version: 66.04
glider: 114
mission: 4
dive: 9
start: 5 20 109 3 57 21
data:
$ID,114
$MISSION,4
$DIVE,9
$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,0
$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,-603757.38
$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,1850
$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,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
$GPS1,033910,4807.716,-12222.762,391,3.1,411,18.3
$_CALLS,3
$_XMS_NAKs,27
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.9
$GPS2,035626,4807.626,-12222.696,13,1.5,13,18.3
$SPEED_LIMITS,0.084,0.266
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,-0.265
$KALMAN_X,-56.6,-144.6,220.7,540.9,183.5
$KALMAN_Y,2740.2,920.4,-98.8,-3565.1,-109.6
$MHEAD_RNG_PITCHd_Wd,156.3,3133,-17.4,-10.000
$D_GRID,150
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.43,-155.7,0.0,0.0,0,112,0.00,0.00,-91.93,0.000,2,0.000,0.000,411,1849,3276
$GC,116,-1.43,-155.7,3.1,-3.0,16,154,11.27,2.58,-21.35,0.000,4,0.205,0.050,2176,3264,3962
$GC,410,-1.29,-155.7,23.6,-9.1,67,417,0.20,2.50,0.00,0.000,6,0.151,0.037,2208,1844,3963
$GC,487,-1.22,-155.7,29.9,-8.0,80,493,0.00,2.53,0.00,0.000,4,0.000,0.040,2208,3272,3964
$GC,507,-1.14,-155.7,31.6,-8.2,83,514,0.20,2.53,0.00,0.000,6,0.143,0.037,2242,1841,3963
$GC,584,-1.14,-155.7,37.4,-7.2,96,590,0.00,2.53,0.00,0.000,4,0.000,0.041,2242,3266,3963
$GC,598,-1.14,-155.7,38.4,-6.7,98,604,0.00,2.50,0.00,0.000,6,0.000,0.036,2242,1844,3963
$GC,674,-1.14,-155.7,43.9,-7.5,111,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1844,3963
$GC,815,-1.14,-155.7,54.1,-7.4,136,821,0.00,2.60,0.00,0.000,4,0.000,0.067,2242,444,3963
$GC,851,-1.14,-155.7,56.9,-7.9,142,858,0.00,2.47,0.00,0.000,6,0.000,0.031,2242,1871,3964
$GC,995,-1.18,-155.7,67.2,-6.9,167,1001,0.00,2.67,0.00,0.000,4,0.000,0.064,2242,445,3963
$GC,1009,-1.18,-155.7,68.2,-7.0,169,1015,0.00,2.47,0.00,0.000,6,0.000,0.032,2241,1860,3963
$GC,1152,-1.21,-155.7,78.2,-6.1,194,1158,0.00,2.65,0.00,0.000,4,0.000,0.064,2242,444,3963
$GC,1165,-1.21,-155.7,79.3,-6.7,196,1172,0.00,2.47,0.00,0.000,6,0.000,0.032,2242,1867,3963
$GC,1313,-1.25,-155.7,89.3,-7.0,221,1319,0.12,0.00,0.00,0.000,6,0.093,0.000,2217,1872,3964
$GC,1460,-1.25,-155.7,100.7,-8.3,246,1466,0.00,2.67,0.00,0.000,4,0.000,0.066,2217,439,3963
$GC,1496,-1.21,-155.7,104.0,-9.3,252,1503,0.00,2.47,0.00,0.000,6,0.000,0.033,2217,1859,3963
$STATE,1608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1608,begin apogee
$GC,1615,-0.33,0.0,113.2,7.6,272,1739,1.05,0.00,118.25,0.723,6,0.132,0.000,2414,1864,3338
$STATE,1739,end apogee,CONTROL_FINISHED_OK
$STATE,1739,begin climb
$GC,1743,1.43,155.7,115.6,0.0,294,1867,1.98,0.00,118.80,0.695,6,0.105,0.000,2798,1863,2702
$GC,2003,1.26,155.7,86.4,14.0,340,2010,0.17,2.70,0.00,0.000,4,0.154,0.066,2768,439,2702
$GC,2046,1.11,155.7,80.5,14.3,347,2053,0.22,2.53,0.00,0.000,6,0.153,0.035,2732,1860,2702
$GC,2189,1.11,158.2,65.3,9.9,372,2196,0.00,0.00,3.53,0.387,6,0.000,0.000,2732,1861,2692
$GC,2333,1.11,159.4,51.0,9.9,397,2339,0.00,2.70,0.00,0.000,4,0.000,0.067,2731,439,2692
$GC,2380,1.06,159.4,45.8,11.1,405,2386,0.00,2.53,0.00,0.000,6,0.000,0.035,2731,1865,2692
$GC,2523,1.08,169.3,32.2,9.6,430,2542,0.00,2.75,9.95,0.589,4,0.000,0.067,2732,450,2646
$GC,2561,1.04,169.3,28.5,10.8,436,2567,0.00,2.50,0.00,0.000,6,0.000,0.035,2731,1863,2647
$GC,2637,1.06,179.6,21.1,9.5,449,2650,0.00,0.00,9.73,0.583,6,0.000,0.000,2731,1870,2605
$GC,2719,1.11,209.3,13.7,8.7,463,2750,0.00,2.75,24.25,0.630,4,0.000,0.067,2731,436,2483
$GC,2780,1.13,217.9,8.2,9.6,473,2793,0.00,2.53,8.05,0.542,6,0.000,0.034,2732,1865,2448
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2842,begin surface coast
$FINISH,2.8,1.017901
$STATE,2951,end surface coast,CONTROL_FINISHED_OK
$STATE,2951,begin surface
$SM_CCo,2974,271.73,0.617,0,0,687,650.04
$SM_GC,1.46,0.00,0.00,271.73,0.000,0.000,0.617,407,1872,687,-9.58,0.62,650.04
$IRIDIUM_FIX,4748.51,-12221.84,140898,030307
$TT8_MAMPS,0.027612
$HUMID,1544
$INTERNAL_PRESSURE,9.18778
$TCM_TEMP,17.00
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,90.5,32.3
$24V_AH,23.5,1.408
$10V_AH,10.1,1.012
$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,26.825,56.625,292.550,271.725,0.000,79.155,97.595,556.379,5.500,0.000,0.000,14.518,744.854,1011.350,647.314,907.578,976.829,33.327,1139.234,0.000,901.687,0.000,9.899,0.000
$DEVICE_MAMPS,204.789,67.496,723.281,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,334.940,258.179,595.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25328,503
$CAP_FILE_SIZE,68134,0
$CFSIZE,260165632,223080448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,045231,4807.350,-12222.601,13,1.4,30,18.3