version: 66.04
glider: 113
mission: 4
dive: 34
start: 9 9 108 16 18 28
data:
$ID,113
$MISSION,4
$DIVE,34
$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,-22683.834
$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
$GPS1,161307,6644.393,-6016.467,29,1.7,29,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.8
$GPS2,161803,6644.381,-6016.450,10,2.0,10,-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,92.0,15698,-14.7,-8.010
$D_GRID,541
$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,14,begin dive
$GC,15,-1.20,-146.0,0.0,0.0,0,152,0.00,0.00,-133.35,0.000,2,0.000,0.000,166,2318,2836
$GC,154,-1.20,-146.0,3.7,-5.1,21,181,8.60,2.33,-10.32,0.000,4,0.273,0.074,2168,914,3209
$GC,203,-0.25,-146.0,19.3,-29.1,29,210,0.80,2.33,0.00,0.000,6,0.196,0.052,2381,2334,3212
$GC,548,-0.88,-146.0,41.7,-5.8,90,555,0.40,2.33,0.00,0.000,4,0.087,0.069,2238,3736,3215
$GC,611,-0.88,-146.0,47.2,-9.2,101,617,0.00,2.25,0.00,0.000,6,0.000,0.044,2238,2315,3215
$GC,954,-0.88,-146.0,84.0,-10.6,162,960,0.00,2.22,0.00,0.000,4,0.000,0.058,2238,921,3216
$GC,988,-0.88,-146.0,87.7,-11.3,168,994,0.00,2.28,0.00,0.000,6,0.000,0.054,2238,2339,3217
$GC,1324,-0.88,-146.0,122.1,-10.2,210,1328,0.00,2.28,0.00,0.000,4,0.000,0.058,2238,920,3217
$GC,1381,-0.88,-146.0,128.0,-11.2,215,1385,0.00,2.25,0.00,0.000,6,0.000,0.054,2238,2329,3217
$GC,1712,-0.93,-146.0,159.3,-9.2,246,1716,0.00,2.30,0.00,0.000,4,0.000,0.072,2238,3740,3216
$GC,1756,-1.05,-146.0,163.5,-9.0,250,1761,0.12,2.20,0.00,0.000,6,0.115,0.044,2197,2328,3216
$GC,2083,-0.99,-146.0,198.4,-10.7,280,2087,0.10,2.33,0.00,0.000,4,0.186,0.073,2219,3735,3216
$GC,2098,-0.99,-146.0,200.2,-10.1,281,2102,0.00,2.20,0.00,0.000,6,0.000,0.045,2219,2324,3216
$GC,2428,-0.99,-146.0,230.9,-8.8,312,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2323,3215
$GC,2747,-1.04,-146.0,259.3,-8.7,342,2750,0.00,2.22,0.00,0.000,4,0.000,0.060,2219,916,3214
$GC,2818,-1.04,-146.0,266.2,-9.3,348,2825,0.00,2.28,0.00,0.000,6,0.000,0.058,2219,2321,3214
$GC,3145,-1.11,-146.0,294.5,-8.5,379,3147,0.10,0.00,0.00,0.000,6,0.129,0.000,2188,2322,3213
$GC,3461,-1.11,-146.0,324.8,-9.3,409,3465,0.00,2.33,0.00,0.000,4,0.000,0.077,2188,3742,3212
$GC,3573,-1.11,-146.0,335.6,-9.3,419,3577,0.00,2.20,0.00,0.000,6,0.000,0.045,2188,2323,3213
$GC,3902,-1.11,-146.0,364.9,-8.8,450,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2323,3213
$GC,4221,-1.11,-146.0,392.6,-8.7,480,4224,0.00,2.33,0.00,0.000,4,0.000,0.076,2188,3739,3213
$GC,4258,-1.11,-146.0,396.1,-8.9,483,4267,0.00,2.22,0.00,0.000,6,0.000,0.044,2188,2323,3212
$GC,4585,-1.11,-146.0,424.6,-9.0,514,4589,0.00,2.33,0.00,0.000,4,0.000,0.073,2188,3746,3212
$GC,4634,-1.11,-146.0,429.5,-9.2,518,4641,0.00,2.22,0.00,0.000,6,0.000,0.044,2188,2325,3212
$GC,4960,-1.11,-146.0,458.4,-8.9,549,4964,0.00,2.33,0.00,0.000,4,0.000,0.074,2188,3746,3213
$GC,4982,-1.11,-146.0,460.5,-8.8,551,4986,0.00,2.20,0.00,0.000,6,0.000,0.044,2188,2321,3212
$GC,5312,-1.11,-146.0,489.0,-8.6,582,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2321,3213
$GC,5630,-1.11,-146.0,516.3,-8.4,612,5634,0.00,2.33,0.00,0.000,4,0.000,0.072,2188,3749,3213
$GC,5688,-1.18,-146.0,521.1,-8.2,617,5692,0.00,2.20,0.00,0.000,6,0.000,0.044,2188,2321,3213
$STATE,5931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5931,begin apogee
$GC,5935,-0.34,0.0,541.1,8.2,640,6065,0.57,0.00,125.68,1.312,6,0.160,0.000,2364,2581,2610
$STATE,6066,end apogee,CONTROL_FINISHED_OK
$STATE,6066,begin climb
$GC,6067,1.20,146.0,544.5,0.0,653,6206,1.10,2.65,130.48,1.217,4,0.115,0.070,2694,3940,2014
$GC,6272,0.83,146.0,527.8,12.3,671,6281,0.28,2.35,0.00,0.000,6,0.161,0.042,2616,2590,2013
$GC,6597,0.85,162.1,503.6,7.4,702,6620,0.00,2.42,14.40,1.160,4,0.000,0.074,2616,3930,1949
$GC,6654,0.73,162.1,499.0,8.7,707,6659,0.10,2.25,0.00,0.000,6,0.168,0.042,2597,2571,1949
$GC,6978,0.85,205.1,477.7,6.4,737,7020,0.10,0.00,37.33,1.226,6,0.099,0.000,2632,2571,1774
$GC,7336,0.85,205.1,448.3,8.3,771,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2570,1771
$GC,7655,0.85,205.1,421.9,8.6,801,7658,0.00,2.33,0.00,0.000,4,0.000,0.074,2632,3943,1771
$GC,7699,0.74,205.1,417.7,9.9,805,7704,0.15,2.17,0.00,0.000,6,0.164,0.043,2595,2575,1770
$GC,8029,0.91,242.6,395.1,6.6,836,8066,0.12,2.38,31.40,1.211,4,0.096,0.056,2639,1167,1620
$GC,8094,0.96,242.6,389.6,8.8,842,8098,0.00,2.38,0.00,0.000,6,0.000,0.054,2639,2582,1619
$GC,8419,0.96,242.6,361.3,8.6,872,8422,0.00,2.30,0.00,0.000,4,0.000,0.057,2640,1176,1618
$GC,8456,1.02,242.6,357.9,8.5,875,8465,0.00,2.33,0.00,0.000,6,0.000,0.052,2639,2585,1618
$GC,8782,1.02,242.6,329.9,8.8,906,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2585,1618
$GC,9100,1.02,242.6,302.8,8.2,936,9104,0.00,2.28,0.00,0.000,4,0.000,0.056,2640,1174,1618
$GC,9127,1.10,257.5,300.6,7.4,938,9146,0.12,2.28,13.02,1.124,6,0.102,0.053,2686,2593,1560
$GC,9462,1.00,257.5,264.4,10.9,970,9464,0.15,0.00,0.00,0.000,6,0.160,0.000,2645,2593,1559
$GC,9781,1.00,263.7,237.5,7.8,1000,9795,0.00,2.38,6.90,0.987,4,0.000,0.056,2645,1166,1534
$GC,9878,1.12,271.9,230.3,7.7,1008,9892,0.12,2.28,8.25,1.020,6,0.100,0.052,2690,2578,1501
$GC,10210,1.05,271.9,199.7,9.5,1039,10212,0.10,0.00,0.00,0.000,6,0.156,0.000,2665,2579,1500
$GC,10530,1.05,271.9,173.4,8.3,1069,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2579,1500
$GC,10847,1.05,271.9,147.7,8.5,1099,10851,0.00,2.25,0.00,0.000,4,0.000,0.058,2665,1173,1501
$GC,10885,1.16,271.9,144.7,8.2,1102,10892,0.05,2.28,0.00,0.000,6,0.100,0.054,2691,2576,1500
$GC,11211,1.16,271.9,114.2,9.0,1133,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2576,1500
$GC,11537,1.16,271.9,86.7,8.3,1177,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2576,1500
$GC,11879,1.17,285.4,60.6,7.5,1238,11897,0.00,0.00,12.18,1.066,6,0.000,0.000,2691,2575,1445
$GC,12235,1.29,316.7,34.2,6.8,1301,12268,0.10,2.40,26.27,1.082,4,0.100,0.074,2730,3946,1319
$GC,12279,1.29,319.7,30.8,7.9,1308,12289,0.00,2.22,4.12,0.715,6,0.000,0.044,2730,2576,1306
$GC,12627,1.42,362.8,7.8,6.4,1369,12669,0.00,2.40,35.80,1.045,4,0.000,0.076,2730,3934,1128
$GC,12703,1.42,364.2,2.2,8.0,1382,12709,0.00,2.22,0.00,0.000,6,0.000,0.044,2730,2572,1125
$STATE,12713,end climb,SURFACE_DEPTH_REACHED
$STATE,12713,begin surface coast
$FINISH,0.4,1.024582
$STATE,12737,end surface coast,CONTROL_FINISHED_OK
$STATE,12737,begin surface
$SM_CCo,12752,8.55,0.914,0,0,1081,375.06
$SM_GC,1.82,0.00,0.00,8.55,0.000,0.000,0.914,164,2325,1081,-10.45,-0.11,375.06
$RAFOS_CLK,708
$RAFOS,4,1220978647,16.750000,16.735277,63,59,58,55,53,52,203,212,184,149,115,124
$RAFOS,3,1220978044,16.583334,16.567778,59,55,55,54,50,46,151,183,207,219,142,132
$RAFOS,2,1220977446,16.416666,16.401667,59,58,57,56,55,53,113,189,164,175,208,128
$RAFOS,0,1220976245,16.083334,16.068056,63,63,54,53,52,51,197,215,169,185,115,140
$RAFOS_FIX,7040.229004,-3549.916748,090908,161632,2,63,2582.68
$IRIDIUM_FIX,6614.97,-6023.41,041297,121254
$TT8_MAMPS,0.027612
$HUMID,1928
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,21.7,13.287
$10V_AH,10.6,4.078
$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,20.675,101.775,445.825,8.550,0.000,23.601,38.568,133.054,0.000,0.000,0.000,12.365,2389.901,7566.119,599.767,2186.784,346.499,0.000,1733.035,0.000,2171.806,1080.000,0.528,0.000
$DEVICE_MAMPS,273.052,76.700,1311.570,914.264,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.541,947.356,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50397,1388
$CAP_FILE_SIZE,126894,0
$CFSIZE,260165632,249753600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.1
$CURRENT,0.073,317.7,1
$GPS,090908,195305,6645.808,-6013.589,36,1.5,46,-38.1