version: 66.04
glider: 113
mission: 4
dive: 18
start: 9 7 108 12 11 41
data:
$ID,113
$MISSION,4
$DIVE,18
$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,-22402.764
$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,31
$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
$GPS1,120428,6638.193,-6029.919,27,4.5,46,-37.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.9
$GPS2,121117,6638.193,-6029.997,8,2.9,27,-37.9
$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,16.3,11850,-14.7,-8.010
$D_GRID,496
$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,-146.0,0.0,0.0,0,141,0.00,0.00,-123.65,0.000,2,0.000,0.000,168,2296,2766
$GC,144,-1.20,-146.0,3.1,-3.8,20,179,8.50,2.50,-16.10,0.000,4,0.269,0.086,2172,3739,3307
$GC,359,-0.98,-146.0,48.6,-14.5,57,366,0.20,2.28,0.00,0.000,6,0.178,0.045,2225,2317,3312
$GC,702,-0.93,-146.0,89.2,-11.4,118,709,0.00,2.38,0.00,0.000,4,0.000,0.073,2225,3740,3315
$GC,758,-0.93,-146.0,95.9,-11.8,128,766,0.00,2.25,0.00,0.000,6,0.000,0.044,2225,2317,3315
$GC,1086,-0.93,-146.0,131.5,-10.5,162,1090,0.00,2.22,0.00,0.000,4,0.000,0.060,2225,918,3315
$GC,1130,-0.93,-146.0,136.2,-10.6,166,1134,0.00,2.28,0.00,0.000,6,0.000,0.056,2225,2334,3315
$GC,1461,-0.93,-146.0,169.1,-10.1,197,1465,0.00,2.30,0.00,0.000,4,0.000,0.076,2225,3736,3315
$GC,1544,-1.03,-146.0,178.0,-10.4,204,1548,0.00,2.20,0.00,0.000,6,0.000,0.045,2225,2329,3315
$GC,1874,-1.08,-146.0,212.3,-10.1,235,1879,0.10,2.22,0.00,0.000,4,0.123,0.060,2192,925,3314
$GC,1924,-1.01,-146.0,218.4,-13.0,239,1929,0.10,2.25,0.00,0.000,6,0.201,0.057,2214,2336,3314
$GC,2254,-1.01,-146.0,251.7,-10.2,270,2258,0.00,2.30,0.00,0.000,4,0.000,0.075,2214,3741,3313
$GC,2366,-1.11,-146.0,263.0,-9.8,280,2370,0.00,2.22,0.00,0.000,6,0.000,0.047,2214,2317,3313
$GC,2696,-1.17,-146.0,294.0,-9.3,311,2698,0.12,0.00,0.00,0.000,6,0.110,0.000,2173,2317,3312
$GC,3015,-1.10,-146.0,328.8,-10.7,341,3020,0.10,2.33,0.00,0.000,4,0.186,0.076,2192,3733,3312
$GC,3110,-1.14,-146.0,338.7,-9.6,349,3114,0.00,2.20,0.00,0.000,6,0.000,0.047,2193,2319,3312
$GC,3440,-1.14,-146.0,370.8,-9.7,380,3444,0.00,2.33,0.00,0.000,4,0.000,0.077,2192,3733,3311
$GC,3507,-1.19,-146.0,377.4,-9.7,386,3511,0.00,2.17,0.00,0.000,6,0.000,0.046,2193,2328,3311
$GC,3837,-1.19,-146.0,407.2,-8.8,417,3841,0.00,2.20,0.00,0.000,4,0.000,0.061,2192,925,3311
$GC,3908,-1.19,-146.0,413.7,-8.7,423,3915,0.00,2.25,0.00,0.000,6,0.000,0.057,2192,2326,3311
$GC,4233,-1.19,-146.0,441.6,-8.7,454,4237,0.00,2.30,0.00,0.000,4,0.000,0.076,2192,3745,3311
$GC,4334,-1.27,-146.0,450.6,-9.0,463,4339,0.12,2.20,0.00,0.000,6,0.117,0.045,2150,2322,3311
$GC,4658,-1.17,-146.0,486.7,-11.3,493,4663,0.12,2.20,0.00,0.000,4,0.184,0.059,2180,918,3311
$GC,4726,-1.17,-146.0,493.7,-10.3,499,4729,0.00,2.25,0.00,0.000,6,0.000,0.057,2180,2340,3311
$STATE,4756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4756,begin apogee
$GC,4760,-0.34,0.0,496.8,9.5,502,4891,0.60,0.00,124.88,1.292,6,0.168,0.000,2363,2579,2708
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4893,1.20,146.0,501.2,0.0,515,5031,1.10,2.67,129.55,1.200,4,0.117,0.074,2695,3936,2112
$GC,5037,0.85,146.0,495.3,8.2,527,5044,0.35,2.42,0.00,0.000,6,0.168,0.043,2618,2585,2111
$GC,5361,0.85,188.8,472.8,6.4,558,5406,0.00,2.55,37.00,1.193,4,0.000,0.077,2618,3931,1937
$GC,5422,0.79,200.4,468.6,7.6,563,5441,0.00,2.33,11.98,1.072,6,0.000,0.043,2620,2579,1890
$GC,5758,0.81,216.0,444.0,7.4,595,5780,0.00,2.50,14.27,1.137,4,0.000,0.077,2620,3938,1827
$GC,5803,0.73,216.0,440.6,8.2,599,5808,0.12,2.28,0.00,0.000,6,0.166,0.043,2591,2577,1826
$GC,6127,0.93,280.2,421.6,5.5,629,6190,0.17,0.00,55.10,1.200,6,0.088,0.000,2652,2578,1563
$GC,6505,0.93,280.2,389.5,8.6,665,6509,0.00,2.40,0.00,0.000,4,0.000,0.076,2652,3944,1561
$GC,6516,0.93,280.2,388.6,8.4,666,6520,0.00,2.25,0.00,0.000,6,0.000,0.043,2652,2574,1561
$GC,6846,0.93,280.2,361.2,8.2,697,6850,0.00,2.35,0.00,0.000,4,0.000,0.075,2652,3946,1560
$GC,6856,0.93,280.2,360.4,8.1,698,6861,0.00,2.22,0.00,0.000,6,0.000,0.043,2652,2579,1560
$GC,7187,0.93,280.2,333.1,8.4,729,7190,0.00,2.30,0.00,0.000,4,0.000,0.076,2652,3940,1560
$GC,7209,0.87,280.2,331.1,8.8,731,7214,0.12,2.17,0.00,0.000,6,0.168,0.044,2620,2568,1560
$GC,7539,1.03,309.5,308.0,6.9,762,7570,0.15,0.00,24.30,1.167,6,0.094,0.000,2674,2567,1446
$GC,7887,1.03,309.5,273.6,10.0,795,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2568,1444
$GC,8206,1.03,309.5,241.6,10.4,825,8210,0.00,2.25,0.00,0.000,4,0.000,0.059,2675,1162,1444
$GC,8216,1.03,309.5,240.6,10.1,826,8220,0.00,2.30,0.00,0.000,6,0.000,0.054,2675,2582,1444
$GC,8546,1.03,309.5,211.3,8.2,857,8550,0.00,2.28,0.00,0.000,4,0.000,0.059,2675,1173,1444
$GC,8556,1.03,309.5,210.4,8.3,858,8560,0.00,2.28,0.00,0.000,6,0.000,0.054,2675,2588,1444
$GC,8886,1.03,309.5,182.8,8.8,889,8890,0.00,2.28,0.00,0.000,4,0.000,0.059,2675,1172,1444
$GC,8900,1.03,309.5,181.5,8.7,890,8909,0.00,2.28,0.00,0.000,6,0.000,0.054,2674,2574,1444
$GC,9227,1.03,309.5,152.9,8.7,921,9231,0.00,2.25,0.00,0.000,4,0.000,0.059,2675,1169,1444
$GC,9238,1.03,309.5,151.7,8.9,922,9242,0.00,2.28,0.00,0.000,6,0.000,0.055,2674,2593,1444
$GC,9568,1.03,309.5,123.5,8.4,953,9572,0.00,2.28,0.00,0.000,4,0.000,0.060,2675,1171,1444
$GC,9579,1.08,309.5,122.6,8.1,954,9582,0.00,2.25,0.00,0.000,6,0.000,0.057,2675,2579,1444
$GC,9906,1.13,309.5,96.2,8.2,988,9912,0.00,2.22,0.00,0.000,4,0.000,0.076,2675,3950,1444
$GC,9917,1.13,309.5,95.1,8.3,990,9925,0.00,2.15,0.00,0.000,6,0.000,0.044,2674,2565,1443
$GC,10263,1.22,321.7,68.1,7.5,1051,10282,0.10,2.30,11.25,1.061,4,0.109,0.075,2712,3937,1395
$GC,10288,1.22,321.7,65.9,8.4,1055,10294,0.00,2.15,0.00,0.000,6,0.000,0.046,2716,2578,1394
$GC,10631,1.23,328.7,36.8,7.7,1116,10644,0.00,2.30,7.10,0.965,4,0.000,0.077,2716,3940,1368
$GC,10650,1.23,328.7,35.3,8.0,1119,10656,0.00,2.17,0.00,0.000,6,0.000,0.046,2716,2569,1367
$GC,10993,1.38,364.0,11.6,6.7,1180,11030,0.00,2.35,29.48,1.070,4,0.000,0.060,2716,1162,1222
$STATE,11142,end climb,SURFACE_DEPTH_REACHED
$STATE,11142,begin surface coast
$FINISH,0.4,1.024837
$STATE,11159,end surface coast,CONTROL_FINISHED_OK
$STATE,11159,begin surface
$SM_CCo,11176,8.05,0.934,0,0,1179,375.06
$SM_GC,1.92,0.00,0.00,8.05,0.000,0.000,0.934,167,2342,1179,-10.44,0.34,375.06
$RAFOS_CLK,626
$RAFOS,4,1220791444,12.750000,12.734445,62,60,57,57,56,56,181,226,212,123,193,167
$RAFOS,3,1220790842,12.583333,12.567223,67,61,53,50,47,46,185,214,160,130,148,115
$RAFOS,2,1220790241,12.416667,12.400278,60,55,53,53,50,48,175,209,191,230,144,162
$RAFOS,1,1220789649,12.250000,12.235833,61,61,61,54,54,51,137,165,202,183,155,114
$RAFOS_FIX,6554.597168,-5821.973145,070908,121248,4,62,120.03
$IRIDIUM_FIX,6609.62,-6031.45,021297,121242
$TT8_MAMPS,0.027612
$HUMID,1932
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,21.7,10.601
$10V_AH,10.6,2.993
$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,19.550,118.975,444.900,8.050,0.000,60.722,51.998,121.675,0.000,0.000,0.000,30.301,2129.594,6589.535,601.581,1952.885,377.244,0.000,1632.585,0.000,1921.971,1440.000,0.528,0.000
$DEVICE_MAMPS,269.217,85.904,1292.395,934.206,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.141,823.538,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44107,1209
$CAP_FILE_SIZE,116597,0
$CFSIZE,260165632,250777600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.5
$CURRENT,0.010,323.3,1
$GPS,070908,152008,6639.688,-6031.222,31,1.0,31,-38.0