version: 66.04
glider: 113
mission: 3
dive: 32
start: 7 22 108 21 45 7
data:
$ID,113
$MISSION,3
$DIVE,32
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,1.023
$MASS,51398
$NAV_MODE,0
$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,520
$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,-20995.332
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2605
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2112
$C_ROLL_CLIMB,2112
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2620
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00135
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-26.366219
$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
$GPS1,214051,4806.010,-12222.071,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-69.0
$GPS2,214447,4806.060,-12222.124,11,6.4,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$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,107.7,190,-27.6,-10.000
$D_GRID,108
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.62,-61.8,0.0,0.0,0,132,0.00,0.00,-112.40,0.000,2,0.000,0.000,167,2114,2740
$GC,133,-1.62,-61.8,3.8,-10.7,20,151,8.57,0.00,-3.28,0.000,6,0.262,0.000,2249,2113,2876
$GC,288,-1.06,-61.8,35.1,-19.1,47,295,0.43,2.25,0.00,0.000,4,0.204,0.052,2368,3530,2880
$GC,300,-0.60,-61.8,37.7,-18.4,49,307,0.38,2.17,0.00,0.000,6,0.177,0.035,2473,2099,2880
$GC,444,-1.29,-71.1,51.6,-9.0,74,450,0.43,0.00,0.00,0.000,6,0.074,0.000,2315,2099,2882
$GC,652,-1.29,-71.1,84.1,-16.4,111,658,0.00,2.25,0.00,0.000,4,0.000,0.054,2315,3531,2883
$GC,737,-1.36,-71.1,97.5,-16.1,126,743,0.00,2.10,0.00,0.000,6,0.000,0.035,2315,2135,2883
$STATE,809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,809,begin apogee
$GC,812,-0.28,0.0,108.1,13.1,139,864,0.75,0.00,46.80,0.781,6,0.173,0.000,2540,2132,2620
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,866,1.63,71.1,111.2,0.0,148,929,1.27,0.00,54.40,0.752,6,0.109,0.000,2957,2132,2331
$GC,1131,1.29,98.1,93.9,7.0,195,1161,0.25,2.28,22.65,0.745,4,0.183,0.051,2888,3526,2219
$GC,1274,1.15,118.4,82.9,7.8,220,1298,0.15,2.12,16.38,0.730,6,0.179,0.035,2856,2156,2137
$GC,1501,1.39,147.2,66.3,6.9,260,1531,0.17,2.22,22.90,0.755,4,0.077,0.051,2920,3523,2019
$GC,1784,1.21,147.2,35.4,10.4,310,1790,0.20,2.03,0.00,0.000,6,0.176,0.037,2869,2207,2019
$GC,1928,1.49,164.8,24.2,8.1,335,1947,0.20,2.17,13.95,0.730,4,0.074,0.053,2948,3527,1948
$GC,2044,1.22,164.8,12.0,10.3,355,2050,0.30,2.00,0.00,0.000,6,0.175,0.036,2867,2227,1948
$GC,2186,1.66,223.9,3.9,3.5,380,2238,0.28,2.15,43.72,0.754,4,0.067,0.053,2975,3526,1707
$STATE,2388,end climb,NO_VERTICAL_VELOCITY
$STATE,2388,begin surface
$SM_CCo,2390,231.07,0.696,1,0,144,607.36
$SM_GC,0.88,8.02,0.00,0.00,0.064,0.000,0.000,164,2106,144,-11.17,-0.17,607.36
$RAFOS_CLK,95
$RAFOS,4,1216762145,21.500000,21.484722,69,58,57,53,53,49,210,144,199,178,190,223
$RAFOS_FIX,6727.419434,65947.898438,220708,161646,3,67,0.01
$IRIDIUM_FIX,4748.51,-12220.12,161097,212116
$TT8_MAMPS,0.027612
$HUMID,1904
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,19.40
$XPDR_PINGS,4
$24V_AH,24.1,4.712
$10V_AH,10.8,1.272
$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,21.400,26.050,220.800,231.075,0.000,32.992,30.940,73.933,1.000,0.000,0.000,32.721,633.722,971.313,548.806,642.253,188.469,0.000,918.229,0.000,618.394,0.000,0.532,0.000
$DEVICE_MAMPS,261.547,53.690,780.806,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.835,293.708,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12731,416
$CAP_FILE_SIZE,42038,0
$CFSIZE,260165632,256339968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.4
$GPS,220708,223155,4806.076,-12222.031,19,1.8,35,18.3