version: 66.04
glider: 113
mission: 4
dive: 16
start: 9 7 108 6 47 7
data:
$ID,113
$MISSION,4
$DIVE,16
$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,-22360.34
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,064208,6638.432,-6024.053,25,1.9,25,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.7
$GPS2,064645,6638.383,-6023.982,8,1.6,8,-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,337.1,15458,-18.0,-10.000
$D_GRID,505
$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,14,-1.42,-146.0,0.0,0.0,0,133,0.00,0.00,-115.72,0.000,2,0.000,0.000,168,2290,2781
$GC,135,-1.42,-146.0,3.2,-4.9,18,168,8.32,2.45,-14.98,0.000,4,0.272,0.085,2121,3707,3307
$GC,320,-1.20,-146.0,49.2,-18.7,50,327,0.20,2.28,0.00,0.000,6,0.191,0.047,2171,2286,3311
$GC,664,-1.13,-146.0,101.7,-14.8,110,668,0.00,2.40,0.00,0.000,4,0.000,0.075,2171,3717,3314
$GC,701,-1.13,-146.0,107.4,-14.8,113,710,0.00,2.28,0.00,0.000,6,0.000,0.045,2171,2297,3314
$GC,1028,-1.13,-146.0,151.2,-13.3,144,1031,0.00,2.25,0.00,0.000,4,0.000,0.061,2172,883,3315
$GC,1095,-1.08,-146.0,160.6,-13.6,150,1100,0.12,2.30,0.00,0.000,6,0.199,0.058,2201,2311,3314
$GC,1425,-1.18,-146.0,199.1,-11.5,181,1430,0.10,2.30,0.00,0.000,4,0.117,0.077,2167,3707,3314
$GC,1502,-1.24,-146.0,209.2,-12.8,187,1508,0.00,2.25,0.00,0.000,6,0.000,0.047,2167,2294,3314
$GC,1828,-1.24,-146.0,251.0,-12.4,218,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2294,3314
$GC,2144,-1.24,-146.0,292.0,-12.5,248,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2294,3313
$GC,2464,-1.24,-146.0,331.4,-11.9,278,2467,0.00,2.22,0.00,0.000,4,0.000,0.062,2167,884,3312
$GC,2546,-1.24,-146.0,341.9,-12.1,285,2553,0.00,2.30,0.00,0.000,6,0.000,0.058,2167,2305,3312
$GC,2872,-1.30,-146.0,379.4,-11.3,316,2875,0.00,2.30,0.00,0.000,4,0.000,0.076,2167,3721,3312
$GC,2928,-1.42,-146.0,385.8,-10.8,321,2932,0.15,2.22,0.00,0.000,6,0.113,0.047,2120,2290,3312
$GC,3256,-1.34,-146.0,430.1,-13.4,352,3258,0.10,0.00,0.00,0.000,6,0.207,0.000,2142,2290,3311
$GC,3575,-1.34,-146.0,469.3,-12.1,382,3580,0.00,2.20,0.00,0.000,4,0.000,0.061,2142,893,3311
$GC,3635,-1.34,-146.0,477.0,-12.2,387,3643,0.00,2.28,0.00,0.000,6,0.000,0.058,2142,2301,3311
$STATE,3886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3886,begin apogee
$GC,3891,-0.34,0.0,506.1,11.6,411,4020,0.70,0.00,125.35,1.295,6,0.178,0.000,2355,2510,2708
$STATE,4020,end apogee,CONTROL_FINISHED_OK
$STATE,4020,begin climb
$GC,4022,1.42,146.0,510.8,0.0,424,4163,1.27,2.67,130.52,1.205,4,0.117,0.058,2744,1091,2111
$GC,4168,1.11,146.0,502.3,10.6,438,4175,0.28,2.60,0.00,0.000,6,0.167,0.054,2679,2503,2111
$GC,4493,1.04,165.0,472.7,9.1,469,4517,0.00,2.53,16.90,1.156,4,0.000,0.076,2679,3909,2035
$GC,4611,0.84,165.0,460.2,11.5,479,4620,0.17,2.38,0.00,0.000,6,0.163,0.045,2617,2504,2033
$GC,4937,1.04,224.8,436.9,7.2,510,4994,0.15,2.67,51.05,1.206,4,0.092,0.075,2669,3916,1791
$GC,5017,0.95,224.8,429.1,11.0,517,5022,0.15,2.42,0.00,0.000,6,0.169,0.044,2640,2501,1790
$GC,5341,1.10,257.0,400.4,8.5,547,5376,0.12,2.62,27.85,1.174,4,0.101,0.075,2681,3909,1660
$GC,5455,1.00,257.0,387.3,13.7,557,5460,0.12,2.38,0.00,0.000,6,0.171,0.045,2652,2494,1659
$GC,5780,1.13,276.1,357.6,9.1,587,5803,0.12,2.53,16.98,1.137,4,0.102,0.076,2694,3910,1581
$GC,5827,1.04,276.1,352.3,12.3,591,5831,0.15,2.35,0.00,0.000,6,0.170,0.045,2661,2492,1581
$GC,6156,1.18,296.7,320.8,9.0,622,6181,0.12,2.58,18.27,1.133,4,0.102,0.075,2704,3914,1498
$GC,6227,1.07,296.7,312.4,13.7,628,6232,0.15,2.33,0.00,0.000,6,0.169,0.045,2667,2499,1497
$GC,6556,1.21,309.2,280.4,9.4,659,6571,0.12,0.00,11.62,1.079,6,0.100,0.000,2710,2498,1447
$GC,6884,1.21,309.2,242.2,11.3,690,6888,0.00,2.40,0.00,0.000,4,0.000,0.075,2710,3910,1445
$GC,6962,1.10,309.2,232.3,12.9,697,6967,0.15,2.28,0.00,0.000,6,0.171,0.045,2677,2488,1446
$GC,7292,1.26,323.0,200.8,9.3,728,7314,0.12,2.50,12.55,1.076,4,0.100,0.076,2721,3910,1391
$GC,7364,1.17,323.0,191.5,14.3,734,7371,0.10,2.30,0.00,0.000,6,0.166,0.046,2691,2501,1391
$GC,7689,1.33,343.8,160.2,9.0,765,7713,0.12,2.50,18.35,1.095,4,0.099,0.074,2735,3914,1306
$GC,7770,1.23,343.8,150.2,14.0,772,7775,0.15,2.30,0.00,0.000,6,0.170,0.047,2697,2497,1304
$GC,8094,1.39,352.9,118.1,9.6,802,8109,0.15,2.45,8.62,1.002,4,0.095,0.074,2751,3907,1268
$GC,8126,1.32,352.9,114.3,12.6,805,8131,0.15,2.28,0.00,0.000,6,0.175,0.047,2720,2497,1267
$GC,8462,1.43,354.0,79.6,9.9,852,8468,0.10,2.40,0.00,0.000,4,0.105,0.075,2756,3921,1267
$GC,8531,1.30,354.0,70.6,13.7,864,8538,0.15,2.28,0.00,0.000,6,0.173,0.049,2720,2494,1266
$GC,8875,1.47,391.9,38.8,8.2,925,8913,0.12,0.00,32.70,1.082,6,0.101,0.000,2764,2493,1109
$GC,9250,1.55,401.9,2.9,9.5,991,9265,0.00,2.45,8.02,0.952,4,0.000,0.077,2764,3916,1067
$STATE,9269,end climb,SURFACE_DEPTH_REACHED
$STATE,9269,begin surface coast
$FINISH,0.3,1.024571
$STATE,9275,end surface coast,CONTROL_FINISHED_OK
$STATE,9275,begin surface
$SM_CCo,9352,0.00,0.000,0,0,1065,403.03
$SM_GC,1.34,7.60,0.00,0.00,0.087,0.000,0.000,164,2301,1065,-10.39,0.03,403.03
$RAFOS_CLK,511
$RAFOS,4,1220777051,8.750000,8.736389,59,58,58,56,55,54,179,137,203,218,188,148
$RAFOS,3,1220776443,8.583333,8.567500,58,57,54,53,51,51,218,141,200,181,150,1876
$RAFOS,2,1220775845,8.416667,8.401389,59,58,55,52,51,50,182,199,209,221,170,117
$RAFOS,1,1220775249,8.250000,8.235833,59,56,52,51,51,51,117,203,217,180,138,166
$RAFOS,0,1220774643,8.083333,8.067500,64,58,56,54,52,51,194,162,132,217,171,149
$RAFOS_FIX,6746.988770,-5823.083496,070908,040440,5,63,123.78
$IRIDIUM_FIX,6609.62,-6019.34,021297,040428
$TT8_MAMPS,0.027612
$HUMID,1939
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.7,10.258
$10V_AH,10.6,2.867
$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,21.575,91.175,478.800,0.000,0.000,23.296,33.532,128.077,0.000,0.000,0.000,10.190,1738.094,5374.526,599.906,1624.022,297.297,0.000,1474.140,0.000,1612.927,1800.000,0.528,0.000
$DEVICE_MAMPS,272.285,85.137,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.798,676.102,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37872,995
$CAP_FILE_SIZE,101476,0
$CFSIZE,260165632,250912768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$CURRENT,0.094,183.6,1
$GPS,070908,092408,6638.275,-6027.215,28,1.2,28,-37.9