version: 66.04
glider: 113
mission: 4
dive: 167
start: 10 11 108 22 28 5
data:
$ID,113
$MISSION,4
$DIVE,167
$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,470
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$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,275
$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,-25093.357
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2420
$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,150
$AH0_10V,100
$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
$GPS1,222058,6701.980,-5649.130,42,3.1,61,-37.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-51.9
$GPS2,222709,6701.960,-5649.134,10,1.3,10,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.048,0.112
$KALMAN_X,5564.5,-115.9,355.5,19906.2,132.4
$KALMAN_Y,-9845.6,154.0,-52.3,22861.8,322.2
$MHEAD_RNG_PITCHd_Wd,60.8,2093,-27.1,-7.021
$D_GRID,532
$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,-1.90,-36.7,0.0,0.0,0,135,0.00,0.00,-116.03,0.000,6,0.000,0.000,165,2345,2571
$GC,138,-1.96,-84.4,2.2,-0.8,21,164,7.85,2.38,-12.15,0.000,4,0.264,0.076,2002,3749,2765
$GC,181,-0.87,-126.8,3.1,-1.5,28,200,0.95,2.22,-8.20,0.000,6,0.218,0.042,2243,2334,2938
$GC,537,-1.33,-126.8,47.4,-9.9,91,544,0.28,2.22,0.00,0.000,4,0.082,0.052,2141,932,2942
$GC,758,-1.50,-126.8,73.5,-11.4,130,765,0.12,2.25,0.00,0.000,6,0.113,0.048,2098,2354,2942
$GC,1091,-1.60,-126.8,116.3,-13.1,173,1095,0.00,2.25,0.00,0.000,4,0.000,0.062,2098,3750,2942
$GC,1158,-1.71,-126.8,126.0,-14.2,176,1163,0.12,2.20,0.00,0.000,6,0.123,0.039,2057,2323,2942
$GC,1490,-1.71,-126.8,171.7,-13.6,192,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2322,2942
$GC,1799,-1.76,-126.8,211.9,-12.5,207,1803,0.00,2.33,0.00,0.000,4,0.000,0.066,2057,3743,2941
$GC,1905,-1.81,-126.8,226.0,-12.8,211,1912,0.00,2.17,0.00,0.000,6,0.000,0.039,2057,2329,2941
$GC,2221,-1.88,-126.8,261.1,-10.7,227,2225,0.12,2.33,0.00,0.000,4,0.112,0.064,2014,3749,2940
$GC,2298,-1.81,-126.8,270.7,-11.9,230,2305,0.12,2.17,0.00,0.000,6,0.196,0.039,2042,2334,2940
$GC,2613,-1.81,-126.8,304.8,-10.9,246,2617,0.00,2.30,0.00,0.000,4,0.000,0.064,2042,3743,2940
$GC,2673,-1.81,-126.8,311.8,-11.5,248,2680,0.00,2.17,0.00,0.000,6,0.000,0.038,2042,2346,2940
$GC,2990,-1.88,-126.8,344.6,-10.0,264,2993,0.00,2.28,0.00,0.000,4,0.000,0.064,2042,3743,2940
$GC,3057,-1.88,-126.8,351.9,-10.3,267,3060,0.00,2.17,0.00,0.000,6,0.000,0.039,2042,2327,2939
$GC,3389,-1.94,-126.8,386.3,-10.4,283,3393,0.10,2.30,0.00,0.000,4,0.114,0.060,2003,3746,2940
$GC,3455,-1.86,-126.8,394.4,-12.2,286,3460,0.12,2.17,0.00,0.000,6,0.201,0.038,2031,2326,2940
$GC,3797,-1.86,-126.8,431.3,-10.7,296,3800,0.00,2.30,0.00,0.000,4,0.000,0.063,2030,3743,2940
$GC,3891,-1.86,-126.8,442.0,-11.1,298,3895,0.00,2.17,0.00,0.000,6,0.000,0.038,2031,2345,2940
$GC,4215,-1.86,-126.8,477.0,-11.0,306,4219,0.00,2.28,0.00,0.000,4,0.000,0.062,2031,3744,2940
$GC,4276,-1.86,-126.8,483.9,-11.6,307,4280,0.00,2.20,0.00,0.000,6,0.000,0.038,2031,2331,2940
$GC,4589,-1.86,-126.8,517.1,-10.6,315,4592,0.00,2.30,0.00,0.000,4,0.000,0.062,2031,3745,2940
$STATE,4762,end dive,NO_VERTICAL_VELOCITY
$STATE,4762,begin apogee
$GC,4768,-0.34,0.0,520.2,0.0,318,4880,1.02,0.00,108.28,1.193,6,0.130,0.000,2357,2510,2420
$STATE,4880,end apogee,CONTROL_FINISHED_OK
$STATE,4880,begin climb
$GC,4882,2.02,126.8,520.0,0.0,321,5006,1.67,2.55,111.00,1.113,4,0.104,0.049,2879,1117,1901
$GC,5134,1.96,126.8,479.3,19.0,326,5141,0.00,2.38,0.00,0.000,6,0.000,0.046,2879,2525,1900
$GC,5466,1.85,126.8,414.5,19.8,335,5470,0.17,2.30,0.00,0.000,4,0.177,0.060,2835,3927,1898
$GC,5724,1.76,126.8,364.7,19.3,344,5730,0.00,2.20,0.00,0.000,6,0.000,0.040,2839,2521,1898
$GC,6039,1.76,126.8,309.1,17.3,360,6042,0.00,2.30,0.00,0.000,4,0.000,0.062,2840,3930,1898
$GC,6296,1.65,126.8,262.4,17.7,371,6301,0.12,2.22,0.00,0.000,6,0.170,0.041,2790,2516,1898
$GC,6617,1.82,126.8,218.8,13.5,387,6622,0.15,2.20,0.00,0.000,4,0.084,0.051,2853,1109,1897
$GC,6627,1.95,126.8,217.2,13.8,387,6631,0.00,2.22,0.00,0.000,6,0.000,0.047,2853,2528,1897
$GC,6947,1.95,126.8,163.6,16.7,403,6951,0.00,2.25,0.00,0.000,4,0.000,0.051,2854,1106,1897
$GC,7037,1.95,126.8,148.1,18.0,407,7041,0.00,2.22,0.00,0.000,6,0.000,0.048,2854,2522,1898
$GC,7354,1.95,126.8,96.2,15.5,423,7360,0.00,2.25,0.00,0.000,4,0.000,0.062,2854,3928,1898
$GC,7612,1.86,126.8,55.8,14.7,469,7619,0.10,2.17,0.00,0.000,6,0.190,0.040,2839,2515,1898
$GC,7957,1.93,126.8,20.8,10.6,530,7963,0.00,2.30,0.00,0.000,4,0.000,0.064,2838,3927,1898
$GC,7980,1.93,126.8,18.2,11.0,534,7986,0.00,2.17,0.00,0.000,6,0.000,0.041,2839,2517,1897
$STATE,8136,end climb,SURFACE_DEPTH_REACHED
$STATE,8136,begin surface coast
$FINISH,0.9,1.025938
$STATE,8154,end surface coast,CONTROL_FINISHED_OK
$STATE,8154,begin surface
$SM_CCo,8171,113.93,0.895,0,0,1298,275.23
$SM_GC,1.74,0.00,0.00,113.93,0.000,0.000,0.895,157,2316,1298,-10.48,-0.68,275.23
$RAFOS_CLK,432
$RAFOS,3,1223771645,0.583333,0.568056,64,59,53,53,53,50,214,201,173,95,124,223
$RAFOS,2,1223771041,0.416667,0.400278,96,56,55,52,52,52,675,203,138,122,212,157
$RAFOS,1,1223770452,0.250000,0.236667,62,58,53,51,50,47,207,186,133,226,165,146
$RAFOS,0,1223769854,0.083333,0.070556,58,58,56,53,51,51,154,192,229,214,128,722
$RAFOS_FIX,6629.548828,-5847.625000,111008,040456,4,75,8.96
$IRIDIUM_FIX,6631.12,-5649.11,050198,171745
$TT8_MAMPS,0.028379
$HUMID,1847
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.1,35.221
$10V_AH,10.6,14.380
$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,20.775,81.075,219.275,113.925,0.000,25.119,35.033,192.862,0.000,0.000,0.000,11.625,1053.423,5488.314,492.230,1233.961,391.231,33.354,1152.644,0.000,1215.283,1440.000,0.528,0.000
$DEVICE_MAMPS,263.848,75.933,1193.452,895.089,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.823,381.209,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22160,565
$CAP_FILE_SIZE,80062,0
$CFSIZE,260165632,238358528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,121008,004703,6702.765,-5649.629,8,1.9,8,-37.5