version: 66.04
glider: 113
mission: 4
dive: 26
start: 9 8 108 13 9 20
data:
$ID,113
$MISSION,4
$DIVE,26
$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,-22561.213
$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,32
$R_STBD_OVSHOOT,20
$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,150
$AH0_10V,100
$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
$GPS1,130352,6641.214,-6039.990,37,2.6,56,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.1
$GPS2,130856,6641.221,-6040.021,8,2.0,13,-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,81.1,33874,-14.7,-8.010
$D_GRID,493
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.20,-146.0,0.0,0.0,0,137,0.00,0.00,-117.97,0.000,2,0.000,0.000,165,2334,2786
$GC,139,-1.20,-146.0,3.4,-4.4,19,173,8.57,2.40,-15.07,0.000,4,0.272,0.084,2165,3733,3307
$GC,426,-0.96,-146.0,62.7,-14.3,69,433,0.22,2.25,0.00,0.000,6,0.181,0.044,2224,2318,3313
$GC,769,-0.96,-146.0,100.4,-10.7,130,773,0.00,2.38,0.00,0.000,4,0.000,0.071,2224,3746,3315
$GC,795,-0.96,-146.0,103.3,-11.1,132,803,0.00,2.25,0.00,0.000,6,0.000,0.043,2224,2336,3315
$GC,1120,-0.96,-146.0,137.7,-10.5,163,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2336,3315
$GC,1439,-0.96,-146.0,172.0,-10.1,193,1443,0.00,2.33,0.00,0.000,4,0.000,0.074,2224,3739,3315
$GC,1465,-1.02,-146.0,174.7,-10.0,195,1474,0.00,2.25,0.00,0.000,6,0.000,0.045,2224,2323,3315
$GC,1790,-1.02,-146.0,206.5,-9.5,226,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2323,3315
$GC,2109,-1.08,-146.0,236.3,-9.2,256,2111,0.10,0.00,0.00,0.000,6,0.126,0.000,2192,2323,3314
$GC,2429,-1.02,-146.0,270.9,-11.1,286,2434,0.10,2.22,0.00,0.000,4,0.180,0.061,2215,919,3314
$GC,2467,-1.02,-146.0,275.2,-11.2,289,2471,0.00,2.25,0.00,0.000,6,0.000,0.057,2215,2335,3313
$GC,2798,-1.07,-146.0,307.1,-9.3,320,2802,0.00,2.30,0.00,0.000,4,0.000,0.076,2215,3746,3313
$GC,2857,-1.19,-146.0,312.7,-8.6,325,2865,0.10,2.25,0.00,0.000,6,0.097,0.046,2174,2324,3313
$GC,3183,-1.10,-146.0,348.8,-10.9,356,3188,0.10,2.35,0.00,0.000,4,0.183,0.079,2197,3739,3312
$GC,3226,-1.18,-146.0,353.5,-9.6,359,3235,0.00,2.22,0.00,0.000,6,0.000,0.046,2197,2332,3312
$GC,3553,-1.18,-146.0,385.4,-9.7,390,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2332,3312
$GC,3870,-1.18,-146.0,417.9,-10.3,420,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2332,3312
$GC,4188,-1.18,-146.0,449.5,-10.0,450,4192,0.00,2.22,0.00,0.000,4,0.000,0.061,2197,915,3312
$GC,4232,-1.18,-146.0,454.2,-9.9,454,4236,0.00,2.25,0.00,0.000,6,0.000,0.058,2197,2334,3311
$GC,4562,-1.23,-146.0,485.9,-8.9,485,4567,0.12,2.28,0.00,0.000,4,0.111,0.072,2156,3740,3311
$GC,4602,-1.18,-146.0,490.1,-11.0,488,4606,0.10,2.20,0.00,0.000,6,0.186,0.047,2178,2322,3311
$STATE,4631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4631,begin apogee
$GC,4636,-0.34,0.0,493.4,10.3,491,4766,0.60,0.00,125.18,1.298,6,0.166,0.000,2361,2577,2708
$STATE,4767,end apogee,CONTROL_FINISHED_OK
$STATE,4767,begin climb
$GC,4769,1.20,146.0,497.9,0.0,504,4908,1.10,2.72,130.30,1.204,4,0.118,0.075,2691,3944,2111
$GC,5042,0.79,146.0,478.4,10.0,528,5050,0.28,2.35,0.00,0.000,6,0.166,0.044,2604,2580,2110
$GC,5367,0.86,199.1,459.5,6.0,559,5418,0.00,0.00,45.53,1.212,6,0.000,0.000,2604,2580,1895
$GC,5736,0.98,242.3,435.1,6.4,594,5779,0.15,0.00,37.42,1.197,6,0.089,0.000,2656,2579,1720
$GC,6095,0.90,242.3,402.6,9.3,628,6099,0.10,2.35,0.00,0.000,4,0.160,0.058,2634,1175,1717
$GC,6126,0.95,242.3,399.7,8.5,630,6133,0.00,2.40,0.00,0.000,6,0.000,0.056,2634,2577,1717
$GC,6453,0.95,242.3,372.0,8.5,661,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2577,1717
$GC,6770,0.96,252.1,346.6,7.6,691,6781,0.00,0.00,9.23,1.089,6,0.000,0.000,2634,2577,1680
$GC,7099,0.98,263.6,320.3,7.6,722,7112,0.00,0.00,10.95,1.109,6,0.000,0.000,2634,2577,1633
$GC,7427,1.05,275.8,295.1,7.5,753,7441,0.12,0.00,11.57,1.108,6,0.098,0.000,2680,2577,1583
$GC,7755,0.98,275.8,264.3,9.7,784,7757,0.12,0.00,0.00,0.000,6,0.150,0.000,2647,2578,1582
$GC,8075,1.04,280.2,238.6,7.8,814,8084,0.00,0.00,5.10,0.900,6,0.000,0.000,2647,2577,1565
$GC,8403,1.12,293.2,214.8,7.5,845,8418,0.12,0.00,12.25,1.104,6,0.100,0.000,2691,2578,1512
$GC,8731,1.05,293.2,183.0,9.8,876,8736,0.12,2.28,0.00,0.000,4,0.156,0.074,2658,3947,1510
$GC,8762,1.05,293.2,179.8,9.4,878,8771,0.00,2.20,0.00,0.000,6,0.000,0.044,2660,2575,1510
$GC,9090,1.10,293.2,153.1,8.3,909,9094,0.00,2.25,0.00,0.000,4,0.000,0.060,2660,1164,1510
$GC,9128,1.21,295.9,149.8,7.9,912,9139,0.12,2.30,3.80,0.752,6,0.101,0.056,2705,2590,1501
$GC,9463,1.13,295.9,116.4,9.7,944,9467,0.10,2.22,0.00,0.000,4,0.167,0.073,2681,3948,1500
$GC,9497,1.02,295.9,113.1,9.8,947,9501,0.10,2.15,0.00,0.000,6,0.174,0.045,2654,2578,1499
$GC,9830,1.16,311.2,87.4,7.4,992,9849,0.12,0.00,13.62,1.083,6,0.100,0.000,2699,2578,1439
$GC,10187,1.16,311.2,56.2,8.1,1055,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2577,1438
$GC,10529,1.21,348.8,32.8,6.6,1116,10566,0.00,2.40,31.30,1.089,4,0.000,0.060,2700,1178,1285
$GC,10595,1.36,384.4,28.6,6.6,1127,10633,0.12,2.35,30.70,1.034,6,0.099,0.055,2745,2585,1140
$STATE,10968,end climb,SURFACE_DEPTH_REACHED
$STATE,10968,begin surface coast
$FINISH,0.5,1.024478
$STATE,10992,end surface coast,CONTROL_FINISHED_OK
$STATE,10992,begin surface
$SM_CCo,11066,0.00,0.000,0,0,1129,387.08
$SM_GC,1.32,7.55,0.00,0.00,0.091,0.000,0.000,164,2325,1129,-10.39,-0.11,387.08
$RAFOS_CLK,614
$RAFOS,0,1220889842,16.083334,16.067223,61,58,57,57,53,52,192,208,121,222,154,139
$RAFOS_FIX,6743.097656,-5845.248047,080908,121240,5,62,15.96
$IRIDIUM_FIX,6614.97,-6040.90,031297,101041
$TT8_MAMPS,0.027612
$HUMID,1934
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,11.938
$10V_AH,10.6,3.513
$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,20.275,65.225,466.950,0.000,0.000,30.386,31.703,142.182,0.000,0.000,0.000,14.514,2024.231,6580.925,588.709,1863.472,317.226,0.000,1550.211,0.000,1846.805,360.000,0.529,0.000
$DEVICE_MAMPS,272.285,83.603,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.411,815.151,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44061,1197
$CAP_FILE_SIZE,106749,0
$CFSIZE,260165632,250294272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.2
$CURRENT,0.079,210.5,1
$GPS,080908,161507,6641.871,-6037.777,34,0.9,40,-38.0