version: 66.04
glider: 113
mission: 4
dive: 2
start: 9 5 108 15 50 13
data:
$ID,113
$MISSION,4
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,50
$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,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,618.94916
$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,-21900.445
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2530
$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,0.045000002
$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,42
$R_STBD_OVSHOOT,44
$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,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,-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
$GPS1,154533,6645.881,-5955.903,11,1.9,11,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-53.8
$GPS2,154953,6645.813,-5955.925,12,3.0,31,-38.0
$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,296.4,35201,-18.0,-10.000
$D_GRID,697
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.20,-146.0,0.0,0.0,0,168,0.00,0.00,-150.95,0.000,2,0.000,0.000,165,2112,2855
$GC,170,-1.20,-146.0,3.1,-6.8,27,200,8.50,2.30,-12.45,0.000,4,0.258,0.075,2268,3506,3307
$GC,414,-1.49,-146.0,36.9,-10.1,70,421,0.20,2.15,0.00,0.000,6,0.082,0.041,2194,2100,3310
$GC,758,-1.55,-146.0,82.7,-12.9,131,764,0.00,2.25,0.00,0.000,4,0.000,0.062,2194,3510,3312
$STATE,813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,813,begin apogee
$GC,819,-0.28,0.0,90.2,12.3,141,943,0.85,0.00,116.10,1.003,6,0.149,0.000,2463,2102,2708
$STATE,944,end apogee,CONTROL_FINISHED_OK
$STATE,944,begin climb
$GC,946,1.20,146.0,96.3,0.0,163,1070,0.95,2.42,115.00,0.939,4,0.071,0.058,2796,3503,2111
$GC,1133,0.72,155.1,94.1,9.6,196,1151,0.43,2.25,8.52,0.812,6,0.170,0.043,2683,2104,2075
$GC,1489,0.84,243.7,72.4,5.8,259,1563,0.12,2.47,69.30,0.982,4,0.096,0.061,2727,3507,1714
$GC,1818,0.72,248.7,41.3,9.8,317,1831,0.17,2.22,4.85,0.739,6,0.163,0.046,2683,2099,1694
$GC,2168,1.13,356.7,20.3,4.9,379,2259,0.25,2.47,84.35,0.997,4,0.077,0.061,2781,3501,1251
$STATE,2370,end climb,SURFACE_DEPTH_REACHED
$STATE,2370,begin surface coast
$FINISH,0.2,1.014457
$STATE,2388,end surface coast,CONTROL_FINISHED_OK
$STATE,2388,begin surface
$SM_CCo,2404,150.38,0.914,0,0,184,619.14
$SM_GC,0.96,0.00,0.00,150.38,0.000,0.000,0.914,159,2099,184,-10.91,-0.34,619.14
$RAFOS_CLK,171
$RAFOS,1,1220631243,16.250000,16.234167,60,54,54,51,51,51,216,198,146,176,134,164
$RAFOS,0,1220630642,16.083334,16.067223,61,59,58,56,55,54,174,199,142,117,188,218
$RAFOS_FIX,6735.743652,-5921.755371,050908,161636,2,60,80.85
$IRIDIUM_FIX,6620.33,-5948.93,301197,151557
$TT8_MAMPS,0.029146
$HUMID,1974
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.50
$XPDR_PINGS,5
$24V_AH,23.7,7.656
$10V_AH,10.6,1.980
$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,19.075,23.000,398.125,150.375,0.000,0.000,0.000,0.000,1.250,0.000,0.000,33.632,590.734,791.737,614.114,654.860,27.191,0.000,1008.778,0.000,621.855,1080.000,0.531,0.000
$DEVICE_MAMPS,258.479,75.166,1003.236,914.264,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,311.725,271.348,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12734,418
$CAP_FILE_SIZE,54877,0
$CFSIZE,260165632,251793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.1
$GPS,050908,163437,6645.677,-5956.043,37,1.8,42,-38.0