version: 66.04
glider: 113
mission: 4
dive: 8
start: 9 6 108 8 5 42
data:
$ID,113
$MISSION,4
$DIVE,8
$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,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,400
$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,-22225.35
$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,15
$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,2250
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,20
$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
$GPS1,075702,6639.718,-6006.838,58,1.4,58,-37.9
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-58.6
$GPS2,080521,6639.607,-6007.002,14,1.6,14,-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,317.4,26740,-18.0,-10.000
$D_GRID,570
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.39,-146.0,0.0,0.0,0,147,0.00,0.00,-130.23,0.000,2,0.000,0.000,168,2187,2777
$GC,150,-1.39,-146.0,3.1,-5.9,23,181,8.45,2.53,-15.30,0.000,4,0.272,0.086,2125,3658,3306
$GC,394,-1.22,-146.0,58.2,-17.7,66,401,0.17,2.28,0.00,0.000,6,0.197,0.047,2167,2240,3311
$GC,734,-1.16,-146.0,112.2,-15.3,120,738,0.00,2.25,0.00,0.000,4,0.000,0.061,2166,837,3313
$GC,794,-1.16,-146.0,121.3,-13.6,125,801,0.00,2.33,0.00,0.000,6,0.000,0.055,2167,2259,3313
$GC,1119,-1.16,-146.0,166.5,-14.3,156,1122,0.00,2.30,0.00,0.000,4,0.000,0.073,2165,3658,3313
$GC,1224,-1.22,-146.0,181.5,-14.2,165,1231,0.00,2.25,0.00,0.000,6,0.000,0.048,2165,2251,3313
$GC,1549,-1.22,-146.0,226.2,-13.1,196,1553,0.00,2.33,0.00,0.000,4,0.000,0.074,2165,3657,3313
$GC,1609,-1.29,-146.0,234.3,-13.0,201,1616,0.00,2.25,0.00,0.000,6,0.000,0.048,2165,2245,3313
$GC,1934,-1.29,-146.0,273.2,-12.2,232,1938,0.00,2.33,0.00,0.000,4,0.000,0.074,2165,3657,3312
$GC,1988,-1.38,-146.0,280.0,-12.0,236,1995,0.08,2.22,0.00,0.000,6,0.117,0.048,2135,2255,3312
$GC,2313,-1.33,-146.0,324.8,-14.0,267,2317,0.00,2.33,0.00,0.000,4,0.000,0.075,2134,3664,3311
$GC,2373,-1.33,-146.0,333.5,-13.8,272,2377,0.00,2.22,0.00,0.000,6,0.000,0.049,2134,2244,3311
$GC,2703,-1.33,-146.0,375.8,-12.3,303,2706,0.00,2.33,0.00,0.000,4,0.000,0.075,2134,3654,3310
$GC,2774,-1.33,-146.0,385.1,-12.7,309,2781,0.00,2.22,0.00,0.000,6,0.000,0.048,2135,2250,3310
$GC,3101,-1.33,-146.0,426.8,-12.4,340,3104,0.00,2.33,0.00,0.000,4,0.000,0.075,2135,3664,3310
$GC,3172,-1.33,-146.0,436.0,-12.9,346,3179,0.00,2.25,0.00,0.000,6,0.000,0.048,2134,2246,3310
$GC,3497,-1.33,-146.0,477.7,-13.2,377,3501,0.00,2.33,0.00,0.000,4,0.000,0.077,2134,3658,3310
$GC,3574,-1.33,-146.0,487.8,-13.0,384,3578,0.00,2.20,0.00,0.000,6,0.000,0.048,2134,2247,3310
$GC,3904,-1.33,-146.0,529.2,-12.9,415,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2246,3310
$GC,4222,-1.33,-146.0,569.9,-12.7,445,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2246,3310
$STATE,4231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4231,begin apogee
$GC,4235,-0.33,0.0,571.2,12.9,446,4366,0.77,0.00,126.25,1.334,6,0.170,0.000,2366,2402,2708
$STATE,4366,end apogee,CONTROL_FINISHED_OK
$STATE,4367,begin climb
$GC,4368,1.39,146.0,573.8,0.0,459,4509,1.20,2.72,130.68,1.243,4,0.102,0.073,2740,3805,2112
$GC,4764,1.01,146.0,540.2,11.7,494,4771,0.35,2.35,0.00,0.000,6,0.175,0.048,2652,2404,2111
$GC,5087,1.08,199.1,515.8,7.5,525,5142,0.00,2.53,45.35,1.247,4,0.000,0.059,2653,993,1896
$GC,5337,1.18,226.5,495.0,8.7,547,5368,0.15,2.38,24.77,1.205,6,0.100,0.054,2701,2398,1784
$GC,5683,1.10,226.5,457.2,11.0,580,5688,0.12,2.42,0.00,0.000,4,0.166,0.072,2670,3808,1782
$GC,5817,0.98,226.5,442.5,11.1,591,5824,0.10,2.33,0.00,0.000,6,0.179,0.047,2649,2386,1781
$GC,6143,1.10,261.0,415.1,8.4,622,6180,0.10,2.58,29.70,1.215,4,0.110,0.074,2682,3806,1642
$GC,6309,1.00,261.0,395.4,12.6,637,6314,0.12,2.33,0.00,0.000,6,0.171,0.047,2652,2394,1640
$GC,6633,1.12,271.4,363.3,9.5,667,6649,0.10,2.47,10.00,1.098,4,0.110,0.075,2687,3813,1601
$GC,6749,1.03,271.4,348.9,12.4,677,6756,0.12,2.30,0.00,0.000,6,0.174,0.048,2658,2400,1599
$GC,7074,1.18,286.7,317.3,9.3,708,7097,0.12,2.47,13.68,1.130,4,0.101,0.074,2701,3806,1539
$GC,7203,1.09,286.7,301.4,12.8,719,7210,0.12,2.30,0.00,0.000,6,0.174,0.048,2672,2387,1538
$GC,7527,1.20,286.7,269.4,10.0,750,7532,0.10,2.40,0.00,0.000,4,0.109,0.074,2706,3813,1538
$GC,7622,1.10,286.7,257.1,13.7,758,7627,0.12,2.28,0.00,0.000,6,0.178,0.048,2675,2391,1538
$GC,7946,1.23,297.3,225.4,9.5,788,7961,0.10,2.42,10.25,1.077,4,0.110,0.075,2710,3812,1495
$GC,8035,1.14,297.3,214.2,13.3,796,8039,0.12,2.28,0.00,0.000,6,0.173,0.048,2679,2398,1495
$GC,8359,1.30,321.2,183.1,8.9,826,8385,0.15,2.45,20.77,1.124,4,0.097,0.075,2732,3809,1397
$GC,8451,1.18,321.2,171.4,13.4,834,8459,0.12,2.33,0.00,0.000,6,0.170,0.048,2684,2404,1395
$GC,8778,1.34,331.1,141.6,9.5,865,8793,0.15,2.45,9.25,1.029,4,0.097,0.075,2736,3809,1358
$GC,8833,1.23,331.1,134.4,13.4,870,8837,0.15,2.30,0.00,0.000,6,0.175,0.049,2698,2392,1357
$GC,9157,1.37,342.8,102.3,9.5,900,9173,0.12,2.42,11.07,1.049,4,0.102,0.074,2742,3810,1310
$GC,9213,1.25,342.8,95.0,13.8,907,9220,0.15,2.30,0.00,0.000,6,0.176,0.049,2707,2394,1308
$GC,9558,1.43,374.1,61.4,8.5,968,9594,0.15,2.50,26.58,1.086,4,0.097,0.074,2759,3803,1180
$GC,9622,1.35,374.1,53.5,14.0,979,9629,0.12,2.33,0.00,0.000,6,0.179,0.049,2730,2395,1179
$GC,9966,1.58,403.2,18.0,8.6,1040,9997,0.17,2.55,24.52,1.055,4,0.097,0.075,2789,3812,1063
$GC,10036,1.58,403.2,11.5,11.3,1052,10043,0.00,2.35,0.00,0.000,6,0.000,0.050,2789,2390,1060
$STATE,10130,end climb,SURFACE_DEPTH_REACHED
$STATE,10131,begin surface coast
$FINISH,0.3,1.012681
$STATE,10156,end surface coast,CONTROL_FINISHED_OK
$STATE,10157,begin surface
$SM_CCo,10231,0.00,0.000,0,0,1056,405.24
$SM_GC,1.25,7.70,0.00,0.00,0.089,0.000,0.000,168,2231,1056,-10.37,-0.54,405.24
$RAFOS_CLK,571
$RAFOS,4,1220690643,8.750000,8.734167,64,59,54,51,51,51,209,179,143,118,156,242
$RAFOS,3,1220690051,8.583333,8.569722,67,58,56,56,51,51,208,174,190,218,139,165
$RAFOS,2,1220689449,8.416667,8.402500,60,58,56,56,54,53,202,191,159,174,216,118
$RAFOS,1,1220688843,8.250000,8.234167,60,59,56,56,54,52,160,185,217,227,118,197
$RAFOS_FIX,6753.162598,-5753.638672,060908,080820,4,63,114.77
$IRIDIUM_FIX,6609.62,-6011.94,011297,080812
$TT8_MAMPS,0.027612
$HUMID,1978
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,21.7,8.859
$10V_AH,10.6,2.384
$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,21.550,104.250,482.875,0.000,0.000,51.326,70.825,213.977,0.000,0.000,0.000,16.278,1797.061,6036.207,603.530,1892.916,451.490,0.000,1607.384,0.000,1860.625,1440.000,0.529,0.000
$DEVICE_MAMPS,272.285,85.904,1333.813,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.681,729.236,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40973,1073
$CAP_FILE_SIZE,114609,0
$CFSIZE,260165632,251375616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,060908,105910,6637.967,-6008.762,84,1.3,87,-37.9