version: 66.04
glider: 113
mission: 4
dive: 21
start: 9 7 108 21 56 12
data:
$ID,113
$MISSION,4
$DIVE,21
$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,412
$T_MISSION,470
$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,-22446.463
$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,2330
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,215038,6640.890,-6040.003,35,0.9,35,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.6
$GPS2,215533,6640.841,-6040.090,10,1.0,10,-38.0
$SPEED_LIMITS,0.139,0.238
$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,6.9,3025,-16.9,-8.010
$D_GRID,485
$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,-1.30,-114.0,0.0,0.0,0,141,0.00,0.00,-123.38,0.000,2,0.000,0.000,165,2320,2862
$GC,143,-1.34,-146.0,3.9,-5.6,20,170,8.48,2.40,-11.95,0.000,4,0.276,0.084,2139,3739,3306
$GC,355,-1.13,-146.0,54.9,-16.9,57,362,0.20,2.25,0.00,0.000,6,0.191,0.046,2188,2327,3312
$GC,698,-1.07,-146.0,103.5,-13.6,116,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2326,3315
$GC,1016,-1.07,-146.0,145.2,-12.4,146,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2326,3315
$GC,1335,-1.07,-146.0,184.6,-12.6,176,1339,0.00,2.35,0.00,0.000,4,0.000,0.074,2188,3745,3315
$GC,1384,-1.15,-146.0,190.8,-12.0,180,1391,0.00,2.25,0.00,0.000,6,0.000,0.045,2188,2330,3315
$GC,1710,-1.15,-146.0,230.2,-12.0,211,1713,0.00,2.22,0.00,0.000,4,0.000,0.060,2188,924,3314
$GC,1799,-1.15,-146.0,240.6,-11.1,219,1803,0.00,2.25,0.00,0.000,6,0.000,0.055,2188,2336,3314
$GC,2130,-1.20,-146.0,276.4,-10.6,250,2133,0.00,2.28,0.00,0.000,4,0.000,0.074,2188,3735,3313
$GC,2243,-1.32,-146.0,288.6,-10.7,260,2248,0.15,2.20,0.00,0.000,6,0.104,0.046,2138,2323,3313
$GC,2567,-1.20,-146.0,331.6,-13.6,290,2572,0.15,2.33,0.00,0.000,4,0.190,0.075,2174,3733,3313
$GC,2621,-1.28,-146.0,338.1,-11.3,294,2629,0.00,2.20,0.00,0.000,6,0.000,0.045,2175,2336,3313
$GC,2946,-1.33,-146.0,372.8,-10.7,325,2948,0.12,0.00,0.00,0.000,6,0.109,0.000,2135,2336,3312
$GC,3265,-1.23,-146.0,413.4,-12.5,355,3267,0.15,0.00,0.00,0.000,6,0.186,0.000,2172,2336,3312
$GC,3584,-1.28,-146.0,446.3,-9.6,385,3587,0.00,2.30,0.00,0.000,4,0.000,0.078,2172,3733,3312
$GC,3651,-1.39,-146.0,453.1,-9.7,391,3656,0.15,2.17,0.00,0.000,6,0.104,0.045,2123,2328,3312
$STATE,3912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3912,begin apogee
$GC,3917,-0.34,0.0,486.0,12.9,415,4046,0.77,0.00,125.07,1.289,6,0.173,0.000,2359,2583,2708
$STATE,4046,end apogee,CONTROL_FINISHED_OK
$STATE,4046,begin climb
$GC,4048,1.34,146.0,491.1,0.0,428,4187,1.23,2.65,129.93,1.192,4,0.117,0.073,2727,3936,2112
$GC,4287,0.94,146.0,472.1,12.6,449,4295,0.30,2.33,0.00,0.000,6,0.166,0.044,2638,2592,2110
$GC,4612,0.96,161.8,447.5,7.2,480,4634,0.00,2.42,14.20,1.137,4,0.000,0.073,2637,3936,2048
$GC,4673,0.84,161.8,442.4,9.0,485,4679,0.00,2.30,0.00,0.000,6,0.000,0.044,2637,2569,2048
$GC,4998,0.85,166.4,417.4,7.8,516,5010,0.00,2.38,5.60,0.946,4,0.000,0.074,2637,3941,2029
$GC,5026,0.80,166.4,415.1,8.1,518,5033,0.08,2.25,0.00,0.000,6,0.165,0.044,2612,2573,2028
$GC,5352,0.93,192.7,392.8,6.7,549,5387,0.10,2.47,23.00,1.190,4,0.104,0.076,2649,3940,1922
$GC,5391,0.94,193.9,389.5,8.0,552,5398,0.00,2.28,0.00,0.000,6,0.000,0.044,2650,2579,1922
$GC,5716,0.94,193.9,362.6,8.1,583,5720,0.00,2.30,0.00,0.000,4,0.000,0.077,2650,3939,1920
$GC,5761,0.85,193.9,358.5,9.6,587,5765,0.12,2.17,0.00,0.000,6,0.173,0.044,2618,2578,1919
$GC,6090,1.04,244.9,337.7,5.5,618,6140,0.15,2.47,43.33,1.187,4,0.093,0.076,2671,3935,1709
$GC,6168,0.94,244.9,330.9,10.4,625,6173,0.15,2.25,0.00,0.000,6,0.165,0.044,2637,2574,1708
$GC,6492,1.07,257.0,306.4,7.4,655,6509,0.12,2.40,11.27,1.085,4,0.100,0.074,2681,3938,1660
$GC,6526,1.00,257.0,303.1,9.6,658,6531,0.12,2.22,0.00,0.000,6,0.168,0.044,2651,2568,1659
$GC,6852,1.10,261.3,277.4,7.8,688,6864,0.10,2.33,5.25,0.897,4,0.107,0.072,2686,3940,1641
$GC,6869,1.10,261.3,275.6,8.5,689,6876,0.00,2.20,0.00,0.000,6,0.000,0.044,2688,2582,1642
$GC,7195,1.10,261.3,244.1,9.8,720,7199,0.00,2.28,0.00,0.000,4,0.000,0.076,2689,3943,1641
$GC,7262,0.96,261.3,236.7,11.2,726,7266,0.17,2.17,0.00,0.000,6,0.163,0.045,2641,2569,1641
$GC,7586,1.14,280.5,212.9,7.1,756,7607,0.15,0.00,16.60,1.119,6,0.099,0.000,2693,2568,1564
$GC,7924,1.14,280.5,180.8,9.8,788,7928,0.00,2.33,0.00,0.000,4,0.000,0.077,2693,3947,1562
$GC,7974,1.04,280.5,175.3,10.9,792,7979,0.12,2.17,0.00,0.000,6,0.169,0.045,2663,2576,1562
$GC,8298,1.18,287.2,148.5,7.7,822,8309,0.12,0.00,7.12,0.988,6,0.102,0.000,2706,2576,1537
$GC,8626,1.18,287.2,119.7,8.1,853,8630,0.00,2.30,0.00,0.000,4,0.000,0.078,2706,3946,1536
$GC,8664,1.08,287.2,116.0,10.7,856,8672,0.10,2.17,0.00,0.000,6,0.163,0.046,2674,2586,1536
$GC,8995,1.23,298.8,91.6,7.4,896,9008,0.12,0.00,10.80,1.057,6,0.103,0.000,2718,2586,1490
$GC,9345,1.23,298.8,58.3,9.5,958,9351,0.00,2.28,0.00,0.000,4,0.000,0.080,2718,3939,1488
$GC,9413,1.11,298.8,50.9,11.4,970,9420,0.15,2.15,0.00,0.000,6,0.170,0.048,2679,2579,1488
$GC,9757,1.34,329.5,24.6,6.5,1031,9791,0.17,2.40,25.90,1.084,4,0.092,0.061,2744,1166,1364
$GC,9847,1.54,364.9,18.8,6.3,1046,9887,0.10,2.38,29.98,1.039,6,0.109,0.059,2778,2594,1219
$STATE,10043,end climb,SURFACE_DEPTH_REACHED
$STATE,10043,begin surface coast
$FINISH,0.3,1.024756
$STATE,10061,end surface coast,CONTROL_FINISHED_OK
$STATE,10062,begin surface
$SM_CCo,10076,6.88,0.890,0,0,1179,375.06
$SM_GC,2.26,0.00,0.00,6.88,0.000,0.000,0.890,163,2322,1179,-10.45,-0.23,375.06
$RAFOS_CLK,558
$RAFOS,3,1220834046,0.583333,0.568333,65,56,55,53,51,45,207,188,216,156,120,138
$RAFOS,2,1220833442,0.416667,0.400556,66,55,55,53,51,49,211,174,223,165,196,136
$RAFOS,1,1220832847,0.250000,0.235278,70,58,53,51,51,50,186,213,170,157,121,144
$RAFOS,0,1220832250,0.083333,0.069444,60,54,53,52,52,45,135,149,224,215,188,163
$RAFOS_FIX,6738.168945,-5846.514648,080908,000012,4,65,15.43
$IRIDIUM_FIX,6609.62,-6036.17,021297,181826
$TT8_MAMPS,0.027612
$HUMID,1911
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,21.7,11.100
$10V_AH,10.6,3.190
$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,21.575,88.125,448.050,6.875,0.000,23.398,32.515,140.152,0.000,0.000,0.000,12.193,1928.564,5878.380,579.039,1753.223,308.197,0.000,1510.557,0.000,1734.446,1440.000,0.528,0.000
$DEVICE_MAMPS,276.120,83.603,1288.560,890.487,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.984,736.634,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40967,1083
$CAP_FILE_SIZE,107252,0
$CFSIZE,260165632,250589184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.7
$CURRENT,0.291,195.6,1
$GPS,080908,004646,6640.342,-6043.406,39,2.5,58,-38.0