version: 66.04
glider: 113
mission: 4
dive: 10
start: 9 6 108 14 1 39
data:
$ID,113
$MISSION,4
$DIVE,10
$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,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,-22257.299
$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,24
$R_STBD_OVSHOOT,22
$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
$GPS1,135532,6637.384,-6010.142,37,1.1,37,-37.9
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.3
$GPS2,140115,6637.374,-6010.057,15,1.6,15,-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,344.2,25608,-18.0,-10.000
$D_GRID,540
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-111.85,0.000,2,0.000,0.000,167,2236,2802
$GC,131,-1.39,-146.0,3.9,-8.2,18,158,8.43,2.50,-13.85,0.000,4,0.275,0.089,2123,3663,3307
$GC,310,-1.18,-146.0,45.1,-19.3,49,317,0.22,2.30,0.00,0.000,6,0.194,0.048,2181,2232,3312
$GC,654,-1.18,-146.0,96.4,-14.5,110,660,0.00,2.25,0.00,0.000,4,0.000,0.062,2181,833,3314
$GC,737,-1.18,-146.0,109.2,-15.0,120,744,0.00,2.33,0.00,0.000,6,0.000,0.056,2181,2252,3314
$GC,1062,-1.18,-146.0,153.4,-13.3,151,1065,0.00,2.33,0.00,0.000,4,0.000,0.074,2179,3668,3314
$GC,1231,-1.27,-146.0,173.9,-11.9,166,1235,0.00,2.25,0.00,0.000,6,0.000,0.048,2179,2240,3314
$GC,1560,-1.27,-146.0,211.5,-11.3,197,1564,0.00,2.22,0.00,0.000,4,0.000,0.063,2179,839,3314
$GC,1632,-1.27,-146.0,220.2,-12.2,203,1640,0.00,2.30,0.00,0.000,6,0.000,0.058,2179,2252,3314
$GC,1957,-1.32,-146.0,256.1,-11.3,234,1962,0.12,2.30,0.00,0.000,4,0.126,0.076,2138,3656,3313
$GC,2067,-1.32,-146.0,271.3,-13.3,243,2076,0.00,2.22,0.00,0.000,6,0.000,0.049,2138,2255,3313
$GC,2393,-1.26,-146.0,317.1,-14.3,274,2398,0.10,2.25,0.00,0.000,4,0.206,0.063,2160,835,3312
$GC,2442,-1.26,-146.0,323.8,-12.9,278,2446,0.00,2.28,0.00,0.000,6,0.000,0.058,2160,2259,3312
$GC,2772,-1.26,-146.0,365.4,-12.2,309,2776,0.00,2.30,0.00,0.000,4,0.000,0.077,2160,3668,3312
$GC,2832,-1.35,-146.0,372.8,-11.7,314,2839,0.00,2.25,0.00,0.000,6,0.000,0.049,2160,2250,3312
$GC,3157,-1.35,-146.0,411.5,-11.4,345,3161,0.00,2.22,0.00,0.000,4,0.000,0.063,2160,838,3312
$GC,3218,-1.35,-146.0,419.2,-12.4,350,3225,0.00,2.28,0.00,0.000,6,0.000,0.058,2160,2247,3312
$GC,3543,-1.42,-146.0,458.0,-11.8,381,3548,0.12,2.30,0.00,0.000,4,0.116,0.076,2121,3661,3311
$GC,3631,-1.42,-146.0,470.0,-13.7,388,3638,0.00,2.22,0.00,0.000,6,0.000,0.049,2121,2250,3311
$GC,3956,-1.36,-146.0,513.9,-13.7,419,3960,0.00,2.33,0.00,0.000,4,0.000,0.076,2121,3669,3311
$GC,4034,-1.36,-146.0,524.2,-12.9,426,4038,0.00,2.22,0.00,0.000,6,0.000,0.049,2121,2240,3311
$STATE,4151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4151,begin apogee
$GC,4155,-0.33,0.0,540.3,13.1,437,4285,0.82,0.00,126.47,1.320,6,0.176,0.000,2365,2408,2708
$STATE,4286,end apogee,CONTROL_FINISHED_OK
$STATE,4286,begin climb
$GC,4288,1.39,146.0,545.5,0.0,450,4428,1.23,2.78,130.85,1.228,4,0.112,0.076,2736,3808,2112
$GC,4651,1.00,146.0,510.6,12.5,482,4659,0.28,2.40,0.00,0.000,6,0.173,0.048,2649,2406,2111
$GC,4976,1.08,207.4,484.0,7.1,513,5036,0.00,2.65,52.50,1.228,4,0.000,0.074,2649,3803,1862
$GC,5222,1.03,211.1,462.0,9.8,535,5235,0.00,2.38,4.50,0.833,6,0.000,0.047,2649,2389,1847
$GC,5551,1.13,241.1,434.1,8.6,566,5587,0.12,2.60,26.60,1.200,4,0.103,0.074,2691,3805,1725
$GC,5722,0.98,241.1,413.8,12.8,581,5727,0.17,2.35,0.00,0.000,6,0.170,0.048,2647,2395,1724
$GC,6046,1.11,258.7,385.2,9.2,611,6070,0.12,2.53,16.05,1.160,4,0.104,0.074,2689,3804,1652
$GC,6161,0.99,258.7,371.5,12.3,621,6166,0.15,2.33,0.00,0.000,6,0.172,0.047,2653,2394,1651
$GC,6485,1.14,280.8,341.7,9.0,651,6511,0.12,2.55,19.30,1.160,4,0.104,0.074,2694,3810,1563
$GC,6549,1.05,280.8,334.3,13.2,656,6556,0.10,2.38,0.00,0.000,6,0.168,0.047,2666,2395,1561
$GC,6874,1.19,298.8,303.3,9.2,687,6899,0.10,2.47,16.38,1.133,4,0.110,0.075,2699,3807,1488
$GC,6926,1.12,298.8,297.1,13.3,691,6933,0.08,2.35,0.00,0.000,6,0.174,0.047,2681,2401,1488
$GC,7251,1.21,301.0,264.1,9.9,722,7255,0.00,2.40,0.00,0.000,4,0.000,0.076,2681,3812,1487
$GC,7284,1.21,301.0,260.5,11.4,725,7288,0.00,2.28,0.00,0.000,6,0.000,0.047,2681,2397,1487
$GC,7614,1.31,301.0,227.5,10.1,756,7619,0.15,2.38,0.00,0.000,4,0.099,0.074,2732,3808,1487
$GC,7691,1.16,301.0,216.6,14.5,762,7699,0.15,2.28,0.00,0.000,6,0.166,0.048,2686,2402,1487
$GC,8017,1.27,312.1,185.1,9.5,793,8038,0.10,2.45,12.02,1.088,4,0.110,0.074,2720,3808,1435
$GC,8065,1.17,312.1,179.2,13.7,797,8073,0.10,2.30,0.00,0.000,6,0.164,0.048,2690,2401,1433
$GC,8390,1.29,325.6,148.2,9.4,828,8408,0.10,2.42,12.43,1.074,4,0.110,0.074,2724,3819,1380
$GC,8454,1.20,325.6,140.9,12.8,833,8459,0.15,2.30,0.00,0.000,6,0.171,0.048,2692,2401,1379
$GC,8778,1.36,354.1,111.6,8.7,863,8808,0.15,2.47,24.10,1.097,4,0.097,0.074,2746,3819,1263
$GC,8823,1.29,354.1,106.0,12.3,866,8831,0.10,2.38,0.00,0.000,6,0.173,0.048,2717,2399,1262
$GC,9165,1.39,354.1,70.0,10.9,922,9171,0.00,2.38,0.00,0.000,4,0.000,0.074,2717,3809,1260
$GC,9221,1.39,354.1,62.7,13.1,932,9229,0.00,2.28,0.00,0.000,6,0.000,0.048,2717,2393,1260
$GC,9567,1.65,435.9,28.6,6.2,993,9643,0.22,2.60,67.85,1.052,4,0.094,0.073,2800,3806,930
$GC,9738,1.55,435.9,8.6,14.2,1022,9746,0.12,2.35,0.00,0.000,6,0.180,0.049,2772,2390,922
$STATE,9795,end climb,SURFACE_DEPTH_REACHED
$STATE,9795,begin surface coast
$FINISH,0.4,1.024803
$STATE,9813,end surface coast,CONTROL_FINISHED_OK
$STATE,9813,begin surface
$SM_CCo,9888,0.00,0.000,0,0,916,439.58
$SM_GC,1.33,7.75,0.00,0.00,0.091,0.000,0.000,162,2230,916,-10.41,-0.57,439.58
$RAFOS_CLK,548
$RAFOS,3,1220718844,16.583334,16.567778,65,59,52,51,49,48,192,207,142,222,160,113
$RAFOS,2,1220718241,16.416666,16.400278,59,54,53,53,53,48,144,175,120,187,215,1759
$RAFOS,1,1220717649,16.250000,16.235834,58,57,53,53,51,48,193,219,133,169,156,114
$RAFOS,0,1220717045,16.083334,16.068056,61,60,59,57,55,53,196,207,170,217,129,142
$RAFOS_FIX,47220.246094,623944.687500,060908,161612,2,63,32610.53
$IRIDIUM_FIX,6609.62,-6014.64,011297,111122
$TT8_MAMPS,0.029913
$HUMID,1944
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.6,9.217
$10V_AH,10.6,2.512
$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,21.400,109.150,509.050,0.000,0.000,24.107,33.776,184.791,0.000,0.000,0.000,17.429,1847.847,5616.099,634.863,1822.133,350.312,0.000,1607.398,0.000,1791.666,1800.000,0.528,0.000
$DEVICE_MAMPS,274.586,88.972,1320.007,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.495,703.471,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37848,1035
$CAP_FILE_SIZE,111432,0
$CFSIZE,260165632,251256832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.2
$CURRENT,0.133, 29.7,1
$GPS,060908,164808,6638.435,-6012.281,25,1.0,25,-37.9