version: 66.04
glider: 113
mission: 4
dive: 9
start: 9 6 108 11 5 1
data:
$ID,113
$MISSION,4
$DIVE,9
$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,-22239.24
$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,15
$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,2250
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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
$GPS1,105910,6637.967,-6008.762,84,1.3,87,-37.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.1
$GPS2,110439,6637.935,-6008.803,11,1.3,11,-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,324.6,26158,-18.0,-10.000
$D_GRID,551
$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,12,begin dive
$GC,14,-1.39,-146.0,0.0,0.0,0,140,0.00,0.00,-123.53,0.000,2,0.000,0.000,168,2230,2863
$GC,142,-1.39,-146.0,3.7,-7.4,20,170,8.52,2.42,-12.02,0.000,4,0.278,0.088,2125,3660,3305
$GC,265,-1.15,-146.0,36.2,-16.4,41,272,0.25,2.28,0.00,0.000,6,0.200,0.048,2187,2246,3309
$GC,609,-1.15,-146.0,84.8,-13.3,102,615,0.00,2.28,0.00,0.000,4,0.000,0.061,2187,829,3313
$GC,699,-1.15,-146.0,97.6,-13.5,118,706,0.00,2.30,0.00,0.000,6,0.000,0.056,2187,2254,3313
$GC,1030,-1.15,-146.0,138.4,-12.0,151,1034,0.00,2.33,0.00,0.000,4,0.000,0.074,2187,3664,3314
$GC,1125,-1.26,-146.0,150.2,-12.1,159,1132,0.08,2.25,0.00,0.000,6,0.102,0.048,2155,2255,3313
$GC,1449,-1.21,-146.0,194.7,-14.2,190,1453,0.00,2.35,0.00,0.000,4,0.000,0.077,2155,3665,3313
$GC,1520,-1.21,-146.0,205.0,-14.3,196,1528,0.00,2.28,0.00,0.000,6,0.000,0.048,2155,2244,3313
$GC,1845,-1.21,-146.0,250.5,-13.7,227,1849,0.00,2.35,0.00,0.000,4,0.000,0.077,2155,3657,3312
$GC,1905,-1.21,-146.0,259.0,-13.7,232,1914,0.00,2.25,0.00,0.000,6,0.000,0.049,2155,2246,3312
$GC,2230,-1.21,-146.0,301.9,-13.1,263,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2246,3312
$GC,2549,-1.21,-146.0,342.4,-12.5,293,2553,0.00,2.35,0.00,0.000,4,0.000,0.077,2155,3664,3311
$GC,2649,-1.27,-146.0,355.6,-12.6,302,2653,0.00,2.22,0.00,0.000,6,0.000,0.050,2155,2244,3311
$GC,2980,-1.27,-146.0,398.3,-12.8,333,2983,0.00,2.22,0.00,0.000,4,0.000,0.063,2155,831,3310
$GC,3062,-1.27,-146.0,409.7,-13.2,340,3070,0.00,2.28,0.00,0.000,6,0.000,0.058,2155,2243,3310
$GC,3389,-1.27,-146.0,450.0,-12.3,371,3392,0.00,2.30,0.00,0.000,4,0.000,0.077,2155,3660,3310
$GC,3557,-1.37,-146.0,470.7,-12.6,386,3560,0.00,2.20,0.00,0.000,6,0.000,0.049,2155,2248,3310
$GC,3887,-1.42,-146.0,506.9,-10.9,417,3889,0.10,0.00,0.00,0.000,6,0.131,0.000,2123,2247,3310
$GC,4204,-1.42,-146.0,547.4,-13.1,447,4208,0.00,2.33,0.00,0.000,4,0.000,0.075,2123,3668,3309
$STATE,4236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4236,begin apogee
$GC,4242,-0.33,0.0,551.6,12.9,450,4372,0.77,0.00,126.22,1.325,6,0.172,0.000,2360,2394,2708
$STATE,4373,end apogee,CONTROL_FINISHED_OK
$STATE,4373,begin climb
$GC,4374,1.39,146.0,556.9,0.0,463,4510,1.25,0.00,130.98,1.234,6,0.120,0.000,2735,2394,2112
$GC,4829,1.13,146.0,516.5,10.8,505,4834,0.20,2.50,0.00,0.000,4,0.173,0.074,2680,3813,2110
$GC,5086,0.92,146.0,489.0,10.9,527,5094,0.12,2.33,0.00,0.000,6,0.166,0.047,2641,2410,2110
$GC,5411,1.00,200.8,464.2,7.4,558,5467,0.00,2.60,46.28,1.240,4,0.000,0.074,2641,3806,1889
$GC,5483,1.04,229.9,458.4,8.6,564,5514,0.00,2.40,26.52,1.171,6,0.000,0.045,2641,2403,1770
$GC,5831,1.18,258.2,429.4,8.7,597,5866,0.17,2.50,24.62,1.183,4,0.095,0.059,2703,994,1655
$GC,5978,1.18,258.2,412.9,11.7,610,5982,0.00,2.40,0.00,0.000,6,0.000,0.054,2703,2409,1654
$GC,6302,1.18,258.2,376.9,11.0,640,6306,0.00,2.38,0.00,0.000,4,0.000,0.072,2703,3813,1653
$GC,6390,1.03,258.2,365.6,13.4,647,6397,0.12,2.33,0.00,0.000,6,0.167,0.048,2666,2403,1653
$GC,6717,1.14,277.2,336.1,9.1,678,6740,0.00,2.45,16.90,1.156,4,0.000,0.073,2665,3812,1576
$GC,6834,1.14,277.2,323.9,10.5,688,6841,0.00,2.33,0.00,0.000,6,0.000,0.046,2665,2404,1575
$GC,7160,1.27,281.7,293.7,9.8,719,7173,0.17,2.40,4.97,0.885,4,0.095,0.073,2726,3814,1559
$GC,7244,1.10,281.7,282.5,13.7,726,7252,0.17,2.30,0.00,0.000,6,0.166,0.048,2678,2406,1559
$GC,7570,1.22,303.7,251.7,9.0,757,7595,0.10,2.50,19.58,1.141,4,0.109,0.074,2712,3813,1469
$GC,7690,1.13,303.7,237.7,12.4,767,7697,0.15,2.30,0.00,0.000,6,0.170,0.048,2678,2400,1467
$GC,8015,1.30,332.5,210.3,8.6,798,8049,0.15,2.47,24.45,1.129,4,0.097,0.073,2730,3813,1351
$GC,8065,1.22,332.5,204.8,12.1,802,8074,0.10,2.38,0.00,0.000,6,0.170,0.048,2701,2401,1350
$GC,8390,1.30,332.5,171.4,10.2,833,8394,0.00,2.40,0.00,0.000,4,0.000,0.076,2701,3813,1349
$GC,8417,1.30,332.5,168.3,12.3,835,8421,0.00,2.28,0.00,0.000,6,0.000,0.048,2701,2393,1349
$GC,8746,1.39,332.5,133.3,10.4,866,8751,0.12,2.40,0.00,0.000,4,0.107,0.077,2747,3815,1349
$GC,8778,1.25,332.5,129.0,14.8,868,8786,0.12,2.30,0.00,0.000,6,0.170,0.049,2710,2400,1348
$GC,9106,1.33,332.5,94.6,10.7,903,9112,0.00,2.35,0.00,0.000,4,0.000,0.077,2709,3806,1348
$GC,9156,1.33,332.5,88.6,12.2,912,9163,0.00,2.25,0.00,0.000,6,0.000,0.049,2710,2393,1348
$GC,9500,1.47,358.5,56.1,8.8,973,9527,0.15,2.50,21.73,1.090,4,0.102,0.077,2762,3806,1245
$GC,9555,1.36,358.5,49.5,13.1,982,9562,0.12,2.30,0.00,0.000,6,0.179,0.050,2733,2398,1243
$GC,9900,1.48,377.2,14.1,9.1,1043,9921,0.10,2.50,16.27,1.047,4,0.108,0.077,2767,3806,1169
$STATE,10015,end climb,SURFACE_DEPTH_REACHED
$STATE,10015,begin surface coast
$FINISH,0.6,1.024687
$STATE,10027,end surface coast,CONTROL_FINISHED_OK
$STATE,10027,begin surface
$SM_CCo,10104,0.00,0.000,0,0,1164,378.74
$SM_GC,1.04,7.62,0.00,0.00,0.091,0.000,0.000,167,2236,1164,-10.38,-0.40,378.74
$RAFOS_CLK,557
$RAFOS,4,1220705044,12.750000,12.734445,59,57,55,54,53,51,192,154,206,167,123,1417
$RAFOS,3,1220704446,12.583333,12.568334,61,60,57,55,50,50,193,212,127,181,169,109
$RAFOS,2,1220703844,12.416667,12.401111,67,52,51,50,50,49,214,139,115,193,184,175
$RAFOS,1,1220703251,12.250000,12.236389,68,63,58,57,52,51,208,192,217,117,175,143
$RAFOS,0,1220702645,12.083333,12.068055,65,60,57,57,54,52,211,195,116,126,164,147
$RAFOS_FIX,6548.420898,-5901.245605,060908,121240,4,65,23.67
$IRIDIUM_FIX,6614.97,-6006.54,011297,080814
$TT8_MAMPS,0.027612
$HUMID,1946
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,21.7,9.030
$10V_AH,10.6,2.449
$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,20.700,103.375,458.525,0.000,0.000,27.616,34.441,171.612,0.000,0.000,0.000,13.261,1901.442,5822.421,601.870,1819.779,339.989,0.000,1561.679,0.000,1794.639,1800.000,0.528,0.000
$DEVICE_MAMPS,277.654,88.205,1324.609,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.062,724.699,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37802,1065
$CAP_FILE_SIZE,108520,0
$CFSIZE,260165632,251326464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$CURRENT,0.163,136.9,1
$GPS,060908,135532,6637.384,-6010.142,37,1.1,37,-37.9