version: 66.04
glider: 113
mission: 4
dive: 17
start: 9 7 108 9 29 57
data:
$ID,113
$MISSION,4
$DIVE,17
$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,-22371.836
$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,27
$R_STBD_OVSHOOT,19
$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
$GPS1,092408,6638.275,-6027.215,28,1.2,28,-37.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.2
$GPS2,092933,6638.231,-6027.331,9,1.9,9,-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,357.9,13433,-18.0,-10.000
$D_GRID,501
$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,-146.0,0.0,0.0,0,136,0.00,0.00,-118.75,0.000,2,0.000,0.000,164,2299,2777
$GC,138,-1.42,-146.0,3.4,-6.7,19,171,8.50,2.45,-15.25,0.000,4,0.279,0.088,2123,3708,3306
$GC,322,-1.21,-146.0,50.3,-17.2,51,329,0.20,2.28,0.00,0.000,6,0.190,0.047,2174,2289,3311
$GC,666,-1.13,-146.0,102.5,-15.5,111,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2288,3314
$GC,984,-1.13,-146.0,147.8,-13.6,141,988,0.00,2.38,0.00,0.000,4,0.000,0.077,2174,3711,3315
$GC,1056,-1.19,-146.0,157.4,-12.8,147,1062,0.00,2.25,0.00,0.000,6,0.000,0.047,2174,2301,3315
$GC,1382,-1.19,-146.0,199.5,-13.0,178,1386,0.00,2.25,0.00,0.000,4,0.000,0.061,2174,886,3315
$GC,1431,-1.19,-146.0,206.4,-13.2,182,1438,0.00,2.30,0.00,0.000,6,0.000,0.056,2174,2302,3315
$GC,1758,-1.19,-146.0,246.8,-12.7,213,1762,0.00,2.33,0.00,0.000,4,0.000,0.076,2174,3719,3314
$GC,1881,-1.30,-146.0,261.6,-12.1,224,1885,0.00,2.22,0.00,0.000,6,0.000,0.047,2174,2298,3314
$GC,2211,-1.37,-146.0,298.6,-10.8,255,2216,0.15,2.35,0.00,0.000,4,0.109,0.075,2125,3720,3313
$GC,2277,-1.37,-146.0,307.3,-13.1,260,2284,0.00,2.25,0.00,0.000,6,0.000,0.048,2125,2300,3313
$GC,2602,-1.28,-146.0,352.0,-14.1,291,2607,0.15,2.22,0.00,0.000,4,0.195,0.061,2161,888,3312
$GC,2650,-1.28,-146.0,358.6,-12.7,295,2657,0.00,2.28,0.00,0.000,6,0.000,0.057,2161,2299,3312
$GC,2978,-1.32,-146.0,397.0,-11.8,326,2982,0.00,2.30,0.00,0.000,4,0.000,0.077,2161,3712,3312
$GC,3045,-1.43,-146.0,405.3,-11.6,332,3050,0.15,2.20,0.00,0.000,6,0.107,0.047,2112,2298,3312
$GC,3375,-1.32,-146.0,450.5,-13.6,363,3377,0.15,0.00,0.00,0.000,6,0.195,0.000,2148,2297,3312
$GC,3694,-1.32,-146.0,487.9,-11.6,393,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2298,3312
$STATE,3808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3808,begin apogee
$GC,3813,-0.34,0.0,501.4,11.3,404,3943,0.70,0.00,125.20,1.298,6,0.168,0.000,2360,2511,2708
$STATE,3943,end apogee,CONTROL_FINISHED_OK
$STATE,3943,begin climb
$GC,3945,1.42,146.0,506.2,0.0,417,4082,1.25,2.78,129.90,1.204,4,0.115,0.072,2738,3914,2112
$GC,4166,1.03,146.0,488.1,12.6,436,4173,0.28,2.47,0.00,0.000,6,0.173,0.045,2660,2499,2110
$GC,4490,1.08,184.4,461.3,8.2,467,4528,0.00,2.62,32.90,1.195,4,0.000,0.077,2660,3919,1956
$GC,4602,0.97,184.4,450.3,11.5,477,4606,0.00,2.40,0.00,0.000,6,0.000,0.044,2661,2498,1955
$GC,4927,0.99,203.8,420.6,9.1,507,4951,0.00,2.55,17.70,1.163,4,0.000,0.077,2661,3919,1876
$GC,5012,0.89,203.8,411.8,11.0,514,5020,0.15,2.40,0.00,0.000,6,0.170,0.044,2625,2474,1876
$GC,5339,1.12,264.0,387.8,7.2,545,5396,0.20,2.65,50.75,1.191,4,0.089,0.074,2698,3913,1630
$GC,5480,1.00,264.0,370.9,12.8,557,5487,0.20,2.38,0.00,0.000,6,0.163,0.044,2652,2501,1629
$GC,5805,1.16,295.6,341.8,8.5,588,5839,0.15,2.55,27.27,1.153,4,0.097,0.075,2703,3912,1501
$GC,5878,1.06,295.6,333.0,13.5,594,5885,0.10,2.40,0.00,0.000,6,0.163,0.044,2664,2499,1500
$GC,6203,1.22,312.2,303.3,9.2,625,6226,0.15,2.50,14.62,1.103,4,0.094,0.074,2716,3917,1434
$GC,6286,1.11,312.2,292.5,13.4,632,6294,0.12,2.35,0.00,0.000,6,0.163,0.045,2670,2505,1434
$GC,6612,1.25,313.3,261.4,9.9,663,6616,0.15,2.40,0.00,0.000,4,0.093,0.074,2722,3910,1433
$GC,6639,1.20,313.3,257.9,13.5,665,6644,0.12,2.28,0.00,0.000,6,0.175,0.045,2692,2488,1434
$GC,6968,1.28,313.3,221.7,10.7,696,6973,0.10,2.40,0.00,0.000,4,0.107,0.072,2727,3919,1434
$GC,7000,1.17,313.3,217.0,15.0,698,7008,0.12,2.30,0.00,0.000,6,0.166,0.045,2692,2492,1434
$GC,7325,1.28,313.3,183.5,10.0,729,7329,0.00,2.38,0.00,0.000,4,0.000,0.076,2693,3910,1434
$GC,7358,1.28,313.3,179.9,11.3,732,7363,0.10,2.22,0.00,0.000,6,0.111,0.045,2725,2498,1434
$GC,7689,1.28,313.3,143.2,11.3,763,7693,0.00,2.38,0.00,0.000,4,0.000,0.077,2726,3923,1434
$GC,7727,1.20,313.3,138.3,12.2,766,7734,0.15,2.25,0.00,0.000,6,0.173,0.046,2691,2494,1434
$GC,8052,1.34,320.9,106.8,9.6,797,8067,0.12,2.42,8.60,1.021,4,0.102,0.078,2735,3905,1399
$GC,8085,1.28,320.9,102.9,12.9,800,8089,0.00,2.25,0.00,0.000,6,0.000,0.047,2736,2489,1398
$GC,8426,1.28,320.9,63.0,10.4,858,8432,0.00,2.38,0.00,0.000,4,0.000,0.077,2736,3910,1397
$GC,8522,1.21,320.9,51.7,11.6,875,8528,0.15,2.25,0.00,0.000,6,0.173,0.048,2696,2487,1397
$GC,8866,1.50,387.9,22.3,6.8,936,8930,0.20,2.42,55.17,1.071,4,0.091,0.061,2774,1068,1124
$GC,8975,1.70,426.2,14.2,8.2,954,9014,0.12,2.42,32.67,1.001,6,0.101,0.056,2815,2513,970
$STATE,9091,end climb,SURFACE_DEPTH_REACHED
$STATE,9091,begin surface coast
$FINISH,0.5,1.024665
$STATE,9109,end surface coast,CONTROL_FINISHED_OK
$STATE,9109,begin surface
$SM_CCo,9184,0.00,0.000,0,0,958,429.27
$SM_GC,1.33,7.93,0.00,0.00,0.091,0.000,0.000,168,2296,958,-10.37,-0.11,429.27
$RAFOS_CLK,503
$RAFOS_FIX,6746.988770,-5823.083496,070908,040440,5,63,123.78
$IRIDIUM_FIX,6609.62,-6019.34,021297,060616
$TT8_MAMPS,0.027612
$HUMID,1912
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,10.436
$10V_AH,10.6,2.924
$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,21.875,95.550,494.800,0.000,0.000,29.026,31.618,169.195,0.000,0.000,0.000,10.870,1698.551,5246.028,602.786,1626.654,341.894,0.000,1488.936,0.000,1612.361,0.000,0.528,0.000
$DEVICE_MAMPS,279.188,88.205,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.453,662.703,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34665,977
$CAP_FILE_SIZE,100669,0
$CFSIZE,260165632,250855424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$CURRENT,0.164,176.4,1
$GPS,070908,120428,6638.193,-6029.919,27,4.5,46,-37.9