version: 66.04
glider: 113
mission: 4
dive: 32
start: 9 9 108 9 14 51
data:
$ID,113
$MISSION,4
$DIVE,32
$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,-22656.932
$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,29
$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,2610
$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
$GPS1,090908,6643.721,-6023.871,31,1.0,31,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-65.9
$GPS2,091426,6643.697,-6023.896,10,1.2,15,-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,101.4,21265,-14.7,-8.010
$D_GRID,527
$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,15,-1.20,-146.0,0.0,0.0,0,133,0.00,0.00,-114.80,0.000,2,0.000,0.000,167,2329,2752
$GC,135,-1.20,-146.0,3.2,-3.5,18,163,8.50,2.47,-13.65,0.000,4,0.271,0.089,2172,3739,3209
$GC,236,-0.82,-146.0,29.6,-19.9,35,243,0.30,2.28,0.00,0.000,6,0.176,0.044,2255,2319,3213
$GC,580,-0.82,-146.0,67.6,-10.6,96,587,0.00,2.22,0.00,0.000,4,0.000,0.058,2255,926,3216
$GC,615,-0.82,-146.0,71.3,-10.8,102,621,0.00,2.28,0.00,0.000,6,0.000,0.053,2255,2343,3216
$GC,956,-0.82,-146.0,104.2,-9.7,159,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2343,3217
$GC,1277,-0.90,-146.0,133.4,-8.9,189,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2343,3217
$GC,1594,-1.01,-146.0,159.3,-7.7,219,1599,0.15,2.28,0.00,0.000,4,0.105,0.060,2204,925,3216
$GC,1614,-1.01,-146.0,161.4,-9.3,220,1621,0.00,2.28,0.00,0.000,6,0.000,0.054,2204,2334,3216
$GC,1942,-0.96,-146.0,194.5,-10.5,251,1946,0.10,2.28,0.00,0.000,4,0.190,0.060,2228,915,3216
$GC,1968,-0.96,-146.0,197.6,-10.8,253,1973,0.00,2.28,0.00,0.000,6,0.000,0.055,2228,2324,3216
$GC,2299,-1.01,-146.0,228.9,-9.8,284,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2325,3216
$GC,2618,-1.08,-146.0,258.7,-9.1,314,2622,0.12,2.25,0.00,0.000,4,0.110,0.061,2187,917,3215
$GC,2645,-1.00,-146.0,261.7,-10.9,316,2652,0.12,2.25,0.00,0.000,6,0.193,0.056,2216,2334,3215
$GC,2970,-1.06,-146.0,290.3,-8.5,347,2974,0.00,2.25,0.00,0.000,4,0.000,0.061,2217,913,3214
$GC,3048,-1.06,-146.0,297.1,-8.6,354,3052,0.00,2.25,0.00,0.000,6,0.000,0.056,2217,2332,3214
$GC,3379,-1.12,-146.0,324.4,-8.0,385,3381,0.10,0.00,0.00,0.000,6,0.122,0.000,2184,2332,3213
$GC,3696,-1.12,-146.0,354.9,-9.6,415,3700,0.00,2.25,0.00,0.000,4,0.000,0.061,2184,916,3213
$GC,3719,-1.06,-146.0,357.2,-10.5,417,3723,0.10,2.25,0.00,0.000,6,0.200,0.056,2206,2337,3213
$GC,4047,-1.11,-146.0,385.8,-8.7,448,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2337,3213
$GC,4367,-1.17,-146.0,411.4,-8.2,478,4371,0.10,2.25,0.00,0.000,4,0.124,0.059,2174,918,3213
$GC,4388,-1.17,-146.0,413.6,-10.0,480,4392,0.00,2.25,0.00,0.000,6,0.000,0.054,2175,2345,3213
$GC,4718,-1.12,-146.0,446.2,-9.7,511,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2345,3213
$GC,5036,-1.12,-146.0,478.3,-9.6,541,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2345,3213
$GC,5357,-1.06,-146.0,508.2,-9.7,571,5361,0.12,2.25,0.00,0.000,4,0.184,0.072,2205,3741,3213
$GC,5417,-1.18,-146.0,513.8,-8.3,576,5424,0.05,2.20,0.00,0.000,6,0.078,0.043,2167,2327,3213
$STATE,5560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5560,begin apogee
$GC,5564,-0.34,0.0,527.4,9.2,590,5694,0.65,0.00,125.47,1.305,6,0.170,0.000,2363,2586,2610
$STATE,5695,end apogee,CONTROL_FINISHED_OK
$STATE,5695,begin climb
$GC,5697,1.20,146.0,531.0,0.0,603,5838,1.10,2.62,130.68,1.209,4,0.117,0.070,2691,3933,2013
$GC,5884,0.83,146.0,517.0,12.4,621,5889,0.30,2.35,0.00,0.000,6,0.161,0.042,2615,2578,2012
$GC,6208,0.88,181.9,493.7,6.6,651,6244,0.00,2.50,31.15,1.203,4,0.000,0.074,2616,3938,1868
$GC,6289,0.78,181.9,487.5,8.8,658,6298,0.00,2.33,0.00,0.000,6,0.000,0.041,2616,2579,1866
$GC,6615,0.82,207.6,464.1,7.0,689,6642,0.00,2.45,22.70,1.193,4,0.000,0.074,2616,3941,1763
$GC,6664,0.82,207.6,460.2,8.5,693,6668,0.00,2.28,0.00,0.000,6,0.000,0.042,2616,2578,1763
$GC,6995,0.84,221.0,436.3,7.5,724,7009,0.00,0.00,12.65,1.143,6,0.000,0.000,2616,2576,1708
$GC,7324,0.90,225.7,411.2,7.8,755,7336,0.00,2.33,5.53,0.946,4,0.000,0.056,2616,1160,1690
$GC,7360,1.01,225.7,408.4,8.0,758,7364,0.15,2.35,0.00,0.000,6,0.091,0.053,2668,2582,1690
$GC,7683,0.93,225.7,376.6,9.7,788,7685,0.12,0.00,0.00,0.000,6,0.153,0.000,2636,2582,1689
$GC,8003,0.93,225.7,351.1,8.1,818,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2582,1689
$GC,8322,0.93,229.2,325.7,7.9,848,8333,0.00,2.30,4.53,0.854,4,0.000,0.057,2636,1169,1675
$GC,8379,1.00,229.2,321.2,8.4,853,8382,0.00,2.28,0.00,0.000,6,0.000,0.054,2636,2580,1675
$GC,8709,1.01,234.6,295.0,7.8,884,8719,0.00,0.00,6.28,0.979,6,0.000,0.000,2636,2580,1653
$GC,9038,1.09,255.2,270.3,7.2,915,9062,0.12,2.40,17.92,1.137,4,0.095,0.058,2682,1169,1569
$GC,9089,1.09,255.2,265.7,9.1,919,9096,0.00,2.35,0.00,0.000,6,0.000,0.054,2682,2579,1568
$GC,9415,1.03,255.2,234.5,9.8,950,9420,0.10,2.25,0.00,0.000,4,0.166,0.071,2657,3947,1567
$GC,9514,0.95,255.2,224.3,10.2,958,9522,0.00,2.17,0.00,0.000,6,0.000,0.042,2657,2579,1567
$GC,9839,0.95,255.2,197.0,8.2,989,9843,0.00,2.22,0.00,0.000,4,0.000,0.057,2657,1174,1567
$GC,9876,1.05,255.2,193.9,8.0,992,9883,0.00,2.28,0.00,0.000,6,0.000,0.054,2657,2576,1567
$GC,10202,1.10,255.2,167.2,8.5,1023,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2576,1567
$GC,10522,1.16,255.2,140.1,8.0,1053,10527,0.12,2.22,0.00,0.000,4,0.100,0.073,2703,3951,1567
$GC,10566,0.96,255.2,135.0,11.9,1057,10571,0.22,2.15,0.00,0.000,6,0.160,0.045,2639,2570,1566
$GC,10895,1.15,291.6,111.4,6.6,1088,10932,0.15,2.38,29.77,1.117,4,0.099,0.058,2693,1166,1421
$GC,10954,1.15,291.6,106.5,8.1,1093,10958,0.00,2.35,0.00,0.000,6,0.000,0.056,2693,2582,1420
$GC,11292,1.15,291.6,77.7,8.9,1146,11299,0.00,2.25,0.00,0.000,4,0.000,0.074,2693,3943,1418
$GC,11327,1.10,291.6,74.5,9.1,1152,11333,0.00,2.15,0.00,0.000,6,0.000,0.044,2693,2581,1418
$GC,11670,1.10,294.9,45.0,7.9,1213,11684,0.00,2.30,4.15,0.776,4,0.000,0.059,2693,1177,1407
$GC,11707,1.18,307.9,42.4,7.5,1219,11726,0.00,2.28,12.02,1.035,6,0.000,0.057,2693,2581,1354
$GC,12064,1.51,390.0,16.8,4.9,1282,12139,0.20,2.45,68.03,1.047,4,0.084,0.074,2773,3936,1018
$GC,12185,1.40,390.0,6.6,10.5,1302,12193,0.15,2.25,0.00,0.000,6,0.160,0.045,2737,2576,1013
$STATE,12242,end climb,SURFACE_DEPTH_REACHED
$STATE,12242,begin surface coast
$FINISH,0.4,1.012039
$STATE,12271,end surface coast,CONTROL_FINISHED_OK
$STATE,12271,begin surface
$SM_CCo,12347,0.00,0.000,0,0,1005,393.71
$SM_GC,1.40,7.60,0.00,0.00,0.088,0.000,0.000,167,2317,1005,-10.37,-0.34,393.71
$RAFOS_CLK,689
$RAFOS,2,1220963045,12.416667,12.401389,62,59,59,51,50,50,193,164,216,119,136,178
$RAFOS,1,1220962446,12.250000,12.235000,67,57,56,55,53,48,216,151,123,200,171,180
$RAFOS,0,1220961848,12.083333,12.068889,63,61,59,58,53,51,207,218,188,155,119,135
$RAFOS_FIX,258749.390625,1116683.500000,090908,121252,3,64,50906.95
$IRIDIUM_FIX,6614.97,-6021.37,041297,050557
$TT8_MAMPS,0.029146
$HUMID,1914
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,12.942
$10V_AH,10.6,3.933
$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,20.775,101.850,470.875,0.000,0.000,28.346,34.487,149.876,0.000,0.000,0.000,17.155,2315.635,7367.698,615.047,2061.074,358.811,0.000,1685.307,0.000,2041.759,1440.000,0.528,0.000
$DEVICE_MAMPS,270.751,88.972,1304.667,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.972,898.173,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47258,1317
$CAP_FILE_SIZE,124998,0
$CFSIZE,260165632,249888768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$CURRENT,0.084,180.6,1
$GPS,090908,124238,6643.943,-6020.106,30,0.9,30,-38.1