version: 66.04
glider: 113
mission: 4
dive: 15
start: 9 7 108 4 3 30
data:
$ID,113
$MISSION,4
$DIVE,15
$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,-22349.521
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,035817,6637.924,-6021.450,8,2.6,27,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.1
$GPS2,040308,6637.916,-6021.307,29,1.7,29,-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,345.4,17599,-18.0,-10.000
$D_GRID,515
$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,-146.0,0.0,0.0,0,130,0.00,0.00,-112.78,0.000,2,0.000,0.000,166,2297,2782
$GC,133,-1.42,-146.0,3.3,-4.9,18,166,8.50,2.42,-15.55,0.000,4,0.278,0.085,2121,3719,3307
$GC,234,-1.06,-146.0,30.1,-21.2,35,241,0.32,2.30,0.00,0.000,6,0.198,0.048,2204,2293,3309
$GC,578,-1.06,-146.0,80.4,-12.1,96,584,0.00,2.25,0.00,0.000,4,0.000,0.059,2204,891,3313
$GC,635,-1.06,-146.0,87.8,-13.5,106,643,0.00,2.30,0.00,0.000,6,0.000,0.055,2204,2314,3314
$GC,966,-1.12,-146.0,128.0,-11.6,145,969,0.00,2.30,0.00,0.000,4,0.000,0.061,2204,887,3314
$GC,1022,-1.17,-146.0,134.7,-11.6,150,1026,0.10,2.28,0.00,0.000,6,0.130,0.055,2175,2304,3314
$GC,1350,-1.17,-146.0,177.1,-12.6,181,1354,0.00,2.30,0.00,0.000,4,0.000,0.075,2174,3706,3314
$GC,1456,-1.24,-146.0,190.7,-12.2,190,1464,0.00,2.25,0.00,0.000,6,0.000,0.047,2175,2295,3315
$GC,1780,-1.24,-146.0,233.2,-13.1,221,1784,0.00,2.22,0.00,0.000,4,0.000,0.061,2174,893,3314
$GC,1851,-1.24,-146.0,243.2,-13.6,227,1858,0.00,2.28,0.00,0.000,6,0.000,0.057,2174,2296,3314
$GC,2178,-1.28,-146.0,282.7,-11.6,258,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2296,3314
$GC,2496,-1.33,-146.0,319.9,-11.2,288,2500,0.12,2.25,0.00,0.000,4,0.114,0.061,2135,887,3312
$GC,2590,-1.24,-146.0,333.1,-14.0,296,2595,0.12,2.25,0.00,0.000,6,0.204,0.058,2162,2300,3312
$GC,2913,-1.24,-146.0,371.5,-11.9,326,2917,0.00,2.33,0.00,0.000,4,0.000,0.079,2162,3718,3312
$GC,3042,-1.35,-146.0,386.7,-11.8,337,3048,0.00,2.22,0.00,0.000,6,0.000,0.047,2162,2286,3312
$GC,3367,-1.41,-146.0,423.2,-10.7,368,3369,0.12,0.00,0.00,0.000,6,0.114,0.000,2122,2286,3311
$GC,3685,-1.33,-146.0,464.5,-13.1,398,3690,0.10,2.35,0.00,0.000,4,0.201,0.075,2139,3716,3311
$GC,3780,-1.33,-146.0,476.2,-11.9,406,3784,0.00,2.20,0.00,0.000,6,0.000,0.047,2139,2296,3311
$STATE,4099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4099,begin apogee
$GC,4103,-0.34,0.0,515.5,12.2,436,4232,0.73,0.00,125.68,1.302,6,0.175,0.000,2360,2509,2708
$STATE,4233,end apogee,CONTROL_FINISHED_OK
$STATE,4233,begin climb
$GC,4235,1.42,146.0,520.2,0.0,449,4377,1.27,2.78,130.48,1.210,4,0.120,0.073,2741,3910,2112
$GC,4394,1.03,146.0,510.0,11.5,463,4401,0.35,2.50,0.00,0.000,6,0.175,0.044,2659,2501,2111
$GC,4718,1.10,194.8,483.3,7.7,494,4767,0.00,2.65,42.03,1.206,4,0.000,0.071,2659,3905,1913
$GC,4811,0.99,194.8,474.2,10.7,502,4818,0.00,2.45,0.00,0.000,6,0.000,0.044,2661,2499,1913
$GC,5137,1.00,203.6,443.7,9.6,533,5152,0.00,2.55,8.98,1.072,4,0.000,0.074,2661,3910,1878
$GC,5204,0.89,203.6,436.7,10.8,539,5209,0.15,2.35,0.00,0.000,6,0.169,0.045,2625,2493,1877
$GC,5529,1.09,255.0,411.1,7.6,569,5579,0.17,2.60,43.90,1.203,4,0.092,0.075,2685,3909,1668
$GC,5631,0.98,255.0,400.1,12.5,578,5636,0.17,2.38,0.00,0.000,6,0.166,0.045,2645,2499,1667
$GC,5955,1.16,283.8,372.0,8.6,608,5987,0.15,0.00,25.02,1.164,6,0.098,0.000,2695,2498,1551
$GC,6304,1.16,283.8,332.9,11.0,641,6309,0.00,2.45,0.00,0.000,4,0.000,0.077,2695,3916,1549
$GC,6359,1.07,283.8,326.1,12.9,645,6367,0.08,2.33,0.00,0.000,6,0.173,0.045,2672,2502,1549
$GC,6684,1.18,303.2,296.0,9.1,676,6708,0.00,2.35,17.02,1.130,4,0.000,0.059,2673,1092,1471
$GC,6713,1.33,326.1,293.5,8.9,678,6744,0.17,2.38,20.77,1.104,6,0.094,0.054,2733,2513,1378
$GC,7059,1.33,326.1,249.7,13.0,711,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2513,1375
$GC,7378,1.33,326.1,210.6,11.9,741,7382,0.00,2.33,0.00,0.000,4,0.000,0.074,2733,3907,1375
$GC,7461,1.22,326.1,199.0,14.5,748,7469,0.10,2.28,0.00,0.000,6,0.166,0.046,2703,2499,1375
$GC,7785,1.31,326.1,164.2,10.5,779,7789,0.00,2.35,0.00,0.000,4,0.000,0.074,2703,3909,1375
$GC,7796,1.39,326.1,163.1,10.7,780,7801,0.12,2.22,0.00,0.000,6,0.108,0.045,2747,2497,1374
$GC,8124,1.39,326.1,122.3,12.5,811,8128,0.00,2.35,0.00,0.000,4,0.000,0.076,2747,3908,1374
$GC,8147,1.31,326.1,119.2,14.0,813,8152,0.12,2.22,0.00,0.000,6,0.180,0.048,2716,2498,1374
$GC,8481,1.39,326.2,84.5,10.0,857,8487,0.10,2.25,0.00,0.000,4,0.114,0.061,2750,1083,1374
$GC,8493,1.47,334.2,83.1,9.6,859,8508,0.00,2.28,7.68,0.990,6,0.000,0.056,2750,2504,1344
$GC,8845,1.47,334.2,41.7,11.2,921,8851,0.00,2.33,0.00,0.000,4,0.000,0.076,2750,3916,1343
$GC,8874,1.42,334.2,38.4,11.6,926,8880,0.00,2.25,0.00,0.000,6,0.000,0.048,2750,2491,1343
$GC,9217,1.62,392.7,9.3,7.2,987,9274,0.12,2.58,47.83,1.062,4,0.106,0.078,2795,3910,1104
$STATE,9295,end climb,SURFACE_DEPTH_REACHED
$STATE,9295,begin surface coast
$FINISH,0.4,1.002191
$STATE,9313,end surface coast,CONTROL_FINISHED_OK
$STATE,9314,begin surface
$SM_CCo,9391,0.00,0.000,0,0,1098,394.93
$SM_GC,1.31,7.88,0.00,0.00,0.092,0.000,0.000,168,2292,1098,-10.37,-0.23,394.93
$RAFOS_CLK,517
$RAFOS,4,1220762650,4.750000,4.736111,61,54,52,51,48,46,207,187,145,157,220,108
$RAFOS,3,1220762044,4.583333,4.567778,66,60,58,55,52,50,153,174,207,222,134,235
$RAFOS,2,1220761442,4.416667,4.400556,61,59,58,56,51,50,215,168,142,114,184,196
$RAFOS,1,1220760843,4.250000,4.234167,66,59,57,57,55,53,195,225,152,170,211,179
$RAFOS,0,1220760242,4.083333,4.067222,61,59,57,56,53,52,214,189,203,169,225,147
$RAFOS_FIX,6746.988770,-5823.083496,070908,040440,5,63,123.78
$IRIDIUM_FIX,6609.62,-6019.34,021297,010142
$TT8_MAMPS,0.027612
$HUMID,1942
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,21.7,10.086
$10V_AH,10.6,2.809
$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,21.100,94.725,469.375,0.000,0.000,31.166,30.477,119.128,0.000,0.000,0.000,30.642,1806.570,5398.319,592.907,1670.120,281.966,0.000,1482.357,0.000,1632.843,1800.000,0.528,0.000
$DEVICE_MAMPS,277.654,85.137,1301.599,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.288,681.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37865,1003
$CAP_FILE_SIZE,100302,0
$CFSIZE,260165632,250974208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$CURRENT,0.030,148.0,1
$GPS,070908,064208,6638.432,-6024.053,25,1.9,25,-37.9