version: 66.04
glider: 113
mission: 4
dive: 24
start: 9 8 108 6 52 52
data:
$ID,113
$MISSION,4
$DIVE,24
$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,-22511.783
$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,25
$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
$GPS1,064738,6640.974,-6043.186,38,1.2,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.4
$GPS2,065227,6640.940,-6043.122,14,1.4,14,-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,88.4,36187,-14.7,-8.010
$D_GRID,479
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-121.38,0.000,2,0.000,0.000,165,2324,2831
$GC,141,-1.20,-146.0,3.6,-4.4,19,172,8.55,2.42,-13.15,0.000,4,0.272,0.085,2164,3730,3306
$GC,262,-0.94,-146.0,35.1,-17.4,40,270,0.25,2.28,0.00,0.000,6,0.179,0.047,2230,2317,3310
$GC,609,-0.89,-146.0,76.9,-11.6,101,615,0.00,2.25,0.00,0.000,4,0.000,0.059,2230,911,3314
$GC,700,-0.85,-146.0,87.8,-11.7,117,707,0.08,2.30,0.00,0.000,6,0.201,0.055,2251,2339,3315
$GC,1032,-0.92,-146.0,119.3,-9.5,159,1036,0.00,2.28,0.00,0.000,4,0.000,0.059,2251,923,3315
$GC,1126,-0.99,-146.0,128.6,-9.5,167,1134,0.08,2.28,0.00,0.000,6,0.111,0.054,2219,2324,3315
$GC,1451,-0.99,-146.0,162.8,-10.3,198,1455,0.00,2.33,0.00,0.000,4,0.000,0.073,2218,3746,3315
$GC,1477,-0.99,-146.0,165.7,-11.0,200,1486,0.00,2.25,0.00,0.000,6,0.000,0.045,2219,2329,3315
$GC,1802,-0.99,-146.0,199.8,-10.8,231,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2329,3314
$GC,2121,-0.99,-146.0,231.1,-8.9,261,2125,0.00,2.22,0.00,0.000,4,0.000,0.061,2218,919,3314
$GC,2166,-0.99,-146.0,235.6,-9.9,265,2170,0.00,2.25,0.00,0.000,6,0.000,0.057,2218,2330,3314
$GC,2496,-0.99,-146.0,265.7,-9.1,296,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2330,3313
$GC,2814,-1.03,-146.0,295.0,-9.2,326,2818,0.00,2.25,0.00,0.000,4,0.000,0.061,2219,919,3313
$GC,2836,-1.03,-146.0,297.2,-10.2,328,2840,0.00,2.25,0.00,0.000,6,0.000,0.057,2219,2337,3313
$GC,3166,-1.10,-146.0,327.8,-8.9,359,3168,0.10,0.00,0.00,0.000,6,0.127,0.000,2185,2339,3312
$GC,3485,-1.06,-146.0,362.9,-11.0,389,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2338,3312
$GC,3804,-1.06,-146.0,397.1,-10.5,419,3808,0.00,2.28,0.00,0.000,4,0.000,0.077,2185,3735,3312
$GC,3830,-1.06,-146.0,400.0,-10.2,421,3837,0.00,2.20,0.00,0.000,6,0.000,0.046,2185,2332,3312
$GC,4155,-1.06,-146.0,433.6,-10.3,452,4157,0.10,0.00,0.00,0.000,6,0.191,0.000,2208,2332,3312
$GC,4474,-1.14,-146.0,461.6,-8.4,482,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2332,3312
$STATE,4674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4675,begin apogee
$GC,4679,-0.34,0.0,479.3,9.0,501,4809,0.50,0.00,124.70,1.290,6,0.160,0.000,2362,2587,2708
$STATE,4809,end apogee,CONTROL_FINISHED_OK
$STATE,4809,begin climb
$GC,4811,1.20,146.0,484.2,0.0,514,4949,1.10,2.67,129.80,1.193,4,0.119,0.075,2692,3936,2112
$GC,4975,0.78,146.0,476.7,9.6,528,4983,0.30,2.42,0.00,0.000,6,0.163,0.044,2603,2582,2111
$GC,5300,0.85,200.5,457.1,5.9,559,5356,0.00,2.60,46.83,1.197,4,0.000,0.076,2603,3939,1890
$GC,5379,0.87,212.7,451.9,7.5,566,5400,0.00,2.35,12.25,1.070,6,0.000,0.042,2603,2579,1839
$GC,5719,1.00,251.3,429.3,6.5,598,5764,0.17,2.55,33.47,1.183,4,0.089,0.058,2663,1162,1682
$GC,5809,0.95,251.3,422.0,8.2,606,5814,0.00,2.47,0.00,0.000,6,0.000,0.054,2663,2579,1682
$GC,6133,0.88,251.3,390.3,10.4,636,6138,0.15,2.35,0.00,0.000,4,0.156,0.072,2625,3947,1681
$GC,6165,0.88,251.3,387.1,10.5,638,6172,0.00,2.28,0.00,0.000,6,0.000,0.043,2625,2575,1681
$GC,6490,0.95,260.8,361.6,7.6,669,6504,0.00,2.38,9.30,1.079,4,0.000,0.058,2625,1176,1644
$GC,6550,1.09,271.3,357.2,7.6,674,6566,0.17,2.35,10.60,1.085,6,0.087,0.055,2688,2587,1601
$GC,6885,0.98,271.3,323.2,10.0,705,6889,0.15,2.35,0.00,0.000,4,0.150,0.058,2649,1167,1599
$GC,6923,1.04,271.3,319.9,8.2,708,6927,0.00,2.33,0.00,0.000,6,0.000,0.054,2649,2582,1599
$GC,7247,1.04,271.3,292.9,8.9,738,7251,0.00,2.30,0.00,0.000,4,0.000,0.058,2649,1175,1599
$GC,7274,1.10,271.3,290.6,8.4,740,7281,0.10,2.30,0.00,0.000,6,0.108,0.055,2685,2589,1599
$GC,7598,1.03,271.3,257.1,10.6,771,7602,0.10,2.22,0.00,0.000,4,0.161,0.074,2659,3943,1598
$GC,7619,0.96,271.3,255.0,10.0,773,7623,0.00,2.15,0.00,0.000,6,0.000,0.044,2660,2576,1598
$GC,7949,0.96,271.3,225.0,8.7,804,7953,0.00,2.25,0.00,0.000,4,0.000,0.058,2660,1162,1598
$GC,7982,1.01,271.3,222.3,8.3,807,7986,0.00,2.30,0.00,0.000,6,0.000,0.057,2660,2592,1598
$GC,8313,1.02,283.5,194.9,7.5,838,8326,0.00,0.00,10.82,1.081,6,0.000,0.000,2660,2592,1552
$GC,8641,1.04,295.2,169.9,7.6,869,8657,0.00,2.38,11.02,1.071,4,0.000,0.060,2660,1178,1504
$GC,8699,1.14,295.2,165.4,8.1,874,8703,0.08,2.30,0.00,0.000,6,0.120,0.057,2690,2579,1504
$GC,9027,1.14,295.2,134.3,9.5,905,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2579,1503
$GC,9346,1.14,295.2,102.9,10.1,935,9350,0.00,2.28,0.00,0.000,4,0.000,0.060,2690,1174,1503
$GC,9390,1.14,295.2,98.4,10.1,940,9397,0.00,2.28,0.00,0.000,6,0.000,0.058,2690,2580,1503
$GC,9733,1.14,295.2,64.4,8.9,1001,9741,0.00,2.28,0.00,0.000,4,0.000,0.061,2690,1166,1503
$GC,9774,1.19,295.2,60.9,8.6,1008,9781,0.00,2.30,0.00,0.000,6,0.000,0.058,2690,2594,1503
$GC,10117,1.21,314.3,32.4,7.3,1069,10143,0.00,2.38,16.50,1.071,4,0.000,0.061,2690,1179,1426
$GC,10194,1.41,359.1,27.7,6.3,1082,10239,0.17,2.30,37.28,1.055,6,0.093,0.058,2754,2579,1244
$STATE,10536,end climb,SURFACE_DEPTH_REACHED
$STATE,10536,begin surface coast
$FINISH,0.4,1.024853
$STATE,10564,end surface coast,CONTROL_FINISHED_OK
$STATE,10564,begin surface
$SM_CCo,10579,11.65,0.987,0,0,1180,375.06
$SM_GC,1.45,0.00,0.00,11.65,0.000,0.000,0.987,164,2333,1180,-10.45,0.08,375.06
$RAFOS_CLK,587
$RAFOS,4,1220863443,8.750000,8.734167,61,58,51,50,50,49,212,195,111,171,222,232
$RAFOS,3,1220862850,8.583333,8.569445,59,56,56,53,53,49,212,157,122,132,232,174
$RAFOS,2,1220862244,8.416667,8.401111,75,68,60,51,51,48,217,142,184,198,162,173
$RAFOS,1,1220861644,8.250000,8.234445,59,55,54,53,52,51,172,198,216,159,186,141
$RAFOS,0,1220861042,8.083333,8.067223,60,58,53,52,50,49,199,178,217,121,156,314
$RAFOS_FIX,6605.342285,-5912.850586,080908,080810,3,65,17.19
$IRIDIUM_FIX,6609.62,-6048.29,031297,030356
$TT8_MAMPS,0.027612
$HUMID,1920
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,11.601
$10V_AH,10.6,3.381
$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,19.725,93.750,442.575,11.650,0.000,28.878,31.635,125.977,0.000,0.000,0.000,15.546,2013.422,6200.146,582.626,1820.726,310.091,0.000,1549.094,0.000,1799.835,1800.000,0.528,0.000
$DEVICE_MAMPS,272.285,85.137,1290.094,987.129,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.266,780.587,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40966,1147
$CAP_FILE_SIZE,108394,0
$CFSIZE,260165632,250413056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.1
$CURRENT,0.167,225.4,1
$GPS,080908,095125,6641.253,-6041.961,24,1.3,41,-38.0