version: 66.04
glider: 113
mission: 4
dive: 14
start: 9 7 108 1 16 25
data:
$ID,113
$MISSION,4
$DIVE,14
$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,-22318.252
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,011137,6637.428,-6019.616,9,1.1,25,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.9
$GPS2,011602,6637.443,-6019.594,13,1.1,13,-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,359.9,19110,-18.0,-10.000
$D_GRID,515
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-113.97,0.000,2,0.000,0.000,166,2286,2837
$GC,134,-1.42,-146.0,3.9,-5.8,18,162,8.45,2.47,-12.77,0.000,4,0.278,0.084,2124,3712,3306
$GC,184,-0.81,-146.0,20.6,-31.0,26,191,0.50,2.30,0.00,0.000,6,0.189,0.051,2259,2296,3309
$GC,528,-1.01,-146.0,61.7,-11.0,87,535,0.15,2.38,0.00,0.000,4,0.108,0.072,2209,3713,3313
$GC,569,-1.13,-146.0,66.9,-12.8,94,575,0.00,2.25,0.00,0.000,6,0.000,0.045,2209,2295,3313
$GC,913,-1.20,-146.0,110.6,-12.3,148,917,0.12,2.25,0.00,0.000,4,0.118,0.061,2168,882,3315
$GC,1002,-1.12,-146.0,123.3,-14.3,156,1007,0.10,2.30,0.00,0.000,6,0.217,0.057,2188,2309,3315
$GC,1325,-1.12,-146.0,162.5,-11.5,186,1329,0.00,2.30,0.00,0.000,4,0.000,0.074,2188,3709,3315
$GC,1464,-1.25,-146.0,178.3,-11.4,198,1472,0.08,2.25,0.00,0.000,6,0.100,0.047,2157,2296,3315
$GC,1791,-1.25,-146.0,221.1,-13.3,229,1795,0.00,2.22,0.00,0.000,4,0.000,0.062,2157,893,3314
$GC,1851,-1.18,-146.0,229.9,-14.2,234,1858,0.08,2.30,0.00,0.000,6,0.205,0.058,2176,2306,3314
$GC,2177,-1.24,-146.0,268.4,-11.0,265,2181,0.00,2.30,0.00,0.000,4,0.000,0.076,2176,3712,3313
$GC,2323,-1.36,-146.0,284.7,-10.8,278,2327,0.15,2.22,0.00,0.000,6,0.112,0.048,2128,2288,3313
$GC,2652,-1.28,-146.0,330.4,-14.2,309,2656,0.12,2.22,0.00,0.000,4,0.206,0.062,2157,881,3312
$GC,2756,-1.28,-146.0,343.9,-11.8,318,2763,0.00,2.30,0.00,0.000,6,0.000,0.058,2157,2305,3312
$GC,3082,-1.28,-146.0,381.3,-11.9,349,3086,0.00,2.30,0.00,0.000,4,0.000,0.077,2157,3714,3312
$GC,3198,-1.38,-146.0,395.5,-12.4,359,3205,0.00,2.25,0.00,0.000,6,0.000,0.048,2157,2292,3311
$GC,3523,-1.38,-146.0,432.5,-11.4,390,3527,0.00,2.20,0.00,0.000,4,0.000,0.061,2157,889,3312
$GC,3589,-1.38,-146.0,440.5,-11.5,396,3593,0.00,2.25,0.00,0.000,6,0.000,0.058,2157,2305,3312
$GC,3921,-1.44,-146.0,477.3,-11.6,427,3926,0.12,2.30,0.00,0.000,4,0.119,0.075,2119,3721,3312
$GC,4020,-1.44,-146.0,490.3,-12.5,435,4027,0.00,2.25,0.00,0.000,6,0.000,0.047,2119,2292,3311
$STATE,4216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4216,begin apogee
$GC,4220,-0.34,0.0,515.9,12.9,454,4350,0.82,0.00,125.47,1.306,6,0.184,0.000,2359,2506,2708
$STATE,4351,end apogee,CONTROL_FINISHED_OK
$STATE,4351,begin climb
$GC,4352,1.42,146.0,519.4,0.0,467,4490,1.27,2.78,130.12,1.212,4,0.120,0.073,2741,3908,2111
$GC,4694,1.01,146.0,486.9,12.7,497,4699,0.35,2.38,0.00,0.000,6,0.176,0.046,2653,2497,2110
$GC,5018,1.06,183.8,460.7,8.2,527,5056,0.00,2.60,32.42,1.210,4,0.000,0.074,2654,3903,1958
$GC,5141,0.96,183.8,448.7,10.6,538,5145,0.00,2.35,0.00,0.000,6,0.000,0.045,2653,2498,1958
$GC,5471,0.99,206.1,419.9,9.0,569,5496,0.00,2.58,19.88,1.180,4,0.000,0.076,2653,3907,1867
$GC,5542,0.92,206.1,413.1,10.5,575,5545,0.00,2.35,0.00,0.000,6,0.000,0.045,2654,2490,1866
$GC,5872,1.01,237.2,384.4,8.5,606,5906,0.00,2.55,26.88,1.183,4,0.000,0.075,2653,3912,1741
$GC,5911,1.11,270.9,381.0,8.4,609,5947,0.10,2.38,29.80,1.144,6,0.108,0.044,2685,2489,1603
$GC,6264,1.11,270.9,343.5,11.3,642,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2490,1601
$GC,6582,1.12,275.1,310.8,9.8,672,6594,0.00,2.45,4.82,0.861,4,0.000,0.075,2686,3907,1585
$GC,6616,1.12,275.1,307.0,10.9,675,6620,0.00,2.28,0.00,0.000,6,0.000,0.044,2689,2498,1585
$GC,6947,1.12,275.1,273.5,10.3,706,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2498,1585
$GC,7266,1.18,278.6,241.2,9.8,736,7275,0.00,0.00,4.57,0.839,6,0.000,0.000,2689,2498,1572
$GC,7594,1.25,279.7,208.1,9.9,767,7598,0.00,2.38,0.00,0.000,4,0.000,0.074,2689,3919,1572
$GC,7605,1.30,284.5,207.0,9.8,768,7618,0.10,2.25,6.70,0.972,6,0.114,0.044,2723,2491,1548
$GC,7934,1.30,284.5,170.1,11.0,799,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2491,1547
$GC,8253,1.30,284.5,134.5,11.2,829,8256,0.00,2.38,0.00,0.000,4,0.000,0.076,2723,3915,1547
$GC,8302,1.17,284.5,128.1,13.9,833,8311,0.12,2.25,0.00,0.000,6,0.168,0.047,2690,2507,1547
$GC,8628,1.31,309.4,97.4,8.8,866,8654,0.12,0.00,21.23,1.100,6,0.104,0.000,2733,2507,1445
$GC,8991,1.31,309.4,58.0,10.3,930,8998,0.00,2.30,0.00,0.000,4,0.000,0.061,2733,1081,1443
$GC,9003,1.31,309.4,56.7,10.6,932,9009,0.00,2.33,0.00,0.000,6,0.000,0.057,2734,2510,1443
$GC,9347,1.49,356.2,25.8,7.8,993,9393,0.10,2.45,38.10,1.073,4,0.111,0.075,2770,3910,1255
$STATE,9593,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,0.4,1.024762
$STATE,9611,end surface coast,CONTROL_FINISHED_OK
$STATE,9611,begin surface
$SM_CCo,9628,14.20,1.003,0,0,1179,375.06
$SM_GC,1.04,0.00,0.00,14.20,0.000,0.000,1.003,166,2298,1179,-10.44,-0.06,375.06
$RAFOS_CLK,530
$RAFOS_FIX,6754.670410,-5840.199707,070908,000052,4,66,23.41
$IRIDIUM_FIX,6609.62,-6014.64,011297,222222
$TT8_MAMPS,0.027612
$HUMID,1941
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,9.917
$10V_AH,10.6,2.750
$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,20.525,89.600,440.000,14.200,0.000,23.421,30.268,116.612,0.000,0.000,0.000,14.996,1821.857,5504.775,566.613,1748.947,272.602,0.000,1483.356,0.000,1725.794,0.000,0.529,0.000
$DEVICE_MAMPS,277.654,84.370,1306.201,1003.236,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.216,707.102,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37815,1039
$CAP_FILE_SIZE,100406,0
$CFSIZE,260165632,251031552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.2
$CURRENT,0.089,153.1,1
$GPS,070908,035817,6637.924,-6021.450,8,2.6,27,-37.9