version: 66.04
glider: 113
mission: 4
dive: 22
start: 9 8 108 0 51 57
data:
$ID,113
$MISSION,4
$DIVE,22
$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,-22462.812
$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,27
$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
$GPS1,004646,6640.342,-6043.406,39,2.5,58,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.0
$GPS2,005132,6640.332,-6043.470,9,0.9,14,-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,55.7,3108,-14.7,-8.010
$D_GRID,463
$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,13,begin dive
$GC,15,-1.20,-146.0,0.0,0.0,0,131,0.00,0.00,-113.45,0.000,2,0.000,0.000,163,2319,2834
$GC,133,-1.20,-146.0,3.4,-4.3,18,161,8.65,2.38,-12.90,0.000,4,0.276,0.074,2172,910,3306
$GC,369,-0.93,-146.0,54.6,-14.5,59,376,0.22,2.33,0.00,0.000,6,0.189,0.056,2230,2336,3312
$GC,713,-0.93,-146.0,93.9,-10.9,120,719,0.00,2.33,0.00,0.000,4,0.000,0.074,2230,3742,3314
$GC,785,-0.98,-146.0,102.3,-11.4,131,792,0.00,2.28,0.00,0.000,6,0.000,0.044,2230,2321,3315
$GC,1111,-0.98,-146.0,136.5,-9.9,162,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2321,3315
$GC,1428,-0.98,-146.0,166.7,-9.4,192,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2321,3315
$GC,1748,-1.04,-146.0,195.8,-8.8,222,1751,0.00,2.35,0.00,0.000,4,0.000,0.077,2231,3736,3314
$GC,1793,-1.15,-146.0,199.7,-9.3,226,1797,0.17,2.20,0.00,0.000,6,0.105,0.047,2174,2330,3314
$GC,2122,-1.03,-146.0,238.0,-12.0,257,2124,0.15,0.00,0.00,0.000,6,0.179,0.000,2211,2329,3314
$GC,2441,-1.03,-146.0,269.1,-9.5,287,2444,0.00,2.35,0.00,0.000,4,0.000,0.079,2211,3745,3313
$GC,2530,-1.11,-146.0,277.5,-9.9,295,2534,0.00,2.22,0.00,0.000,6,0.000,0.047,2212,2321,3313
$GC,2860,-1.11,-146.0,306.2,-8.8,326,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2321,3313
$GC,3178,-1.17,-146.0,334.8,-9.2,356,3183,0.12,2.35,0.00,0.000,4,0.114,0.077,2171,3742,3312
$GC,3285,-1.17,-146.0,347.1,-11.7,365,3289,0.00,2.20,0.00,0.000,6,0.000,0.047,2171,2330,3312
$GC,3616,-1.09,-146.0,385.5,-11.0,396,3620,0.12,2.33,0.00,0.000,4,0.187,0.077,2201,3740,3312
$GC,3660,-1.19,-146.0,390.2,-10.2,400,3664,0.10,2.20,0.00,0.000,6,0.117,0.047,2169,2325,3312
$GC,3988,-1.11,-146.0,427.0,-10.9,431,3993,0.10,2.20,0.00,0.000,4,0.184,0.061,2191,922,3311
$GC,4082,-1.11,-146.0,436.7,-10.0,439,4089,0.00,2.28,0.00,0.000,6,0.000,0.057,2191,2337,3311
$STATE,4352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4352,begin apogee
$GC,4356,-0.34,0.0,463.7,9.1,465,4486,0.57,0.00,124.82,1.280,6,0.164,0.000,2366,2578,2708
$STATE,4486,end apogee,CONTROL_FINISHED_OK
$STATE,4487,begin climb
$GC,4488,1.20,146.0,467.0,0.0,478,4626,1.08,2.65,129.82,1.184,4,0.115,0.057,2692,1174,2112
$GC,4881,1.05,305.4,466.0,1.9,512,5027,0.12,2.42,140.27,1.174,6,0.168,0.057,2664,2587,1462
$GC,5351,1.05,305.4,425.2,9.2,556,5355,0.00,2.40,0.00,0.000,4,0.000,0.058,2664,1178,1459
$GC,5568,1.05,305.4,405.1,9.8,575,5576,0.00,2.38,0.00,0.000,6,0.000,0.054,2663,2580,1458
$GC,5894,1.05,305.4,373.7,9.5,606,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2580,1458
$GC,6212,1.05,305.4,343.8,9.3,636,6216,0.00,2.30,0.00,0.000,4,0.000,0.058,2663,1170,1458
$GC,6223,1.05,305.4,342.7,9.1,637,6227,0.00,2.30,0.00,0.000,6,0.000,0.054,2663,2585,1458
$GC,6552,1.05,305.4,313.0,9.1,668,6556,0.00,2.30,0.00,0.000,4,0.000,0.058,2663,1164,1458
$GC,6569,1.05,305.4,311.6,8.7,669,6575,0.00,2.30,0.00,0.000,6,0.000,0.054,2663,2589,1458
$GC,6893,1.05,305.4,282.6,8.9,700,6897,0.00,2.28,0.00,0.000,4,0.000,0.058,2663,1176,1458
$GC,6903,1.05,305.4,281.6,9.1,701,6907,0.00,2.25,0.00,0.000,6,0.000,0.054,2663,2582,1457
$GC,7233,1.05,305.4,252.1,8.9,732,7237,0.00,2.28,0.00,0.000,4,0.000,0.059,2663,1165,1457
$GC,7260,1.12,305.4,249.7,8.7,734,7268,0.00,2.30,0.00,0.000,6,0.000,0.054,2663,2580,1458
$GC,7585,1.12,305.4,220.5,9.0,765,7589,0.00,2.25,0.00,0.000,4,0.000,0.059,2663,1176,1458
$GC,7612,1.19,305.4,218.1,9.0,767,7619,0.12,2.25,0.00,0.000,6,0.103,0.055,2706,2583,1458
$GC,7937,1.11,305.4,183.8,10.4,798,7939,0.12,0.00,0.00,0.000,6,0.162,0.000,2673,2584,1458
$GC,8255,1.11,305.4,158.5,8.1,828,8259,0.00,2.25,0.00,0.000,4,0.000,0.060,2673,1176,1457
$GC,8278,1.17,308.5,156.7,7.9,830,8282,0.00,2.25,0.00,0.000,6,0.000,0.056,2673,2588,1457
$GC,8608,1.17,308.5,129.9,8.2,861,8612,0.00,2.28,0.00,0.000,4,0.000,0.061,2673,1162,1457
$GC,8630,1.25,308.5,128.1,8.1,863,8635,0.12,2.28,0.00,0.000,6,0.104,0.056,2717,2590,1457
$GC,8956,1.16,308.5,96.3,9.4,897,8963,0.12,2.20,0.00,0.000,4,0.163,0.075,2684,3945,1457
$GC,8980,1.08,308.5,94.2,9.2,901,8986,0.00,2.12,0.00,0.000,6,0.000,0.045,2684,2575,1456
$GC,9323,1.13,308.5,66.0,8.1,962,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2575,1456
$GC,9667,1.20,308.5,38.1,8.1,1023,9673,0.00,2.25,0.00,0.000,4,0.000,0.077,2684,3943,1456
$GC,9690,1.21,313.0,36.2,7.8,1027,9703,0.00,2.12,6.97,0.973,6,0.000,0.047,2684,2574,1431
$GC,10041,1.59,398.7,16.5,4.7,1089,10118,0.28,2.45,70.10,1.056,4,0.085,0.060,2787,1176,1080
$GC,10152,1.61,408.1,8.8,7.6,1107,10166,0.00,2.38,8.25,0.880,6,0.000,0.058,2788,2577,1044
$STATE,10226,end climb,SURFACE_DEPTH_REACHED
$STATE,10226,begin surface coast
$FINISH,0.4,1.013042
$STATE,10245,end surface coast,CONTROL_FINISHED_OK
$STATE,10245,begin surface
$SM_CCo,10319,0.00,0.000,0,0,1037,409.90
$SM_GC,1.26,7.75,0.00,0.00,0.086,0.000,0.000,166,2331,1037,-10.38,0.03,409.90
$RAFOS_CLK,570
$RAFOS_FIX,6738.168945,-5846.514648,080908,000012,4,65,15.43
$IRIDIUM_FIX,6609.62,-6040.90,021297,222249
$TT8_MAMPS,0.027612
$HUMID,1954
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.6,11.270
$10V_AH,10.6,3.253
$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,19.950,87.975,480.250,0.000,0.000,29.306,29.935,127.060,0.000,0.000,0.000,15.722,1936.443,5966.287,570.486,1841.793,296.590,0.000,1538.536,0.000,1816.622,0.000,0.528,0.000
$DEVICE_MAMPS,276.120,79.001,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.851,763.571,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41031,1123
$CAP_FILE_SIZE,103175,0
$CFSIZE,260165632,250531840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$CURRENT,0.229,192.2,1
$GPS,080908,034445,6640.260,-6042.880,9,1.6,9,-38.0