version: 66.04
glider: 113
mission: 4
dive: 12
start: 9 6 108 19 44 32
data:
$ID,113
$MISSION,4
$DIVE,12
$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,2
$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,375
$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,-22285.734
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2436
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.7
$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,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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,4
$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
$GPS1,193937,6638.736,-6014.995,29,1.3,29,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-62.1
$GPS2,194409,6638.701,-6015.081,9,1.7,9,-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,287.8,21345,-18.0,-10.000
$D_GRID,535
$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,-1.42,-146.0,0.0,0.0,0,160,0.00,0.00,-142.52,0.000,2,0.000,0.000,162,2232,2762
$GC,162,-1.42,-146.0,3.1,-5.3,23,195,8.45,2.53,-16.55,0.000,4,0.274,0.084,2123,3714,3306
$GC,448,-1.22,-146.0,71.2,-18.3,73,455,0.17,2.28,0.00,0.000,6,0.192,0.045,2167,2290,3311
$GC,790,-1.17,-146.0,120.1,-13.9,121,794,0.00,2.38,0.00,0.000,4,0.000,0.072,2167,3711,3313
$GC,945,-1.17,-146.0,141.7,-13.1,134,952,0.00,2.25,0.00,0.000,6,0.000,0.045,2167,2300,3313
$GC,1271,-1.17,-146.0,184.9,-13.3,165,1275,0.00,2.35,0.00,0.000,4,0.000,0.074,2167,3716,3313
$GC,1325,-1.24,-146.0,192.1,-12.9,169,1332,0.00,2.25,0.00,0.000,6,0.000,0.046,2167,2301,3313
$GC,1650,-1.24,-146.0,235.4,-13.2,200,1654,0.00,2.33,0.00,0.000,4,0.000,0.075,2167,3705,3313
$GC,1699,-1.32,-146.0,242.0,-13.1,204,1707,0.00,2.22,0.00,0.000,6,0.000,0.046,2167,2302,3313
$GC,2024,-1.32,-146.0,284.6,-12.7,235,2028,0.00,2.22,0.00,0.000,4,0.000,0.061,2167,895,3312
$GC,2061,-1.32,-146.0,290.1,-13.4,238,2068,0.00,2.28,0.00,0.000,6,0.000,0.056,2167,2299,3312
$GC,2386,-1.32,-146.0,331.3,-12.3,269,2390,0.00,2.33,0.00,0.000,4,0.000,0.077,2167,3718,3312
$GC,2470,-1.42,-146.0,341.4,-11.9,276,2478,0.15,2.22,0.00,0.000,6,0.115,0.047,2122,2292,3311
$GC,2794,-1.32,-146.0,385.1,-13.6,307,2798,0.12,2.33,0.00,0.000,4,0.200,0.074,2149,3706,3310
$GC,2849,-1.41,-146.0,392.0,-12.1,312,2853,0.00,2.20,0.00,0.000,6,0.000,0.047,2150,2294,3311
$GC,3178,-1.41,-146.0,431.0,-11.9,343,3182,0.00,2.30,0.00,0.000,4,0.000,0.074,2150,3706,3310
$GC,3251,-1.48,-146.0,439.9,-12.4,349,3256,0.15,2.20,0.00,0.000,6,0.113,0.047,2102,2292,3310
$GC,3577,-1.36,-146.0,485.7,-14.1,379,3582,0.15,2.20,0.00,0.000,4,0.201,0.060,2137,891,3310
$GC,3654,-1.36,-146.0,496.0,-12.3,385,3661,0.00,2.28,0.00,0.000,6,0.000,0.057,2137,2302,3310
$STATE,3977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3977,begin apogee
$GC,3981,-0.34,0.0,535.5,12.4,416,4112,0.75,0.00,125.72,1.316,6,0.177,0.000,2360,2511,2708
$STATE,4113,end apogee,CONTROL_FINISHED_OK
$STATE,4113,begin climb
$GC,4114,1.42,146.0,540.3,0.0,429,4257,1.27,2.70,131.12,1.224,4,0.118,0.073,2745,3906,2112
$GC,4309,1.00,146.0,525.1,13.5,447,4316,0.38,2.45,0.00,0.000,6,0.176,0.046,2652,2501,2111
$GC,4632,1.05,182.6,497.9,8.3,478,4670,0.00,2.62,31.92,1.213,4,0.000,0.074,2652,3907,1963
$GC,4794,0.95,182.6,482.4,11.2,492,4802,0.00,2.38,0.00,0.000,6,0.000,0.045,2652,2491,1961
$GC,5119,0.98,208.9,453.3,8.8,523,5147,0.00,2.55,23.27,1.199,4,0.000,0.073,2651,3912,1856
$GC,5185,0.91,208.9,446.7,10.7,528,5192,0.00,2.40,0.00,0.000,6,0.000,0.044,2651,2495,1855
$GC,5511,1.01,244.1,417.3,8.3,559,5546,0.00,2.60,30.45,1.200,4,0.000,0.073,2651,3909,1712
$GC,5602,1.01,245.9,408.6,9.9,567,5606,0.00,2.35,0.00,0.000,6,0.000,0.044,2651,2498,1711
$GC,5934,1.16,290.0,382.7,7.9,598,5979,0.15,2.62,39.00,1.189,4,0.097,0.072,2702,3913,1525
$GC,5995,1.08,290.0,376.3,10.7,603,6002,0.10,2.42,0.00,0.000,6,0.166,0.044,2675,2500,1524
$GC,6322,1.21,330.4,348.7,8.1,634,6367,0.10,2.58,34.62,1.162,4,0.110,0.071,2708,3904,1360
$GC,6401,1.12,330.4,340.1,12.1,641,6406,0.12,2.38,0.00,0.000,6,0.169,0.045,2679,2492,1359
$GC,6725,1.28,359.5,311.7,8.6,671,6760,0.15,2.55,25.17,1.138,4,0.094,0.075,2730,3908,1241
$GC,6787,1.18,359.5,304.3,14.1,676,6794,0.12,2.38,0.00,0.000,6,0.163,0.045,2694,2505,1240
$GC,7112,1.30,368.9,272.8,9.6,707,7124,0.10,0.00,9.25,1.037,6,0.104,0.000,2729,2505,1203
$GC,7440,1.30,368.9,233.8,12.1,738,7444,0.00,2.40,0.00,0.000,4,0.000,0.076,2729,3910,1201
$GC,7468,1.25,368.9,230.2,13.8,740,7473,0.10,2.28,0.00,0.000,6,0.180,0.047,2708,2498,1202
$GC,7792,1.34,368.9,194.3,10.7,770,7796,0.00,2.38,0.00,0.000,4,0.000,0.075,2708,3917,1201
$GC,7814,1.40,368.9,191.5,12.8,772,7819,0.12,2.28,0.00,0.000,6,0.106,0.046,2750,2487,1201
$GC,8138,1.40,368.9,148.6,12.6,802,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2487,1201
$GC,8456,1.40,368.9,107.8,12.5,832,8460,0.00,2.38,0.00,0.000,4,0.000,0.077,2750,3910,1201
$GC,8490,1.30,368.9,103.2,13.8,835,8494,0.15,2.22,0.00,0.000,6,0.177,0.048,2712,2498,1200
$GC,8831,1.44,386.8,68.2,9.2,893,8851,0.15,0.00,15.43,1.081,6,0.097,0.000,2764,2498,1131
$GC,9188,1.45,388.4,24.8,9.9,956,9194,0.00,2.28,0.00,0.000,4,0.000,0.062,2765,1083,1129
$GC,9250,1.64,417.8,19.6,8.6,967,9283,0.10,2.30,26.38,1.066,6,0.110,0.058,2799,2504,1004
$STATE,9428,end climb,SURFACE_DEPTH_REACHED
$STATE,9428,begin surface coast
$FINISH,0.4,1.012645
$STATE,9445,end surface coast,CONTROL_FINISHED_OK
$STATE,9445,begin surface
$SM_CCo,9520,0.00,0.000,0,0,996,419.95
$SM_GC,1.43,7.78,0.00,0.00,0.093,0.000,0.000,161,2282,996,-10.40,-0.51,419.95
$RAFOS_CLK,525
$RAFOS,4,1220733845,20.750000,20.734722,68,60,58,57,55,53,201,157,212,172,118,134
$RAFOS,3,1220733246,20.583334,20.568333,59,57,56,55,53,51,169,180,142,214,199,226
$RAFOS,2,1220732646,20.416666,20.401667,63,62,56,54,49,48,198,214,115,148,176,133
$RAFOS,1,1220732050,20.250000,20.236111,62,58,57,55,54,50,231,157,199,215,119,171
$RAFOS,0,1220731445,20.083334,20.068056,57,54,53,53,52,49,169,114,138,215,193,123
$RAFOS_FIX,6610.231445,-5803.449707,060908,202022,3,64,43.12
$IRIDIUM_FIX,6609.62,-6011.94,011297,161616
$TT8_MAMPS,0.027612
$HUMID,1960
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.7,9.589
$10V_AH,10.6,2.631
$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,20.850,95.275,492.350,0.000,0.000,28.217,30.537,121.162,0.000,0.000,0.000,11.009,1754.575,5495.433,639.240,1665.637,279.999,0.000,1535.672,0.000,1645.252,1800.000,0.528,0.000
$DEVICE_MAMPS,273.819,84.370,1316.172,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.305,679.423,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37863,1001
$CAP_FILE_SIZE,101503,0
$CFSIZE,260165632,251150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$CURRENT,0.052,122.5,1
$GPS,060908,222508,6638.163,-6017.642,37,0.8,37,-37.9