version: 66.04
glider: 113
mission: 4
dive: 23
start: 9 8 108 3 50 31
data:
$ID,113
$MISSION,4
$DIVE,23
$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,412
$T_MISSION,470
$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,-22495.607
$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,2330
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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
$GPS1,034445,6640.260,-6042.880,9,1.6,9,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.1
$GPS2,035007,6640.271,-6042.788,14,1.1,30,-38.0
$SPEED_LIMITS,0.139,0.238
$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,49.7,3206,-14.7,-8.010
$D_GRID,463
$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,-1.20,-146.0,0.0,0.0,0,143,0.00,0.00,-125.57,0.000,2,0.000,0.000,166,2329,2877
$GC,145,-1.20,-146.0,3.9,-5.4,20,173,8.57,2.30,-11.40,0.000,4,0.271,0.073,2170,927,3306
$GC,364,-0.92,-146.0,48.4,-15.4,58,371,0.25,2.30,0.00,0.000,6,0.186,0.057,2237,2332,3311
$GC,707,-0.92,-146.0,90.4,-11.6,119,714,0.00,2.33,0.00,0.000,4,0.000,0.074,2234,3736,3314
$GC,815,-0.98,-146.0,102.4,-10.8,136,823,0.00,2.22,0.00,0.000,6,0.000,0.044,2234,2326,3314
$GC,1139,-0.98,-146.0,136.5,-10.2,167,1143,0.00,2.22,0.00,0.000,4,0.000,0.060,2234,926,3314
$GC,1278,-0.98,-146.0,151.0,-10.0,179,1285,0.00,2.30,0.00,0.000,6,0.000,0.057,2234,2335,3314
$GC,1603,-1.04,-146.0,180.6,-8.8,210,1605,0.10,0.00,0.00,0.000,6,0.133,0.000,2202,2336,3314
$GC,1921,-1.04,-146.0,214.3,-10.8,240,1925,0.00,2.30,0.00,0.000,4,0.000,0.077,2202,3736,3313
$GC,1959,-1.04,-146.0,218.5,-11.2,243,1966,0.00,2.22,0.00,0.000,6,0.000,0.046,2202,2334,3313
$GC,2284,-1.04,-146.0,253.0,-10.3,274,2288,0.00,2.22,0.00,0.000,4,0.000,0.061,2201,925,3313
$GC,2351,-1.04,-146.0,260.3,-11.9,280,2355,0.00,2.25,0.00,0.000,6,0.000,0.058,2202,2338,3313
$GC,2679,-1.04,-146.0,294.6,-10.6,311,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2338,3312
$GC,3000,-1.04,-146.0,326.5,-9.6,341,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2338,3312
$GC,3318,-1.04,-146.0,356.7,-9.5,371,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2339,3311
$GC,3636,-1.04,-146.0,386.9,-9.2,401,3640,0.00,2.28,0.00,0.000,4,0.000,0.077,2201,3733,3311
$GC,3704,-1.14,-146.0,393.4,-9.8,407,3708,0.00,2.20,0.00,0.000,6,0.000,0.046,2202,2315,3311
$GC,4034,-1.14,-146.0,424.1,-9.1,438,4038,0.00,2.17,0.00,0.000,4,0.000,0.061,2202,922,3310
$GC,4079,-1.14,-146.0,428.3,-9.8,442,4083,0.00,2.25,0.00,0.000,6,0.000,0.058,2202,2342,3310
$GC,4410,-1.19,-146.0,457.5,-8.3,473,4412,0.10,0.00,0.00,0.000,6,0.117,0.000,2166,2343,3310
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4464,-0.34,0.0,463.0,10.3,478,4594,0.65,0.00,124.57,1.279,6,0.168,0.000,2362,2580,2708
$STATE,4595,end apogee,CONTROL_FINISHED_OK
$STATE,4595,begin climb
$GC,4596,1.20,146.0,467.1,0.0,491,4735,1.10,2.62,129.52,1.183,4,0.118,0.074,2692,3934,2111
$GC,4740,0.87,146.0,460.2,9.0,503,4747,0.28,2.45,0.00,0.000,6,0.171,0.043,2628,2576,2111
$GC,5064,0.85,182.0,437.2,6.6,534,5101,0.00,2.53,31.15,1.176,4,0.000,0.077,2627,3936,1965
$GC,5119,0.77,199.1,433.3,7.4,539,5142,0.10,2.35,16.25,1.101,6,0.171,0.043,2604,2563,1896
$GC,5459,0.92,255.6,411.6,5.8,571,5516,0.12,2.60,48.72,1.178,4,0.094,0.075,2647,3934,1666
$GC,5554,0.79,255.6,403.4,9.7,579,5562,0.17,2.35,0.00,0.000,6,0.158,0.044,2604,2572,1664
$GC,5880,0.97,295.1,383.2,6.5,610,5916,0.15,0.00,33.85,1.167,6,0.090,0.000,2656,2572,1505
$GC,6234,0.97,295.1,351.4,9.1,643,6238,0.00,2.40,0.00,0.000,4,0.000,0.075,2656,3942,1503
$GC,6261,0.90,295.1,348.5,10.9,645,6270,0.12,2.25,0.00,0.000,6,0.166,0.044,2629,2570,1503
$GC,6586,1.01,295.1,319.8,8.6,676,6588,0.10,0.00,0.00,0.000,6,0.103,0.000,2663,2569,1503
$GC,6905,1.01,295.1,288.7,9.6,706,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2569,1502
$GC,7223,1.01,295.1,259.4,9.1,736,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2570,1503
$GC,7542,1.01,295.1,231.4,8.7,766,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2569,1502
$GC,7860,1.01,295.1,202.7,8.8,796,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2569,1502
$GC,8180,1.01,295.1,175.6,8.2,826,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2569,1502
$GC,8498,1.06,301.5,150.6,7.8,856,8511,0.00,2.30,6.60,0.979,4,0.000,0.061,2664,1170,1478
$GC,8523,1.15,312.9,148.8,7.6,858,8539,0.08,2.28,10.80,1.054,6,0.123,0.058,2693,2580,1432
$GC,8857,1.15,312.9,119.8,8.8,889,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2580,1430
$GC,9180,1.15,312.9,94.2,8.0,925,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2580,1430
$GC,9523,1.15,312.9,66.4,8.2,986,9530,0.00,2.28,0.00,0.000,4,0.000,0.061,2694,1166,1429
$GC,9535,1.15,312.9,65.5,8.2,988,9541,0.00,2.28,0.00,0.000,6,0.000,0.058,2694,2580,1430
$GC,9878,1.17,327.9,40.0,7.4,1049,9897,0.00,0.00,13.55,1.063,6,0.000,0.000,2694,2580,1370
$GC,10235,1.46,401.0,17.5,5.2,1112,10304,0.20,2.45,59.97,1.056,4,0.086,0.061,2774,1172,1071
$GC,10378,1.46,401.0,5.3,9.1,1136,10384,0.00,2.38,0.00,0.000,6,0.000,0.058,2774,2580,1066
$STATE,10410,end climb,SURFACE_DEPTH_REACHED
$STATE,10410,begin surface coast
$FINISH,0.5,1.024111
$STATE,10434,end surface coast,CONTROL_FINISHED_OK
$STATE,10434,begin surface
$SM_CCo,10509,0.00,0.000,0,0,1061,403.76
$SM_GC,1.32,7.68,0.00,0.00,0.086,0.000,0.000,165,2327,1061,-10.39,-0.08,403.76
$RAFOS_CLK,590
$RAFOS,4,1220849051,4.750000,4.736389,67,59,59,58,52,49,193,202,217,145,124,155
$RAFOS,3,1220848445,4.583333,4.568056,57,55,55,53,51,51,211,200,146,182,157,118
$RAFOS,2,1220847848,4.416667,4.402222,59,58,53,53,51,51,209,193,136,162,117,226
$RAFOS,1,1220847251,4.250000,4.236389,65,61,61,59,57,51,224,204,151,215,187,142
$RAFOS,0,1220846644,4.083333,4.067778,66,62,59,57,56,54,208,196,174,149,230,184
$RAFOS_FIX,6610.105957,-6016.965332,080908,040416,3,66,32.70
$IRIDIUM_FIX,6614.97,-6045.64,031297,000001
$TT8_MAMPS,0.026845
$HUMID,1946
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.7,11.439
$10V_AH,10.6,3.317
$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,19.775,65.875,475.000,0.000,0.000,27.616,32.268,144.810,0.000,0.000,0.000,32.169,1985.052,6183.468,577.824,1813.845,315.584,0.000,1523.279,0.000,1780.377,1800.000,0.528,0.000
$DEVICE_MAMPS,270.751,78.234,1278.589,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.636,779.014,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40997,1146
$CAP_FILE_SIZE,100429,0
$CFSIZE,260165632,250482688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$CURRENT,0.143,214.5,1
$GPS,080908,064738,6640.974,-6043.186,38,1.2,38,-38.0