version: 66.04
glider: 113
mission: 4
dive: 27
start: 9 8 108 16 20 16
data:
$ID,113
$MISSION,4
$DIVE,27
$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,-22576.223
$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,28
$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,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
$GPS1,161507,6641.871,-6037.777,34,0.9,40,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.4
$GPS2,161951,6641.907,-6037.697,12,0.9,12,-38.1
$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,98.0,31870,-14.7,-8.010
$D_GRID,500
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-119.22,0.000,2,0.000,0.000,165,2324,2888
$GC,139,-1.20,-146.0,3.9,-5.1,19,166,8.55,2.45,-10.85,0.000,4,0.274,0.083,2165,3739,3307
$GC,307,-0.95,-146.0,48.4,-15.8,48,314,0.25,2.28,0.00,0.000,6,0.181,0.046,2231,2318,3312
$GC,650,-0.89,-146.0,88.3,-11.2,109,656,0.00,2.38,0.00,0.000,4,0.000,0.074,2231,3739,3315
$GC,701,-0.89,-146.0,93.9,-11.3,118,709,0.00,2.22,0.00,0.000,6,0.000,0.044,2231,2327,3315
$GC,1035,-0.89,-146.0,129.7,-11.0,154,1039,0.00,2.38,0.00,0.000,4,0.000,0.076,2231,3746,3316
$GC,1113,-0.99,-146.0,138.1,-10.6,161,1117,0.00,2.22,0.00,0.000,6,0.000,0.044,2231,2328,3317
$GC,1443,-1.04,-146.0,171.9,-9.5,192,1447,0.00,2.35,0.00,0.000,4,0.000,0.074,2231,3745,3316
$GC,1464,-1.12,-146.0,173.9,-9.7,193,1471,0.10,2.25,0.00,0.000,6,0.100,0.044,2190,2331,3316
$GC,1788,-1.04,-146.0,210.8,-11.8,224,1792,0.00,2.33,0.00,0.000,4,0.000,0.073,2189,3740,3315
$GC,1828,-1.04,-146.0,215.4,-12.0,227,1832,0.00,2.22,0.00,0.000,6,0.000,0.046,2190,2319,3315
$GC,2158,-0.96,-146.0,253.7,-11.8,258,2163,0.15,2.22,0.00,0.000,4,0.175,0.061,2229,918,3314
$GC,2175,-0.92,-146.0,255.7,-11.6,259,2179,0.00,2.28,0.00,0.000,6,0.000,0.056,2229,2345,3314
$GC,2505,-1.01,-146.0,285.3,-8.7,290,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2345,3314
$GC,2824,-1.12,-146.0,312.4,-8.0,320,2829,0.15,2.28,0.00,0.000,4,0.109,0.061,2178,924,3314
$GC,2873,-1.02,-146.0,317.6,-10.5,324,2880,0.10,2.28,0.00,0.000,6,0.181,0.055,2208,2334,3313
$GC,3199,-1.07,-146.0,345.8,-8.6,355,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2334,3313
$GC,3517,-1.13,-146.0,373.9,-8.9,385,3520,0.00,2.28,0.00,0.000,4,0.000,0.074,2208,3737,3313
$GC,3561,-1.24,-146.0,378.1,-9.4,389,3566,0.15,2.20,0.00,0.000,6,0.110,0.046,2161,2322,3313
$GC,3886,-1.14,-146.0,415.6,-11.9,419,3887,0.12,0.00,0.00,0.000,6,0.186,0.000,2189,2322,3313
$GC,4204,-1.14,-146.0,447.6,-10.0,449,4208,0.00,2.20,0.00,0.000,4,0.000,0.061,2189,924,3312
$GC,4230,-1.14,-146.0,450.5,-10.8,451,4237,0.00,2.28,0.00,0.000,6,0.000,0.057,2189,2334,3312
$GC,4555,-1.14,-146.0,481.4,-9.3,482,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2334,3312
$STATE,4756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4756,begin apogee
$GC,4761,-0.34,0.0,500.1,9.2,501,4890,0.57,0.00,125.32,1.303,6,0.160,0.000,2366,2587,2708
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4892,1.20,146.0,505.2,0.0,514,5031,1.08,2.65,130.30,1.207,4,0.110,0.075,2692,3929,2112
$GC,5149,0.78,146.0,488.4,10.6,537,5154,0.32,2.30,0.00,0.000,6,0.173,0.044,2610,2579,2110
$GC,5475,0.86,200.3,467.9,5.9,567,5526,0.00,0.00,46.72,1.215,6,0.000,0.000,2610,2579,1891
$GC,5841,0.89,224.2,442.4,7.1,602,5864,0.00,0.00,21.12,1.178,6,0.000,0.000,2610,2579,1795
$GC,6181,0.99,245.8,418.1,7.2,634,6207,0.15,2.45,19.42,1.174,4,0.087,0.058,2662,1176,1706
$GC,6235,0.99,245.8,413.1,9.4,639,6239,0.00,2.42,0.00,0.000,6,0.000,0.054,2662,2589,1705
$GC,6566,0.91,245.8,380.6,9.7,670,6570,0.12,2.30,0.00,0.000,4,0.165,0.071,2630,3948,1705
$GC,6620,0.83,245.8,375.2,9.7,674,6627,0.00,2.25,0.00,0.000,6,0.000,0.043,2632,2576,1705
$GC,6946,0.85,255.4,349.7,7.6,705,6957,0.00,0.00,9.57,1.091,6,0.000,0.000,2632,2576,1667
$GC,7274,0.86,268.5,325.5,7.5,736,7291,0.00,2.35,12.05,1.118,4,0.000,0.074,2632,3943,1613
$GC,7313,0.87,270.6,322.4,7.9,739,7317,0.00,2.20,0.00,0.000,6,0.000,0.043,2634,2579,1613
$GC,7643,0.92,270.6,296.5,8.2,770,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2579,1613
$GC,7962,1.00,276.7,271.5,7.8,800,7976,0.00,2.35,8.15,1.042,4,0.000,0.058,2634,1165,1581
$GC,8003,1.14,285.8,268.1,7.7,803,8021,0.17,2.33,9.57,1.052,6,0.093,0.056,2696,2587,1542
$GC,8338,1.03,285.8,232.5,10.1,835,8340,0.15,0.00,0.00,0.000,6,0.156,0.000,2656,2587,1540
$GC,8657,1.03,285.8,206.2,8.4,865,8661,0.00,2.30,0.00,0.000,4,0.000,0.059,2656,1166,1540
$GC,8701,1.11,285.8,202.6,8.1,869,8706,0.00,2.30,0.00,0.000,6,0.000,0.055,2656,2593,1540
$GC,9026,1.16,287.0,176.1,8.0,899,9031,0.12,2.22,0.00,0.000,4,0.097,0.075,2703,3945,1540
$GC,9069,0.94,287.0,171.4,11.4,902,9076,0.20,2.17,0.00,0.000,6,0.156,0.045,2640,2579,1539
$GC,9395,1.08,305.6,148.2,7.3,933,9415,0.12,0.00,16.73,1.111,6,0.104,0.000,2685,2578,1462
$GC,9732,1.08,305.6,118.5,8.4,965,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2577,1460
$GC,10055,1.08,305.6,92.2,8.0,1003,10061,0.00,2.28,0.00,0.000,4,0.000,0.079,2685,3937,1459
$GC,10096,1.03,305.6,88.5,9.5,1010,10102,0.12,2.15,0.00,0.000,6,0.167,0.046,2655,2569,1459
$GC,10440,1.25,361.0,66.1,5.9,1071,10491,0.17,0.00,45.30,1.098,6,0.094,0.000,2717,2569,1235
$GC,10827,1.25,361.0,29.7,9.7,1139,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2569,1231
$GC,11170,1.47,416.6,7.8,5.9,1200,11223,0.12,2.45,45.75,1.052,4,0.097,0.061,2764,1170,1007
$STATE,11249,end climb,SURFACE_DEPTH_REACHED
$STATE,11249,begin surface coast
$FINISH,0.5,1.014178
$STATE,11279,end surface coast,CONTROL_FINISHED_OK
$STATE,11279,begin surface
$SM_CCo,11356,0.00,0.000,0,0,999,418.97
$SM_GC,1.45,7.70,0.00,0.00,0.086,0.000,0.000,165,2339,999,-10.38,0.25,418.97
$RAFOS_CLK,635
$RAFOS,4,1220892247,16.750000,16.735277,62,61,61,59,57,50,182,192,209,123,156,136
$RAFOS,3,1220891648,16.583334,16.568890,63,59,56,52,52,51,212,179,227,137,196,123
$RAFOS,2,1220891042,16.416666,16.400555,62,61,61,60,55,52,228,210,174,201,154,120
$RAFOS_FIX,6742.408203,-5845.094238,080908,161640,4,62,337.00
$IRIDIUM_FIX,6614.97,-6036.17,031297,131309
$TT8_MAMPS,0.027612
$HUMID,1924
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.7,12.113
$10V_AH,10.6,3.580
$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,20.725,82.950,490.025,0.000,0.000,27.642,31.462,127.025,0.000,0.000,0.000,14.380,2119.833,6745.860,600.514,1911.431,317.060,0.000,1599.937,0.000,1897.470,1080.000,0.528,0.000
$DEVICE_MAMPS,273.819,82.836,1303.133,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.916,830.164,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44096,1218
$CAP_FILE_SIZE,112597,0
$CFSIZE,260165632,250228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$CURRENT,0.068,313.0,1
$GPS,080908,193137,6642.960,-6035.021,35,1.9,35,-38.1