3,0.0,0.0,0,128,0.00,0.00,-108.95,0.000,2,0.000,0.000,408,1967,3502
$GC,132,-1.64,-97.3,3.4,-4.4,19,152,10.75,0.00,-6.93,0.000,6,0.199,0.000,2128,1970,3735
$GC,222,-1.47,-97.3,5.2,-1.5,34,229,0.22,2.55,0.00,0.000,4,0.155,0.044,2167,3403,3736
$GC,315,-1.37,-97.3,8.4,-5.1,50,322,0.15,2.55,0.00,0.000,6,0.156,0.046,2190,1974,3736
$GC,392,-1.37,-97.3,11.8,-4.2,63,398,0.00,2.62,0.00,0.000,4,0.000,0.071,2190,563,3736
$GC,412,-1.32,-97.3,12.6,-4.2,66,419,0.00,2.50,0.00,0.000,6,0.000,0.035,2190,2004,3736
$GC,488,-1.32,-97.3,15.8,-3.7,79,495,0.00,2.70,0.00,0.000,4,0.000,0.068,2190,564,3736
$GC,598,-1.27,-97.3,21.8,-5.8,98,605,0.12,2.50,0.00,0.000,6,0.160,0.035,2209,2004,3736
$GC,675,-1.33,-97.3,26.0,-6.1,111,682,0.00,2.67,0.00,0.000,4,0.000,0.067,2209,570,3736
$GC,690,-1.37,-97.3,26.9,-6.0,113,696,0.00,2.47,0.00,0.000,6,0.000,0.035,2209,1992,3736
$GC,766,-1.43,-97.3,31.4,-6.2,126,773,0.17,2.67,0.00,0.000,4,0.086,0.067,2170,564,3736
$GC,781,-1.43,-97.3,32.4,-6.5,128,787,0.00,2.50,0.00,0.000,6,0.000,0.035,2170,2002,3736
$GC,857,-1.43,-97.3,38.0,-6.6,141,863,0.00,2.67,0.00,0.000,4,0.000,0.067,2170,568,3736
$GC,871,-1.43,-97.3,39.0,-7.1,143,877,0.00,2.50,0.00,0.000,6,0.000,0.036,2170,2003,3736
$GC,946,-1.43,-97.3,44.8,-7.5,156,953,0.00,2.67,0.00,0.000,4,0.000,0.068,2170,571,3736
$GC,971,-1.38,-97.3,46.8,-8.0,160,978,0.00,2.47,0.00,0.000,6,0.000,0.035,2170,1989,3736
$GC,1115,-1.38,-97.3,56.6,-6.2,185,1121,0.00,2.67,0.00,0.000,4,0.000,0.068,2170,565,3736
$GC,1152,-1.32,-97.3,59.4,-8.1,191,1158,0.17,2.50,0.00,0.000,6,0.144,0.036,2199,1988,3736
$GC,1298,-1.38,-97.3,67.4,-4.7,216,1304,0.00,2.67,0.00,0.000,4,0.000,0.070,2199,565,3736
$GC,1419,-1.38,-97.3,75.1,-6.3,237,1425,0.00,2.50,0.00,0.000,6,0.000,0.036,2199,1999,3735
$GC,1566,-1.44,-97.3,83.3,-5.6,262,1573,0.12,2.67,0.00,0.000,4,0.094,0.068,2175,569,3736
$GC,1620,-1.41,-97.3,87.4,-7.6,271,1626,0.00,2.50,0.00,0.000,6,0.000,0.036,2175,1993,3735
$GC,1763,-1.41,-97.3,97.1,-6.3,296,1769,0.00,2.67,0.00,0.000,4,0.000,0.069,2175,562,3735
$GC,1844,-1.37,-97.3,103.1,-7.7,310,1851,0.00,2.50,0.00,0.000,6,0.000,0.036,2175,1996,3736
$STATE,1872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1872,begin apogee
$GC,1880,-0.33,0.0,105.2,6.7,315,1959,1.30,0.00,75.03,0.769,6,0.144,0.000,2414,2086,3338
$STATE,1960,end apogee,CONTROL_FINISHED_OK
$STATE,1960,begin climb
$GC,1963,1.64,97.3,106.7,0.0,329,2043,2.17,0.00,74.00,0.744,6,0.107,0.000,2847,2086,2941
$GC,2180,1.53,97.3,82.1,14.0,367,2187,0.15,2.75,0.00,0.000,4,0.166,0.068,2824,636,2940
$GC,2273,1.39,97.3,68.8,13.5,383,2280,0.20,2.55,0.00,0.000,6,0.168,0.038,2793,2064,2940
$GC,2416,1.39,97.3,52.3,10.5,408,2423,0.00,2.70,0.00,0.000,4,0.000,0.068,2793,642,2940
$GC,2526,1.33,97.3,38.8,12.1,427,2533,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2057,2940
$GC,2602,1.33,97.3,30.5,10.5,440,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2062,2939
$GC,2677,1.33,98.7,22.8,9.9,453,2683,0.00,2.67,0.00,0.000,4,0.000,0.068,2793,642,2939
$GC,2753,1.30,98.7,14.8,10.0,466,2759,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2056,2939
$GC,2829,1.42,134.3,8.3,7.5,479,2865,0.00,2.72,28.77,0.675,4,0.000,0.068,2793,636,2790
$GC,2901,1.53,155.0,3.0,8.6,491,2910,0.15,2.53,3.10,0.339,2,0.099,0.038,2821,2060,2777
$STATE,2911,end climb,SURFACE_DEPTH_REACHED
$STATE,2911,begin surface coast
$FINISH,1.8,1.017176
$STATE,2955,end surface coast,CONTROL_FINISHED_OK
$STATE,2955,begin surface
$SM_CCo,2980,248.25,0.643,0,0,892,600.00
$SM_GC,1.22,0.00,0.00,248.25,0.000,0.000,0.643,411,1953,892,-9.56,-0.76,600.00
$IRIDIUM_FIX,4751.72,-12226.29,130898,191908
$TT8_MAMPS,0.028379
$HUMID,1565
$INTERNAL_PRESSURE,9.20731
$TCM_TEMP,17.00
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,80.1,38.9
$24V_AH,23.6,0.456
$10V_AH,10.1,0.608
$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,27.850,77.950,180.900,248.250,0.000,0.000,0.000,0.000,2.500,0.000,0.000,16.982,777.402,904.706,570.540,911.791,133.508,30.182,1053.413,0.000,905.313,0.000,5.523,0.000
$DEVICE_MAMPS,198.653,71.331,769.301,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.416,267.472,619.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25416,500
$CAP_FILE_SIZE,81075,0
$CFSIZE,260165632,223318016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,204126,4808.006,-12223.446,10,1.9,11,18.3