version: 66.04
glider: 113
mission: 4
dive: 36
start: 9 9 108 23 45 31
data:
$ID,113
$MISSION,4
$DIVE,36
$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,-22730.16
$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,26
$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
$GPS1,233938,6645.680,-6010.075,39,1.1,39,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.1
$GPS2,234507,6645.668,-6010.119,14,1.2,30,-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,116.8,10599,-14.7,-8.010
$D_GRID,578
$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,-146.0,0.0,0.0,0,136,0.00,0.00,-118.05,0.000,2,0.000,0.000,168,2323,2850
$GC,138,-1.20,-146.0,4.2,-5.5,19,165,8.45,2.33,-9.57,0.000,4,0.268,0.074,2173,926,3210
$GC,170,0.60,-146.0,16.1,-30.7,24,178,1.42,2.30,0.00,0.000,6,0.196,0.054,2566,2331,3212
$GC,514,-0.55,-146.0,40.8,-7.2,85,524,0.80,2.30,0.00,0.000,4,0.139,0.056,2315,911,3215
$GC,592,-1.08,-146.0,46.2,-6.9,98,599,0.35,2.30,0.00,0.000,6,0.084,0.054,2189,2342,3215
$GC,936,-0.98,-146.0,83.6,-11.5,159,943,0.15,2.28,0.00,0.000,4,0.170,0.071,2227,3732,3216
$GC,949,-0.89,-146.0,85.0,-11.2,161,956,0.00,2.20,0.00,0.000,6,0.000,0.042,2228,2322,3217
$GC,1289,-0.94,-146.0,117.6,-9.4,206,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2322,3217
$GC,1609,-1.00,-146.0,145.4,-7.9,236,1613,0.00,2.35,0.00,0.000,4,0.000,0.075,2227,3742,3217
$GC,1631,-1.10,-146.0,147.3,-8.3,238,1636,0.12,2.20,0.00,0.000,6,0.107,0.044,2188,2330,3217
$GC,1961,-1.04,-146.0,183.4,-11.5,269,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2330,3217
$GC,2280,-1.00,-146.0,220.8,-11.2,299,2282,0.12,0.00,0.00,0.000,6,0.176,0.000,2218,2330,3217
$GC,2599,-1.07,-146.0,249.1,-8.0,329,2603,0.00,2.33,0.00,0.000,4,0.000,0.077,2218,3738,3216
$GC,2671,-1.20,-146.0,255.1,-8.8,335,2676,0.17,2.20,0.00,0.000,6,0.107,0.045,2161,2321,3216
$GC,2997,-1.10,-146.0,287.0,-10.0,365,2999,0.15,0.00,0.00,0.000,6,0.173,0.000,2199,2320,3215
$GC,3314,-1.10,-146.0,313.8,-8.2,395,3318,0.00,2.20,0.00,0.000,4,0.000,0.060,2200,918,3214
$GC,3347,-1.10,-146.0,316.9,-9.6,398,3351,0.00,2.25,0.00,0.000,6,0.000,0.058,2199,2336,3214
$GC,3678,-1.16,-146.0,345.8,-8.6,429,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2336,3214
$GC,3996,-1.21,-146.0,374.0,-8.9,459,3998,0.12,0.00,0.00,0.000,6,0.109,0.000,2159,2336,3214
$GC,4315,-1.14,-146.0,406.8,-9.5,489,4319,0.12,2.28,0.00,0.000,4,0.184,0.073,2188,3739,3213
$GC,4329,-1.14,-146.0,408.2,-9.3,490,4336,0.00,2.20,0.00,0.000,6,0.000,0.044,2189,2336,3214
$GC,4656,-1.14,-146.0,435.4,-8.2,521,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2336,3214
$GC,4973,-1.14,-146.0,460.8,-7.9,551,4977,0.00,2.30,0.00,0.000,4,0.000,0.075,2188,3739,3214
$GC,4995,-1.19,-146.0,462.7,-8.6,553,4999,0.00,2.17,0.00,0.000,6,0.000,0.044,2189,2325,3214
$GC,5325,-1.24,-146.0,489.1,-8.1,584,5328,0.00,2.33,0.00,0.000,4,0.000,0.076,2188,3743,3214
$GC,5336,-1.29,-146.0,490.0,-8.0,585,5340,0.12,2.17,0.00,0.000,6,0.104,0.044,2147,2330,3214
$GC,5666,-1.20,-146.0,522.7,-10.1,616,5668,0.12,0.00,0.00,0.000,6,0.179,0.000,2177,2329,3214
$GC,5984,-1.20,-146.0,551.6,-9.1,646,5988,0.00,2.30,0.00,0.000,4,0.000,0.075,2177,3739,3214
$GC,6017,-1.20,-146.0,554.9,-9.3,649,6021,0.00,2.17,0.00,0.000,6,0.000,0.044,2177,2323,3214
$STATE,6282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6282,begin apogee
$GC,6287,-0.34,0.0,578.0,8.9,674,6417,0.60,0.00,126.82,1.330,6,0.160,0.000,2362,2581,2610
$STATE,6418,end apogee,CONTROL_FINISHED_OK
$STATE,6418,begin climb
$GC,6420,1.20,146.0,581.3,0.0,687,6560,1.10,2.65,131.70,1.235,4,0.115,0.072,2692,3933,2014
$GC,6604,0.82,146.0,567.7,12.3,704,6611,0.25,2.38,0.00,0.000,6,0.158,0.042,2614,2583,2013
$GC,6928,0.84,159.3,543.3,7.5,735,6942,0.00,0.00,12.30,1.155,6,0.000,0.000,2614,2583,1960
$GC,7257,0.86,177.9,518.9,7.3,766,7281,0.00,2.45,17.20,1.206,4,0.000,0.071,2613,3943,1884
$GC,7327,0.78,177.9,513.2,9.3,772,7331,0.00,2.25,0.00,0.000,6,0.000,0.042,2614,2570,1883
$GC,7657,0.79,190.5,488.8,7.5,803,7671,0.00,0.00,11.82,1.164,6,0.000,0.000,2613,2570,1833
$GC,7985,0.79,190.5,462.7,8.2,834,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2570,1831
$GC,8304,0.81,202.4,437.8,7.6,864,8320,0.00,2.35,11.40,1.157,4,0.000,0.072,2614,3947,1784
$GC,8380,0.81,202.4,431.0,9.0,870,8387,0.00,2.22,0.00,0.000,6,0.000,0.042,2614,2572,1784
$GC,8707,0.89,219.3,407.3,7.4,901,8730,0.00,2.30,15.20,1.180,4,0.000,0.056,2613,1176,1716
$GC,8769,1.02,239.1,402.5,7.3,906,8793,0.15,2.33,17.88,1.168,6,0.091,0.053,2665,2591,1635
$GC,9117,0.95,239.1,368.1,10.1,939,9122,0.10,2.22,0.00,0.000,4,0.156,0.070,2640,3937,1633
$GC,9174,0.87,239.1,362.4,10.8,944,9177,0.00,2.15,0.00,0.000,6,0.000,0.043,2640,2578,1633
$GC,9503,0.87,239.1,333.8,8.8,975,9507,0.00,2.25,0.00,0.000,4,0.000,0.057,2640,1164,1633
$GC,9593,0.92,239.1,326.2,8.7,983,9597,0.00,2.28,0.00,0.000,6,0.000,0.054,2640,2580,1632
$GC,9922,0.92,239.1,296.5,9.1,1014,9926,0.00,2.25,0.00,0.000,4,0.000,0.057,2640,1176,1632
$GC,9971,0.99,239.1,292.1,8.9,1018,9978,0.00,2.25,0.00,0.000,6,0.000,0.053,2640,2588,1632
$GC,10296,0.99,239.1,264.2,8.9,1049,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2588,1632
$GC,10614,0.99,239.1,236.6,8.9,1079,10618,0.00,2.17,0.00,0.000,4,0.000,0.071,2640,3939,1632
$GC,10659,0.94,239.1,232.3,9.7,1083,10662,0.00,2.10,0.00,0.000,6,0.000,0.043,2640,2579,1633
$GC,10989,1.02,258.5,206.6,7.3,1114,11010,0.00,0.00,16.38,1.114,6,0.000,0.000,2640,2579,1556
$GC,11328,1.16,298.5,183.0,6.5,1146,11364,0.17,0.00,33.45,1.113,6,0.091,0.000,2704,2579,1393
$GC,11677,1.09,298.5,149.7,10.1,1179,11682,0.12,2.28,0.00,0.000,4,0.156,0.058,2674,1170,1389
$GC,11749,1.18,307.9,143.6,7.6,1185,11767,0.00,2.30,8.90,0.998,6,0.000,0.056,2674,2584,1353
$GC,12084,1.22,307.9,114.1,8.5,1217,12086,0.10,0.00,0.00,0.000,6,0.104,0.000,2712,2585,1352
$GC,12412,1.22,307.9,82.4,9.5,1263,12419,0.00,2.28,0.00,0.000,4,0.000,0.060,2715,1177,1351
$GC,12470,1.22,307.9,77.1,8.8,1273,12476,0.00,2.28,0.00,0.000,6,0.000,0.055,2715,2589,1351
$GC,12813,1.22,307.9,44.8,9.3,1334,12819,0.00,2.28,0.00,0.000,4,0.000,0.060,2715,1176,1351
$GC,12841,1.22,307.9,42.2,9.0,1339,12849,0.00,2.25,0.00,0.000,6,0.000,0.055,2715,2579,1350
$GC,13187,1.42,360.8,14.1,6.0,1400,13238,0.10,0.00,43.25,1.071,6,0.104,0.000,2755,2579,1137
$STATE,13344,end climb,SURFACE_DEPTH_REACHED
$STATE,13344,begin surface coast
$FINISH,0.4,1.024251
$STATE,13366,end surface coast,CONTROL_FINISHED_OK
$STATE,13367,begin surface
$SM_CCo,13381,10.15,0.960,0,0,1081,375.06
$SM_GC,1.80,0.00,0.00,10.15,0.000,0.000,0.960,168,2324,1081,-10.43,-0.17,375.06
$RAFOS_CLK,742
$RAFOS,4,1221007447,0.750000,0.735278,60,52,52,51,50,49,206,183,160,122,225,146
$RAFOS,3,1221006850,0.583333,0.569444,63,59,56,55,50,49,214,230,121,195,177,153
$RAFOS,2,1221006251,0.416667,0.403056,56,55,53,51,50,50,200,213,153,222,123,141
$RAFOS,1,1221005646,0.250000,0.235000,69,58,54,52,51,51,194,213,137,123,226,237
$RAFOS,0,1221005048,0.083333,0.068889,69,58,56,51,51,49,204,218,173,117,237,140
$RAFOS_FIX,6744.281738,-6003.608887,100908,000032,4,65,45.96
$IRIDIUM_FIX,6614.97,-5959.11,041297,202048
$TT8_MAMPS,0.027612
$HUMID,1927
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,13.622
$10V_AH,10.6,4.233
$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,22.550,96.250,446.300,10.150,0.000,23.212,32.265,148.708,0.000,0.000,0.000,32.293,2534.333,8032.182,598.506,2250.940,357.149,0.000,1741.907,0.000,2214.129,1800.000,0.528,0.000
$DEVICE_MAMPS,268.450,76.700,1329.978,959.517,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1110.773,978.917,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50408,1431
$CAP_FILE_SIZE,133389,0
$CFSIZE,260165632,249597952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
$CURRENT,0.213,178.9,1
$GPS,100908,033055,6644.415,-6005.318,23,1.2,40,-38.0