version: 66.04
glider: 113
mission: 4
dive: 6
start: 9 6 108 1 52 53
data:
$ID,113
$MISSION,4
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51576
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22187.369
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2445
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2708
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00135
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.705193
$PRESSURE_SLOPE,0.0001160825
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004371644
$SEABIRD_T_H,0.00064727472
$SEABIRD_T_I,2.6231954e-05
$SEABIRD_T_J,2.8174416e-06
$SEABIRD_C_G,-9.9426794
$SEABIRD_C_H,1.1390046
$SEABIRD_C_I,-0.00057758979
$SEABIRD_C_J,0.00012778315
$GPS1,014732,6641.198,-6001.458,36,1.5,36,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-58.5
$GPS2,015233,6641.159,-6001.369,19,1.2,19,-38.0
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,310.9,30536,-18.0,-10.000
$D_GRID,603
$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,-1.32,-146.0,0.0,0.0,0,148,0.00,0.00,-130.75,0.000,2,0.000,0.000,166,2195,2763
$GC,150,-1.32,-146.0,3.3,-6.1,23,181,8.62,2.42,-15.65,0.000,4,0.275,0.085,2152,3615,3306
$GC,361,-1.24,-146.0,50.1,-17.8,60,368,0.10,2.30,0.00,0.000,6,0.199,0.047,2173,2183,3312
$GC,705,-1.24,-146.0,100.5,-12.4,121,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2183,3313
$GC,1024,-1.24,-146.0,140.5,-13.0,151,1028,0.00,2.38,0.00,0.000,4,0.000,0.073,2173,3610,3313
$GC,1068,-1.34,-146.0,146.3,-13.5,155,1072,0.00,2.25,0.00,0.000,6,0.000,0.048,2173,2187,3313
$GC,1398,-1.39,-146.0,187.6,-12.6,186,1403,0.12,2.38,0.00,0.000,4,0.110,0.075,2135,3612,3313
$GC,1482,-1.39,-146.0,200.0,-15.3,193,1486,0.00,2.22,0.00,0.000,6,0.000,0.049,2135,2199,3313
$GC,1812,-1.34,-146.0,250.5,-14.7,224,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2199,3312
$GC,2129,-1.34,-146.0,295.8,-13.4,254,2133,0.00,2.35,0.00,0.000,4,0.000,0.077,2134,3618,3311
$GC,2196,-1.34,-146.0,304.7,-13.0,260,2200,0.00,2.22,0.00,0.000,6,0.000,0.049,2134,2199,3311
$GC,2526,-1.34,-146.0,348.2,-13.4,291,2530,0.00,2.22,0.00,0.000,4,0.000,0.061,2134,786,3311
$GC,2594,-1.34,-146.0,357.5,-13.7,297,2598,0.00,2.25,0.00,0.000,6,0.000,0.054,2135,2209,3311
$GC,2923,-1.34,-146.0,398.1,-12.0,328,2927,0.00,2.28,0.00,0.000,4,0.000,0.072,2134,3613,3310
$GC,3028,-1.39,-146.0,410.9,-12.0,337,3035,0.00,2.25,0.00,0.000,6,0.000,0.048,2134,2192,3310
$GC,3353,-1.39,-146.0,449.6,-12.1,368,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2192,3310
$GC,3671,-1.39,-146.0,487.3,-12.2,398,3675,0.00,2.33,0.00,0.000,4,0.000,0.073,2134,3615,3310
$GC,3754,-1.47,-146.0,497.4,-11.8,405,3761,0.00,2.22,0.00,0.000,6,0.000,0.048,2134,2181,3310
$GC,4079,-1.47,-146.0,536.7,-12.1,436,4082,0.00,2.33,0.00,0.000,4,0.000,0.072,2134,3609,3310
$GC,4146,-1.54,-146.0,544.9,-11.5,442,4150,0.10,2.20,0.00,0.000,6,0.120,0.048,2102,2192,3310
$GC,4476,-1.48,-146.0,589.0,-13.3,473,4480,0.00,2.33,0.00,0.000,4,0.000,0.075,2100,3610,3310
$STATE,4579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4579,begin apogee
$GC,4585,-0.31,0.0,603.4,13.2,482,4715,0.90,0.00,126.97,1.346,6,0.179,0.000,2370,2290,2708
$STATE,4716,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4718,1.32,146.0,608.0,0.0,486,4857,1.17,2.75,131.20,1.258,4,0.114,0.071,2728,3708,2112
$GC,4884,0.94,146.0,598.4,12.7,491,4889,0.28,2.50,0.00,0.000,6,0.173,0.047,2649,2311,2111
$GC,5208,0.99,186.3,571.3,8.1,521,5252,0.00,2.58,35.20,1.249,4,0.000,0.070,2648,3698,1948
$GC,5432,0.90,186.3,548.7,11.0,541,5436,0.00,2.35,0.00,0.000,6,0.000,0.048,2648,2296,1947
$GC,5761,0.94,212.6,518.6,8.8,572,5794,0.00,2.55,23.20,1.236,4,0.000,0.069,2649,3701,1841
$GC,5951,0.87,212.6,498.8,10.9,589,5955,0.00,2.33,0.00,0.000,6,0.000,0.048,2648,2293,1840
$GC,6282,0.95,231.9,468.9,9.1,620,6305,0.00,2.53,17.45,1.210,4,0.000,0.071,2648,3702,1762
$GC,6477,0.95,231.9,448.2,11.0,637,6485,0.00,2.33,0.00,0.000,6,0.000,0.048,2648,2299,1761
$GC,6804,1.05,248.4,417.4,9.2,668,6827,0.10,2.45,15.10,1.180,4,0.110,0.071,2683,3714,1694
$GC,7011,0.95,248.4,391.5,12.9,686,7019,0.12,2.33,0.00,0.000,6,0.165,0.049,2651,2299,1693
$GC,7336,1.06,258.6,360.3,9.5,717,7352,0.10,2.40,9.88,1.105,4,0.110,0.071,2686,3706,1653
$GC,7537,0.98,258.6,334.5,13.3,735,7542,0.12,2.28,0.00,0.000,6,0.176,0.049,2658,2294,1652
$GC,7866,1.09,264.5,301.7,9.7,766,7879,0.10,2.42,6.32,0.980,4,0.110,0.070,2691,3704,1629
$GC,8029,1.01,264.5,281.7,12.2,780,8037,0.08,2.28,0.00,0.000,6,0.170,0.048,2668,2300,1628
$GC,8355,1.13,280.5,252.1,9.2,811,8377,0.08,2.42,14.45,1.118,4,0.122,0.070,2695,3706,1563
$GC,8539,1.04,280.5,230.2,11.4,827,8547,0.08,2.30,0.00,0.000,6,0.175,0.049,2673,2296,1562
$GC,8866,1.19,309.5,201.0,8.6,858,8899,0.12,2.47,24.38,1.127,4,0.105,0.070,2716,3708,1445
$GC,9068,1.10,309.5,176.5,13.6,876,9074,0.15,2.30,0.00,0.000,6,0.172,0.049,2679,2290,1444
$GC,9398,1.30,352.9,148.4,8.0,907,9443,0.17,2.50,35.88,1.108,4,0.094,0.071,2741,3706,1269
$GC,9516,1.20,352.9,134.5,12.6,917,9523,0.17,2.33,0.00,0.000,6,0.173,0.050,2699,2295,1266
$GC,9840,1.34,356.6,103.3,9.8,948,9852,0.15,2.40,4.18,0.763,4,0.100,0.071,2751,3709,1253
$GC,9886,1.22,356.6,97.4,13.4,953,9893,0.17,2.30,0.00,0.000,6,0.174,0.051,2712,2288,1253
$GC,10230,1.38,387.5,64.1,8.5,1014,10265,0.12,2.50,26.58,1.084,4,0.107,0.072,2755,3701,1127
$GC,10310,1.30,387.5,54.8,12.7,1028,10317,0.12,2.33,0.00,0.000,6,0.179,0.051,2728,2292,1124
$GC,10656,1.61,446.2,21.8,7.2,1089,10715,0.20,2.58,48.72,1.055,4,0.092,0.071,2800,3704,888
$GC,10801,1.55,446.2,4.1,15.2,1114,10807,0.00,2.35,0.00,0.000,6,0.000,0.051,2801,2290,881
$STATE,10817,end climb,SURFACE_DEPTH_REACHED
$STATE,10817,begin surface coast
$FINISH,0.3,1.019645
$STATE,10831,end surface coast,CONTROL_FINISHED_OK
$STATE,10831,begin surface
$SM_CCo,10846,0.77,0.131,0,0,873,450.13
$SM_GC,1.88,0.00,0.00,0.77,0.000,0.000,0.131,167,2187,873,-10.48,-0.37,450.13
$RAFOS_CLK,591
$RAFOS,4,1220676242,4.750000,4.733889,62,61,57,56,53,52,206,139,223,197,125,173
$RAFOS,3,1220675641,4.583333,4.566945,62,61,60,59,57,56,199,215,142,184,133,173
$RAFOS,2,1220675045,4.416667,4.401389,60,56,55,54,53,52,187,135,217,118,202,160
$RAFOS,1,1220674444,4.250000,4.234445,59,58,58,57,57,53,174,209,240,225,127,157
$RAFOS,0,1220673843,4.083333,4.067500,78,61,57,57,55,51,201,212,135,158,192,167
$RAFOS_FIX,6552.276855,-5906.417480,060908,040408,4,66,10.81
$IRIDIUM_FIX,6614.97,-5957.12,301197,222218
$TT8_MAMPS,0.028379
$HUMID,1997
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,8.483
$10V_AH,10.6,2.254
$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,21.425,103.950,519.500,0.775,0.000,30.989,33.439,134.830,0.000,0.000,0.000,20.776,1904.835,6300.467,647.866,2034.388,312.002,0.000,1706.987,0.000,1989.468,1800.000,0.529,0.000
$DEVICE_MAMPS,275.353,85.137,1346.085,131.157,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,861.579,763.201,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40992,1119
$CAP_FILE_SIZE,117046,0
$CFSIZE,260165632,251498496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,060908,045558,6640.655,-6004.336,46,1.9,46,-37.9