version: 66.04
glider: 113
mission: 4
dive: 33
start: 9 9 108 12 50 15
data:
$ID,113
$MISSION,4
$DIVE,33
$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,-22670.84
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,124238,6643.943,-6020.106,30,0.9,30,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.2
$GPS2,124951,6643.940,-6020.135,11,1.4,11,-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,90.8,18509,-14.7,-8.010
$D_GRID,532
$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,-146.0,0.0,0.0,0,143,0.00,0.00,-124.50,0.000,2,0.000,0.000,168,2318,2905
$GC,145,-1.20,-146.0,4.1,-5.7,20,165,8.50,0.00,-7.95,0.000,6,0.269,0.000,2174,2317,3210
$GC,503,-0.92,-146.0,69.9,-15.1,83,510,0.20,2.38,0.00,0.000,4,0.182,0.071,2231,3738,3217
$GC,538,-0.83,-146.0,74.7,-13.6,89,545,0.10,2.25,0.00,0.000,6,0.173,0.044,2257,2317,3217
$GC,877,-0.89,-146.0,109.6,-9.7,141,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2317,3217
$GC,1196,-0.99,-146.0,138.0,-8.7,171,1200,0.15,2.22,0.00,0.000,4,0.107,0.058,2205,918,3217
$GC,1218,-0.99,-146.0,140.3,-10.5,173,1222,0.00,2.28,0.00,0.000,6,0.000,0.054,2205,2344,3217
$GC,1548,-0.94,-146.0,174.6,-10.0,204,1552,0.12,2.28,0.00,0.000,4,0.189,0.071,2234,3746,3216
$GC,1596,-1.04,-146.0,179.2,-9.1,208,1604,0.08,2.25,0.00,0.000,6,0.112,0.044,2202,2327,3216
$GC,1923,-1.04,-146.0,211.0,-10.0,239,1927,0.00,2.22,0.00,0.000,4,0.000,0.060,2202,918,3215
$GC,1990,-0.97,-146.0,218.3,-10.3,245,1995,0.10,2.25,0.00,0.000,6,0.196,0.055,2226,2333,3216
$GC,2319,-1.03,-146.0,247.1,-8.7,276,2323,0.00,2.28,0.00,0.000,4,0.000,0.074,2225,3733,3215
$GC,2398,-1.14,-146.0,254.0,-9.2,283,2403,0.15,2.20,0.00,0.000,6,0.109,0.045,2176,2319,3215
$GC,2723,-1.04,-146.0,288.5,-10.5,313,2725,0.15,0.00,0.00,0.000,6,0.176,0.000,2215,2319,3215
$GC,3042,-1.09,-146.0,315.1,-8.0,343,3045,0.00,2.33,0.00,0.000,4,0.000,0.075,2215,3733,3213
$GC,3068,-1.17,-146.0,317.4,-8.1,345,3076,0.10,2.20,0.00,0.000,6,0.098,0.045,2161,2336,3213
$GC,3393,-1.06,-146.0,351.5,-10.9,376,3395,0.17,0.00,0.00,0.000,6,0.174,0.000,2207,2335,3213
$GC,3713,-1.11,-146.0,379.6,-8.4,406,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2335,3213
$GC,4033,-1.17,-146.0,406.5,-7.9,436,4034,0.10,0.00,0.00,0.000,6,0.126,0.000,2176,2335,3212
$GC,4349,-1.17,-146.0,435.6,-8.9,466,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2335,3212
$GC,4668,-1.17,-146.0,465.7,-9.5,496,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2335,3213
$GC,4985,-1.17,-146.0,495.9,-9.5,526,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2335,3213
$GC,5304,-1.17,-146.0,526.1,-9.3,556,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2334,3213
$STATE,5366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5366,begin apogee
$GC,5370,-0.34,0.0,532.0,9.2,562,5500,0.62,0.00,125.82,1.302,6,0.163,0.000,2366,2577,2610
$STATE,5501,end apogee,CONTROL_FINISHED_OK
$STATE,5501,begin climb
$GC,5502,1.20,146.0,535.7,0.0,575,5641,1.10,2.65,130.38,1.207,4,0.114,0.071,2696,3946,2013
$GC,5686,0.82,146.0,522.1,11.7,591,5691,0.35,2.38,0.00,0.000,6,0.165,0.042,2613,2580,2012
$GC,6009,0.83,155.5,498.3,7.6,621,6024,0.00,2.45,9.25,1.085,4,0.000,0.074,2613,3940,1975
$GC,6046,0.74,155.5,495.3,8.4,624,6053,0.00,2.28,0.00,0.000,6,0.000,0.042,2613,2580,1975
$GC,6372,0.78,186.0,472.1,6.8,655,6406,0.00,2.45,26.62,1.213,4,0.000,0.075,2613,3944,1850
$GC,6429,0.78,186.0,467.7,8.8,660,6432,0.00,2.28,0.00,0.000,6,0.000,0.041,2613,2571,1850
$GC,6759,0.80,195.7,442.2,7.6,691,6771,0.00,0.00,9.27,1.095,6,0.000,0.000,2613,2570,1812
$GC,7088,0.90,229.4,418.6,6.7,722,7124,0.00,2.50,29.20,1.204,4,0.000,0.074,2613,3944,1674
$GC,7150,0.90,229.4,413.9,8.3,727,7159,0.00,2.28,0.00,0.000,6,0.000,0.041,2613,2579,1672
$GC,7476,1.02,243.8,390.5,7.5,758,7501,0.15,2.40,13.10,1.135,4,0.094,0.057,2666,1169,1615
$GC,7539,1.02,243.8,384.6,10.0,763,7546,0.00,2.38,0.00,0.000,6,0.000,0.054,2666,2579,1614
$GC,7865,0.96,243.8,354.1,9.0,794,7869,0.10,2.25,0.00,0.000,4,0.166,0.069,2641,3943,1613
$GC,7897,0.90,243.8,351.0,8.9,796,7903,0.00,2.20,0.00,0.000,6,0.000,0.042,2641,2572,1614
$GC,8223,0.91,255.0,326.3,7.6,827,8238,0.00,2.28,10.25,1.093,4,0.000,0.057,2641,1176,1570
$GC,8283,1.01,262.7,321.6,7.7,832,8301,0.00,2.30,8.10,1.029,6,0.000,0.054,2640,2583,1539
$GC,8617,1.07,262.7,294.7,8.4,864,8619,0.10,0.00,0.00,0.000,6,0.104,0.000,2677,2583,1538
$GC,8937,1.01,262.7,262.5,10.2,894,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2583,1538
$GC,9254,1.01,262.7,230.4,10.1,924,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2583,1538
$GC,9573,1.01,262.7,200.2,9.2,954,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2583,1538
$GC,9893,1.01,262.7,171.7,8.4,984,9896,0.00,2.25,0.00,0.000,4,0.000,0.058,2677,1176,1538
$GC,9919,1.01,262.7,169.5,8.3,986,9927,0.08,2.28,0.00,0.000,6,0.153,0.054,2652,2583,1539
$GC,10244,1.12,288.0,147.6,7.0,1017,10275,0.10,2.35,21.55,1.114,4,0.107,0.074,2690,3946,1435
$GC,10299,1.00,288.0,142.8,10.3,1022,10303,0.15,2.20,0.00,0.000,6,0.161,0.044,2652,2569,1434
$GC,10628,1.16,308.8,118.5,7.2,1053,10653,0.12,2.30,17.95,1.081,4,0.101,0.058,2695,1171,1350
$GC,10687,1.16,308.8,113.2,9.7,1058,10691,0.00,2.33,0.00,0.000,6,0.000,0.055,2695,2580,1349
$GC,11020,1.16,308.8,83.1,8.7,1105,11027,0.00,2.30,0.00,0.000,4,0.000,0.058,2695,1164,1348
$GC,11055,1.22,308.8,80.1,8.5,1111,11062,0.00,2.30,0.00,0.000,6,0.000,0.054,2695,2584,1349
$GC,11399,1.22,308.8,51.1,8.7,1172,11405,0.00,2.30,0.00,0.000,4,0.000,0.059,2695,1162,1347
$GC,11434,1.29,308.8,48.2,8.4,1178,11441,0.08,2.30,0.00,0.000,6,0.123,0.055,2726,2591,1348
$GC,11779,1.42,352.0,16.5,6.4,1239,11823,0.00,2.42,35.30,1.072,4,0.000,0.058,2726,1180,1174
$GC,11851,1.73,433.2,12.9,4.9,1251,11927,0.28,2.35,69.30,1.006,6,0.081,0.055,2823,2586,843
$STATE,11959,end climb,SURFACE_DEPTH_REACHED
$STATE,11959,begin surface coast
$FINISH,0.4,1.013102
$STATE,11977,end surface coast,CONTROL_FINISHED_OK
$STATE,11978,begin surface
$SM_CCo,12053,0.00,0.000,0,0,830,436.39
$SM_GC,1.21,8.00,0.00,0.00,0.086,0.000,0.000,166,2318,830,-10.38,-0.31,436.39
$RAFOS_CLK,678
$RAFOS,3,1220963646,12.583333,12.568334,75,65,56,54,49,49,196,211,223,167,133,113
$RAFOS_FIX,6737.214844,-5824.154297,090908,121240,4,67,0.00
$IRIDIUM_FIX,6614.97,-6015.98,041297,121202
$TT8_MAMPS,0.029146
$HUMID,1921
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,13.123
$10V_AH,10.6,4.003
$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,21.150,88.700,506.100,0.000,0.000,60.524,60.726,147.816,0.000,0.000,0.000,13.278,2212.650,7297.383,626.635,2000.658,399.308,0.000,1680.032,0.000,1978.733,360.000,0.528,0.000
$DEVICE_MAMPS,269.217,76.700,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,982.848,867.213,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47280,1272
$CAP_FILE_SIZE,120193,0
$CFSIZE,260165632,249827328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$CURRENT,0.075,173.0,1
$GPS,090908,161307,6644.393,-6016.467,29,1.7,29,-38.1