version: 66.04
glider: 113
mission: 4
dive: 25
start: 9 8 108 9 56 56
data:
$ID,113
$MISSION,4
$DIVE,25
$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,-22546.07
$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,29
$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
$GPS1,095125,6641.253,-6041.961,24,1.3,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.9
$GPS2,095632,6641.214,-6042.008,15,1.3,32,-38.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$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,91.8,35257,-14.7,-8.010
$D_GRID,488
$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,-1.20,-146.0,0.0,0.0,0,130,0.00,0.00,-112.05,0.000,2,0.000,0.000,164,2331,2824
$GC,132,-1.20,-146.0,3.8,-5.5,18,160,8.60,2.47,-13.07,0.000,4,0.275,0.087,2171,3744,3307
$GC,329,-0.97,-146.0,46.7,-15.1,52,336,0.20,2.28,0.00,0.000,6,0.181,0.046,2224,2322,3313
$GC,674,-0.97,-146.0,86.0,-10.2,113,680,0.00,2.25,0.00,0.000,4,0.000,0.060,2224,918,3315
$GC,770,-0.90,-146.0,96.3,-11.0,130,776,0.00,2.30,0.00,0.000,6,0.000,0.058,2224,2339,3315
$GC,1097,-0.90,-146.0,130.2,-10.8,164,1101,0.00,2.28,0.00,0.000,4,0.000,0.060,2224,925,3316
$GC,1130,-0.90,-146.0,134.0,-11.2,167,1134,0.00,2.25,0.00,0.000,6,0.000,0.055,2224,2331,3316
$GC,1460,-0.90,-146.0,169.2,-11.1,198,1464,0.00,2.33,0.00,0.000,4,0.000,0.076,2224,3746,3315
$GC,1509,-1.00,-146.0,174.8,-10.7,202,1516,0.00,2.25,0.00,0.000,6,0.000,0.044,2225,2329,3315
$GC,1834,-1.00,-146.0,208.4,-9.9,233,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2329,3315
$GC,2153,-1.05,-146.0,238.3,-8.8,263,2157,0.00,2.35,0.00,0.000,4,0.000,0.078,2225,3742,3314
$GC,2175,-1.13,-146.0,240.5,-9.6,265,2180,0.12,2.22,0.00,0.000,6,0.114,0.046,2185,2318,3314
$GC,2505,-1.05,-146.0,276.7,-11.0,296,2510,0.10,2.35,0.00,0.000,4,0.191,0.076,2207,3737,3313
$GC,2525,-1.05,-146.0,279.0,-10.8,297,2533,0.00,2.22,0.00,0.000,6,0.000,0.045,2207,2330,3313
$GC,2851,-1.05,-146.0,310.6,-9.8,328,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2329,3313
$GC,3169,-1.05,-146.0,340.5,-9.7,358,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2329,3313
$GC,3488,-1.11,-146.0,369.5,-9.1,388,3492,0.00,2.22,0.00,0.000,4,0.000,0.060,2207,915,3312
$GC,3532,-1.11,-146.0,374.0,-10.6,392,3536,0.00,2.25,0.00,0.000,6,0.000,0.058,2207,2331,3312
$GC,3862,-1.16,-146.0,404.3,-8.9,423,3867,0.10,2.30,0.00,0.000,4,0.125,0.074,2175,3746,3312
$GC,3882,-1.16,-146.0,406.6,-10.3,424,3890,0.00,2.22,0.00,0.000,6,0.000,0.044,2175,2329,3312
$GC,4210,-1.11,-146.0,440.1,-10.0,455,4213,0.00,2.33,0.00,0.000,4,0.000,0.077,2175,3741,3312
$GC,4258,-1.11,-146.0,445.5,-9.9,459,4267,0.00,2.22,0.00,0.000,6,0.000,0.045,2174,2329,3312
$GC,4585,-1.11,-146.0,478.3,-10.0,490,4589,0.00,2.33,0.00,0.000,4,0.000,0.077,2175,3742,3312
$GC,4618,-1.11,-146.0,481.8,-10.9,493,4622,0.00,2.20,0.00,0.000,6,0.000,0.044,2174,2319,3312
$STATE,4691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4696,-0.34,0.0,489.1,9.9,500,4825,0.62,0.00,125.43,1.293,6,0.169,0.000,2363,2577,2708
$STATE,4826,end apogee,CONTROL_FINISHED_OK
$STATE,4826,begin climb
$GC,4827,1.20,146.0,493.7,0.0,513,4966,1.10,2.67,130.38,1.197,4,0.117,0.073,2692,3936,2112
$GC,5010,0.78,146.0,483.5,10.3,529,5019,0.38,2.38,0.00,0.000,6,0.167,0.043,2604,2590,2111
$GC,5334,0.85,194.7,462.5,6.1,560,5383,0.00,2.58,41.60,1.199,4,0.000,0.076,2604,3936,1914
$GC,5413,0.79,194.7,457.1,8.0,567,5417,0.00,2.35,0.00,0.000,6,0.000,0.043,2605,2569,1914
$GC,5743,0.87,217.3,434.0,7.1,598,5765,0.00,0.00,20.33,1.172,6,0.000,0.000,2605,2569,1822
$GC,6082,0.97,239.7,410.1,7.2,630,6108,0.15,2.53,20.33,1.173,4,0.095,0.076,2658,3940,1730
$GC,6157,0.78,239.7,402.4,11.4,636,6165,0.17,2.30,0.00,0.000,6,0.153,0.044,2599,2577,1728
$GC,6483,0.97,275.2,380.5,6.7,667,6516,0.17,0.00,30.35,1.186,6,0.086,0.000,2661,2576,1586
$GC,6832,0.97,275.2,347.6,9.5,700,6836,0.00,2.33,0.00,0.000,4,0.000,0.058,2661,1166,1583
$GC,6892,0.97,275.2,342.0,9.0,705,6899,0.00,2.38,0.00,0.000,6,0.000,0.056,2662,2577,1584
$GC,7217,0.97,275.2,312.9,8.9,736,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2577,1583
$GC,7535,0.97,275.2,286.0,8.2,766,7539,0.00,2.25,0.00,0.000,4,0.000,0.074,2662,3940,1583
$GC,7593,0.87,275.2,280.8,9.7,771,7598,0.15,2.15,0.00,0.000,6,0.163,0.044,2622,2576,1584
$GC,7922,1.03,308.5,259.0,6.7,802,7958,0.15,2.35,27.75,1.160,4,0.093,0.058,2677,1171,1450
$GC,7980,1.03,308.5,254.2,8.5,807,7985,0.00,2.38,0.00,0.000,6,0.000,0.055,2677,2590,1449
$GC,8304,1.03,308.5,224.7,8.9,837,8308,0.00,2.33,0.00,0.000,4,0.000,0.058,2677,1171,1448
$GC,8348,1.08,308.5,220.9,8.3,841,8352,0.00,2.30,0.00,0.000,6,0.000,0.055,2676,2582,1447
$GC,8672,1.08,308.5,193.4,8.2,871,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2582,1447
$GC,8990,1.08,308.5,165.8,8.6,901,8994,0.00,2.28,0.00,0.000,4,0.000,0.060,2677,1177,1447
$GC,9035,1.13,308.5,162.1,8.2,905,9039,0.00,2.28,0.00,0.000,6,0.000,0.056,2676,2589,1447
$GC,9359,1.13,308.5,135.2,8.6,935,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2589,1446
$GC,9677,1.13,308.5,106.9,8.8,965,9681,0.00,2.28,0.00,0.000,4,0.000,0.060,2677,1174,1446
$GC,9749,1.21,308.5,100.8,8.3,971,9756,0.05,2.28,0.00,0.000,6,0.103,0.057,2705,2576,1446
$GC,10091,1.21,308.5,68.2,9.1,1031,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2576,1445
$GC,10434,1.21,308.5,40.1,8.7,1092,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2576,1445
$GC,10777,1.56,402.9,16.9,4.4,1153,10864,0.20,2.47,76.47,1.058,4,0.085,0.060,2787,1175,1063
$STATE,10958,end climb,SURFACE_DEPTH_REACHED
$STATE,10958,begin surface coast
$FINISH,0.3,1.024783
$STATE,10981,end surface coast,CONTROL_FINISHED_OK
$STATE,10981,begin surface
$SM_CCo,11058,0.00,0.000,0,0,1052,406.22
$SM_GC,1.37,7.70,0.00,0.00,0.084,0.000,0.000,165,2332,1052,-10.38,0.08,406.22
$RAFOS_CLK,621
$RAFOS,4,1220877843,12.750000,12.734167,61,58,54,52,52,50,236,198,161,142,182,224
$RAFOS,3,1220877247,12.583333,12.568611,63,63,58,57,54,51,178,215,121,137,191,348
$RAFOS,2,1220876645,12.416667,12.401389,65,63,60,56,54,52,224,195,170,209,118,128
$RAFOS,1,1220876044,12.250000,12.234445,61,60,60,58,56,51,152,182,198,225,212,124
$RAFOS,0,1220875449,12.083333,12.069167,60,60,59,58,55,51,154,215,201,228,121,174
$RAFOS_FIX,6743.097656,-5845.248047,080908,121240,5,62,15.96
$IRIDIUM_FIX,6609.62,-6103.04,031297,060650
$TT8_MAMPS,0.027612
$HUMID,1935
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.7,11.770
$10V_AH,10.6,3.448
$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,19.975,92.850,472.625,0.000,0.000,24.712,35.061,127.013,0.000,0.000,0.000,33.658,2094.833,6533.271,581.540,1916.351,302.211,0.000,1576.879,0.000,1871.704,1800.000,0.528,0.000
$DEVICE_MAMPS,275.353,87.438,1293.162,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.470,809.201,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44144,1188
$CAP_FILE_SIZE,109558,0
$CFSIZE,260165632,250351616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$CURRENT,0.159,206.3,1
$GPS,080908,130352,6641.214,-6039.990,37,2.6,56,-38.0