version: 66.04
glider: 113
mission: 4
dive: 7
start: 9 6 108 5 1 58
data:
$ID,113
$MISSION,4
$DIVE,7
$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,-22208.443
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,045558,6640.655,-6004.336,46,1.9,46,-37.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.7
$GPS2,050138,6640.551,-6004.368,13,1.8,18,-37.9
$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,313.3,28427,-18.0,-10.000
$D_GRID,582
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.32,-146.0,0.0,0.0,0,142,0.00,0.00,-124.43,0.000,2,0.000,0.000,167,2186,2840
$GC,144,-1.32,-146.0,3.7,-8.0,22,175,8.70,2.45,-12.68,0.000,4,0.278,0.085,2152,3601,3308
$GC,377,-1.25,-146.0,55.9,-17.5,63,384,0.00,2.25,0.00,0.000,6,0.000,0.048,2152,2201,3313
$GC,717,-1.17,-146.0,109.9,-14.9,118,721,0.15,2.28,0.00,0.000,4,0.196,0.061,2187,786,3314
$GC,794,-1.17,-146.0,120.9,-13.2,125,798,0.00,2.28,0.00,0.000,6,0.000,0.053,2188,2205,3314
$GC,1125,-1.24,-146.0,163.2,-12.5,156,1129,0.00,2.30,0.00,0.000,4,0.000,0.073,2188,3605,3314
$GC,1219,-1.39,-146.0,175.2,-11.9,164,1227,0.17,2.22,0.00,0.000,6,0.100,0.048,2131,2196,3314
$GC,1543,-1.31,-146.0,223.8,-14.3,195,1545,0.12,0.00,0.00,0.000,6,0.199,0.000,2158,2196,3314
$GC,1862,-1.31,-146.0,265.1,-12.9,225,1866,0.00,2.33,0.00,0.000,4,0.000,0.075,2159,3602,3314
$GC,1968,-1.40,-146.0,278.6,-12.5,234,1975,0.00,2.22,0.00,0.000,6,0.000,0.050,2159,2206,3313
$GC,2293,-1.45,-146.0,318.9,-12.1,265,2297,0.12,2.30,0.00,0.000,4,0.114,0.073,2121,3603,3312
$GC,2359,-1.45,-146.0,328.2,-14.1,271,2363,0.00,2.20,0.00,0.000,6,0.000,0.051,2121,2194,3312
$GC,2690,-1.39,-146.0,373.6,-13.7,302,2691,0.10,0.00,0.00,0.000,6,0.207,0.000,2143,2193,3312
$GC,3008,-1.39,-146.0,413.9,-12.6,332,3012,0.00,2.33,0.00,0.000,4,0.000,0.074,2140,3611,3311
$GC,3131,-1.45,-146.0,429.3,-12.5,343,3135,0.00,2.22,0.00,0.000,6,0.000,0.049,2141,2186,3311
$GC,3461,-1.45,-146.0,469.5,-12.7,374,3464,0.00,2.33,0.00,0.000,4,0.000,0.074,2140,3605,3311
$GC,3528,-1.53,-146.0,477.8,-12.0,380,3532,0.12,2.20,0.00,0.000,6,0.123,0.050,2101,2195,3311
$GC,3856,-1.44,-146.0,524.1,-14.1,411,3861,0.12,2.33,0.00,0.000,4,0.202,0.076,2126,3612,3311
$GC,3923,-1.44,-146.0,532.7,-13.1,417,3927,0.00,2.20,0.00,0.000,6,0.000,0.050,2126,2200,3311
$GC,4253,-1.44,-146.0,574.9,-12.6,448,4256,0.00,2.30,0.00,0.000,4,0.000,0.075,2126,3606,3311
$STATE,4307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4307,begin apogee
$GC,4313,-0.31,0.0,582.0,12.9,453,4443,0.80,0.00,126.95,1.338,6,0.173,0.000,2369,2288,2708
$STATE,4444,end apogee,CONTROL_FINISHED_OK
$STATE,4444,begin climb
$GC,4446,1.32,146.0,586.4,0.0,466,4587,1.17,2.62,131.10,1.249,4,0.114,0.061,2731,892,2112
$GC,4644,1.09,146.0,574.5,11.3,484,4649,0.20,2.47,0.00,0.000,6,0.171,0.053,2683,2296,2111
$GC,4968,1.01,175.9,546.2,8.6,514,5001,0.00,2.53,26.55,1.231,4,0.000,0.069,2683,3709,1990
$GC,5108,0.83,175.9,531.3,11.0,526,5115,0.22,2.38,0.00,0.000,6,0.166,0.048,2625,2299,1988
$GC,5432,0.99,229.2,507.1,7.5,557,5487,0.12,2.62,45.72,1.246,4,0.102,0.070,2666,3712,1773
$GC,5590,0.90,229.2,490.6,11.7,571,5595,0.12,2.40,0.00,0.000,6,0.170,0.048,2637,2293,1773
$GC,5914,1.05,254.5,461.5,8.8,601,5947,0.12,2.53,22.60,1.210,4,0.102,0.070,2679,3709,1669
$GC,6060,0.96,254.5,444.2,12.0,614,6064,0.12,2.35,0.00,0.000,6,0.169,0.048,2649,2297,1668
$GC,6384,1.09,275.7,413.8,9.0,644,6408,0.12,2.53,18.60,1.188,4,0.100,0.069,2691,3708,1584
$GC,6554,1.00,275.7,392.9,12.8,659,6559,0.12,2.33,0.00,0.000,6,0.174,0.048,2662,2294,1583
$GC,6883,1.11,285.8,361.1,9.5,690,6899,0.10,2.45,9.75,1.097,4,0.108,0.070,2695,3719,1543
$GC,7018,1.04,285.8,343.9,14.2,702,7022,0.12,2.33,0.00,0.000,6,0.172,0.048,2665,2288,1542
$GC,7343,1.16,287.6,310.6,9.9,732,7348,0.12,2.40,0.00,0.000,4,0.102,0.071,2708,3719,1542
$GC,7460,1.07,287.6,295.3,13.3,742,7465,0.12,2.28,0.00,0.000,6,0.174,0.049,2677,2299,1542
$GC,7789,1.20,316.0,263.8,8.7,773,7823,0.12,2.47,25.85,1.160,4,0.102,0.072,2719,3718,1418
$GC,7958,1.12,316.0,243.9,13.2,788,7963,0.12,2.33,0.00,0.000,6,0.174,0.049,2689,2289,1417
$GC,8282,1.24,319.5,212.3,9.8,818,8294,0.10,2.42,4.30,0.804,4,0.109,0.073,2722,3719,1405
$GC,8418,1.16,319.5,194.0,13.9,830,8423,0.12,2.28,0.00,0.000,6,0.174,0.050,2692,2301,1405
$GC,8748,1.33,348.2,161.7,8.7,861,8782,0.15,2.47,24.58,1.122,4,0.097,0.071,2745,3708,1287
$GC,8861,1.23,348.2,147.4,14.6,871,8866,0.15,2.30,0.00,0.000,6,0.173,0.050,2708,2301,1285
$GC,9185,1.34,348.2,113.8,10.2,901,9190,0.12,2.38,0.00,0.000,4,0.104,0.071,2751,3717,1285
$GC,9259,1.23,348.2,104.4,13.3,907,9264,0.17,2.28,0.00,0.000,6,0.171,0.050,2711,2299,1284
$GC,9601,1.37,348.2,72.9,10.0,963,9608,0.12,2.35,0.00,0.000,4,0.108,0.072,2754,3712,1284
$GC,9670,1.27,348.2,63.5,14.1,975,9677,0.15,2.28,0.00,0.000,6,0.176,0.051,2720,2286,1283
$GC,10014,1.40,377.7,28.6,8.6,1036,10045,0.12,2.53,24.52,1.085,4,0.104,0.074,2762,3715,1167
$GC,10050,1.40,377.7,24.9,10.8,1042,10057,0.00,2.33,0.00,0.000,6,0.000,0.050,2763,2299,1166
$STATE,10313,end climb,SURFACE_DEPTH_REACHED
$STATE,10313,begin surface coast
$FINISH,0.3,1.024758
$STATE,10331,end surface coast,CONTROL_FINISHED_OK
$STATE,10332,begin surface
$SM_CCo,10346,57.95,1.039,0,0,873,450.13
$SM_GC,1.17,0.00,0.00,57.95,0.000,0.000,1.039,168,2186,873,-10.47,-0.40,450.13
$RAFOS_CLK,570
$RAFOS_FIX,6552.276855,-5906.417480,060908,040408,4,66,10.81
$IRIDIUM_FIX,6614.97,-5957.12,011297,010150
$TT8_MAMPS,0.027612
$HUMID,1996
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,8.674
$10V_AH,10.6,2.319
$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,22.200,103.550,460.525,57.950,0.000,25.639,35.482,175.022,0.000,0.000,0.000,20.443,1799.306,6035.634,623.418,1934.131,354.461,0.000,1639.997,0.000,1900.196,0.000,0.528,0.000
$DEVICE_MAMPS,278.421,85.137,1338.415,1039.285,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.786,743.924,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40957,1092
$CAP_FILE_SIZE,115281,0
$CFSIZE,260165632,251437056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,060908,075702,6639.718,-6006.838,58,1.4,58,-37.9