version: 66.04
glider: 113
mission: 4
dive: 13
start: 9 6 108 22 30 20
data:
$ID,113
$MISSION,4
$DIVE,13
$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,-22302.629
$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,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,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,23
$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
$GPS1,222508,6638.163,-6017.642,37,0.8,37,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.9
$GPS2,222957,6638.143,-6017.720,14,1.1,14,-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,331.3,19849,-18.0,-10.000
$D_GRID,525
$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,-1.42,-146.0,0.0,0.0,0,141,0.00,0.00,-123.62,0.000,2,0.000,0.000,161,2281,2781
$GC,143,-1.42,-146.0,3.3,-6.4,20,177,8.48,2.45,-15.05,0.000,4,0.278,0.084,2111,3708,3307
$GC,328,-1.20,-146.0,51.3,-16.4,52,336,0.25,2.25,0.00,0.000,6,0.189,0.047,2174,2299,3311
$GC,673,-1.20,-146.0,102.2,-14.4,112,676,0.00,2.25,0.00,0.000,4,0.000,0.060,2174,894,3314
$GC,857,-1.20,-146.0,129.3,-14.2,128,865,0.00,2.30,0.00,0.000,6,0.000,0.055,2174,2301,3315
$GC,1182,-1.20,-146.0,173.9,-13.7,159,1185,0.00,2.33,0.00,0.000,4,0.000,0.074,2175,3716,3314
$GC,1305,-1.27,-146.0,190.9,-13.8,170,1309,0.00,2.22,0.00,0.000,6,0.000,0.047,2175,2298,3314
$GC,1635,-1.27,-146.0,234.0,-12.7,201,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2297,3314
$GC,1953,-1.27,-146.0,271.5,-11.4,231,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2297,3314
$GC,2274,-1.34,-146.0,305.5,-9.8,261,2279,0.12,2.35,0.00,0.000,4,0.113,0.074,2135,3720,3313
$GC,2384,-1.34,-146.0,319.8,-13.3,270,2392,0.00,2.25,0.00,0.000,6,0.000,0.048,2135,2301,3312
$GC,2711,-1.28,-146.0,362.0,-13.3,301,2715,0.10,2.22,0.00,0.000,4,0.204,0.061,2156,894,3311
$GC,2787,-1.28,-146.0,371.8,-12.0,307,2794,0.00,2.28,0.00,0.000,6,0.000,0.059,2157,2300,3311
$GC,3112,-1.28,-146.0,409.2,-11.5,338,3115,0.00,2.30,0.00,0.000,4,0.000,0.079,2157,3708,3311
$GC,3206,-1.37,-146.0,420.3,-11.9,346,3213,0.00,2.22,0.00,0.000,6,0.000,0.048,2157,2300,3311
$GC,3532,-1.44,-146.0,457.3,-11.4,377,3537,0.12,2.22,0.00,0.000,4,0.120,0.061,2119,885,3311
$GC,3649,-1.35,-146.0,472.8,-13.2,387,3654,0.10,2.25,0.00,0.000,6,0.219,0.058,2140,2304,3311
$GC,3973,-1.35,-146.0,512.2,-11.9,417,3977,0.00,2.30,0.00,0.000,4,0.000,0.076,2139,3718,3311
$GC,4078,-1.40,-146.0,524.9,-11.5,426,4085,0.00,2.22,0.00,0.000,6,0.000,0.046,2139,2300,3311
$STATE,4093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4093,begin apogee
$GC,4097,-0.34,0.0,526.8,11.7,428,4227,0.75,0.00,125.72,1.309,6,0.174,0.000,2363,2513,2708
$STATE,4228,end apogee,CONTROL_FINISHED_OK
$STATE,4228,begin climb
$GC,4230,1.42,146.0,531.1,0.0,441,4368,1.27,2.72,130.32,1.217,4,0.120,0.073,2746,3916,2112
$GC,4623,1.01,146.0,491.9,13.7,475,4630,0.35,2.38,0.00,0.000,6,0.179,0.047,2654,2495,2109
$GC,4946,1.07,189.4,464.2,8.0,506,4991,0.00,2.62,37.12,1.213,4,0.000,0.076,2655,3907,1935
$GC,5142,0.98,189.4,444.6,10.9,523,5149,0.00,2.38,0.00,0.000,6,0.000,0.046,2654,2495,1933
$GC,5467,1.02,222.7,416.0,8.4,554,5503,0.00,2.55,28.55,1.196,4,0.000,0.075,2654,3909,1799
$GC,5541,0.97,222.7,408.7,11.0,560,5548,0.00,2.38,0.00,0.000,6,0.000,0.044,2654,2502,1800
$GC,5866,1.08,244.4,378.7,9.0,591,5892,0.00,2.55,19.27,1.161,4,0.000,0.075,2654,3912,1710
$GC,5970,1.08,244.4,367.8,10.7,600,5977,0.00,2.35,0.00,0.000,6,0.000,0.044,2654,2499,1710
$GC,6296,1.23,277.2,339.1,8.5,631,6330,0.17,2.58,27.88,1.167,4,0.094,0.074,2714,3912,1577
$GC,6397,1.07,277.2,326.4,14.6,640,6402,0.20,2.35,0.00,0.000,6,0.166,0.045,2664,2490,1576
$GC,6723,1.20,297.9,296.0,9.0,670,6748,0.12,2.50,18.17,1.127,4,0.100,0.074,2707,3913,1493
$GC,6770,1.13,297.9,290.5,12.4,674,6775,0.12,2.33,0.00,0.000,6,0.169,0.044,2677,2499,1491
$GC,7099,1.23,303.2,259.1,9.8,705,7112,0.10,2.42,6.03,0.934,4,0.106,0.074,2713,3910,1470
$GC,7124,1.23,303.2,256.3,11.5,707,7128,0.00,2.30,0.00,0.000,6,0.000,0.044,2716,2487,1471
$GC,7447,1.23,303.2,218.1,12.4,737,7451,0.00,2.42,0.00,0.000,4,0.000,0.076,2716,3919,1471
$GC,7515,1.14,303.2,209.4,13.2,743,7520,0.15,2.28,0.00,0.000,6,0.171,0.045,2679,2489,1470
$GC,7839,1.30,320.1,178.2,9.2,773,7863,0.15,2.45,15.23,1.098,4,0.095,0.076,2732,3909,1403
$GC,7868,1.30,320.1,174.8,11.5,775,7875,0.00,2.30,0.00,0.000,6,0.000,0.044,2732,2502,1402
$GC,8193,1.30,320.1,137.0,11.3,806,8197,0.00,2.38,0.00,0.000,4,0.000,0.074,2732,3917,1401
$GC,8254,1.19,320.1,129.5,12.0,811,8259,0.15,2.28,0.00,0.000,6,0.173,0.047,2694,2487,1401
$GC,8578,1.34,341.1,99.6,9.0,841,8605,0.12,2.47,18.12,1.087,4,0.100,0.075,2738,3903,1316
$GC,8611,1.34,341.1,96.2,11.1,846,8617,0.00,2.28,0.00,0.000,6,0.000,0.046,2744,2499,1316
$GC,8954,1.34,341.1,57.3,10.7,907,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2499,1315
$GC,9297,1.34,341.1,20.4,11.0,968,9304,0.00,2.38,0.00,0.000,4,0.000,0.077,2743,3919,1314
$STATE,9493,end climb,SURFACE_DEPTH_REACHED
$STATE,9493,begin surface coast
$FINISH,0.4,1.013767
$STATE,9516,end surface coast,CONTROL_FINISHED_OK
$STATE,9517,begin surface
$SM_CCo,9533,25.92,1.068,0,0,1179,375.06
$SM_GC,1.57,0.00,0.00,25.92,0.000,0.000,1.068,165,2287,1179,-10.45,-0.37,375.06
$RAFOS_CLK,521
$RAFOS,4,1220748241,0.750000,0.733611,61,60,59,58,56,51,211,121,202,148,163,138
$RAFOS,3,1220747645,0.583333,0.568056,59,59,57,55,52,52,202,218,149,125,163,175
$RAFOS,2,1220747041,0.416667,0.400278,62,60,54,53,51,47,202,212,142,163,187,122
$RAFOS,1,1220746449,0.250000,0.235833,70,60,57,55,54,52,191,219,137,173,160,125
$RAFOS,0,1220745850,0.083333,0.069444,69,69,59,55,55,53,190,208,148,166,177,124
$RAFOS_FIX,6754.670410,-5840.199707,070908,000052,4,66,23.41
$IRIDIUM_FIX,6609.62,-6002.54,011297,191948
$TT8_MAMPS,0.027612
$HUMID,1945
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,9.755
$10V_AH,10.6,2.691
$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,20.300,95.000,426.425,25.925,0.000,22.713,39.895,128.118,0.000,0.000,0.000,16.268,1810.647,5444.572,591.635,1760.161,298.536,0.000,1517.708,0.000,1734.268,1800.000,0.528,0.000
$DEVICE_MAMPS,278.421,83.603,1308.502,1068.431,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.304,685.134,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37838,1007
$CAP_FILE_SIZE,102429,0
$CFSIZE,260165632,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$CURRENT,0.181,154.7,1
$GPS,070908,011137,6637.428,-6019.616,9,1.1,25,-37.9