version: 66.04
glider: 113
mission: 4
dive: 37
start: 9 10 108 3 38 34
data:
$ID,113
$MISSION,4
$DIVE,37
$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,-22744.656
$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,24
$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
$GPS1,033055,6644.415,-6005.318,23,1.2,40,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.8
$GPS2,033809,6644.369,-6005.251,12,1.0,12,-38.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,66.0,42061,-14.7,-8.010
$D_GRID,618
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-114.25,0.000,2,0.000,0.000,168,2324,2788
$GC,134,-1.20,-146.0,3.2,-3.4,18,160,8.30,0.00,-12.00,0.000,6,0.263,0.000,2168,2323,3209
$GC,498,-0.92,-146.0,69.7,-15.0,82,504,0.22,0.00,0.00,0.000,6,0.184,0.000,2233,2323,3215
$GC,843,-0.92,-146.0,106.5,-9.6,138,847,0.00,2.25,0.00,0.000,4,0.000,0.058,2233,912,3216
$GC,892,-0.92,-146.0,111.6,-10.2,142,899,0.00,2.30,0.00,0.000,6,0.000,0.053,2233,2329,3216
$GC,1216,-0.92,-146.0,142.7,-9.6,173,1220,0.00,2.28,0.00,0.000,4,0.000,0.059,2233,908,3216
$GC,1254,-0.92,-146.0,146.7,-10.3,176,1261,0.00,2.30,0.00,0.000,6,0.000,0.053,2233,2330,3215
$GC,1580,-0.92,-146.0,176.7,-8.6,207,1584,0.00,2.30,0.00,0.000,4,0.000,0.073,2233,3740,3215
$GC,1645,-1.03,-146.0,182.5,-8.7,212,1652,0.00,2.25,0.00,0.000,6,0.000,0.045,2233,2320,3215
$GC,1973,-1.10,-146.0,208.9,-7.9,243,1978,0.15,2.20,0.00,0.000,4,0.115,0.058,2184,925,3215
$GC,2089,-0.98,-146.0,221.6,-10.8,253,2098,0.12,2.28,0.00,0.000,6,0.183,0.055,2221,2334,3214
$GC,2414,-1.02,-146.0,250.9,-9.0,284,2417,0.00,2.28,0.00,0.000,4,0.000,0.074,2221,3735,3214
$GC,2519,-1.12,-146.0,260.5,-9.0,293,2527,0.08,2.22,0.00,0.000,6,0.113,0.045,2190,2325,3213
$GC,2843,-1.12,-146.0,292.4,-9.4,324,2847,0.00,2.33,0.00,0.000,4,0.000,0.077,2190,3734,3213
$GC,2881,-1.12,-146.0,296.2,-9.7,327,2888,0.00,2.20,0.00,0.000,6,0.000,0.045,2190,2337,3213
$GC,3208,-1.12,-146.0,326.1,-8.8,358,3212,0.00,2.22,0.00,0.000,4,0.000,0.059,2190,918,3212
$GC,3246,-1.06,-146.0,330.0,-9.5,361,3252,0.00,2.25,0.00,0.000,6,0.000,0.057,2190,2334,3212
$GC,3571,-1.06,-146.0,358.8,-9.2,392,3574,0.00,2.28,0.00,0.000,4,0.000,0.073,2189,3739,3212
$GC,3671,-1.06,-146.0,368.3,-9.1,401,3675,0.00,2.20,0.00,0.000,6,0.000,0.045,2190,2318,3212
$GC,4000,-1.06,-146.0,398.1,-9.1,432,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2318,3212
$GC,4319,-1.06,-146.0,425.3,-8.3,462,4323,0.00,2.33,0.00,0.000,4,0.000,0.075,2190,3736,3212
$GC,4386,-1.06,-146.0,431.3,-8.6,468,4390,0.00,2.17,0.00,0.000,6,0.000,0.044,2190,2326,3212
$GC,4717,-1.06,-146.0,459.2,-8.5,499,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2326,3212
$GC,5034,-1.06,-146.0,486.4,-8.4,529,5038,0.00,2.33,0.00,0.000,4,0.000,0.077,2190,3743,3212
$GC,5083,-1.11,-146.0,490.8,-8.7,533,5090,0.00,2.20,0.00,0.000,6,0.000,0.044,2190,2317,3212
$GC,5409,-1.11,-146.0,516.8,-7.8,564,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2317,3212
$GC,5726,-1.11,-146.0,543.5,-8.6,594,5730,0.00,2.33,0.00,0.000,4,0.000,0.075,2190,3739,3212
$GC,5775,-1.17,-146.0,547.9,-8.8,598,5781,0.00,2.20,0.00,0.000,6,0.000,0.044,2190,2331,3212
$GC,6100,-1.17,-146.0,576.5,-8.7,629,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2331,3212
$GC,6417,-1.17,-146.0,602.4,-7.9,657,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2331,3213
$STATE,6630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6630,begin apogee
$GC,6634,-0.34,0.0,620.1,8.4,664,6764,0.55,0.00,127.38,1.351,6,0.153,0.000,2361,2591,2610
$STATE,6765,end apogee,CONTROL_FINISHED_OK
$STATE,6765,begin climb
$GC,6767,1.20,146.0,622.3,0.0,668,6906,1.15,2.70,132.80,1.257,4,0.117,0.054,2703,1182,2014
$GC,6911,0.86,156.7,613.2,7.6,673,6929,0.32,2.58,11.07,1.084,6,0.156,0.053,2624,2578,1971
$GC,7247,0.88,173.6,585.8,7.4,694,7270,0.00,2.42,15.90,1.200,4,0.000,0.071,2624,3947,1902
$GC,7327,0.75,173.6,579.2,9.1,701,7331,0.10,2.28,0.00,0.000,6,0.164,0.042,2600,2579,1901
$GC,7657,0.86,213.2,559.0,6.5,732,7697,0.10,0.00,34.50,1.262,6,0.098,0.000,2635,2578,1740
$GC,8014,0.86,213.2,529.7,8.5,766,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2578,1738
$GC,8333,0.86,213.2,503.0,8.3,796,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2578,1737
$GC,8651,0.86,213.2,476.5,8.3,826,8655,0.00,2.25,0.00,0.000,4,0.000,0.057,2635,1176,1737
$GC,8666,0.86,213.2,475.3,8.5,827,8674,0.00,2.30,0.00,0.000,6,0.000,0.053,2636,2580,1737
$GC,8992,0.86,213.2,447.6,9.0,858,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2580,1737
$GC,9310,0.86,213.2,419.1,9.2,888,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2580,1737
$GC,9628,0.86,213.2,390.7,8.5,918,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2580,1737
$GC,9947,0.86,213.2,363.6,8.2,948,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2580,1737
$GC,10267,0.86,213.2,336.9,8.3,978,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2580,1737
$GC,10584,0.86,213.2,310.7,8.6,1008,10585,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2580,1737
$GC,10904,0.87,223.6,285.9,7.6,1038,10919,0.00,2.25,9.35,1.082,4,0.000,0.071,2635,3936,1698
$GC,10941,0.87,223.6,282.6,8.5,1041,10948,0.00,2.15,0.00,0.000,6,0.000,0.041,2635,2578,1698
$GC,11266,0.91,251.8,259.0,6.9,1072,11296,0.00,0.00,23.75,1.148,6,0.000,0.000,2636,2577,1583
$GC,11615,1.01,269.2,234.3,7.3,1105,11637,0.00,0.00,15.40,1.098,6,0.000,0.000,2635,2577,1512
$GC,11955,1.15,287.7,209.2,7.3,1137,11978,0.17,2.30,16.12,1.091,4,0.089,0.056,2702,1176,1437
$GC,12012,1.15,287.7,203.5,10.5,1142,12016,0.00,2.33,0.00,0.000,6,0.000,0.053,2702,2589,1436
$GC,12343,1.08,287.7,169.4,9.8,1173,12348,0.12,2.30,0.00,0.000,4,0.155,0.057,2669,1173,1436
$GC,12375,1.19,304.5,166.6,7.4,1175,12397,0.10,2.28,15.18,1.075,6,0.100,0.053,2705,2585,1368
$GC,12710,1.19,304.5,133.0,10.4,1207,12714,0.00,2.30,0.00,0.000,4,0.000,0.058,2705,1176,1366
$GC,12725,1.19,304.5,131.5,10.3,1208,12734,0.00,2.30,0.00,0.000,6,0.000,0.052,2705,2580,1365
$GC,13050,1.19,304.5,100.8,8.7,1239,13054,0.00,2.28,0.00,0.000,4,0.000,0.059,2705,1169,1365
$GC,13067,1.19,304.5,99.2,9.0,1241,13074,0.00,2.28,0.00,0.000,6,0.000,0.054,2705,2582,1364
$GC,13410,1.19,304.5,68.0,8.7,1302,13417,0.00,2.28,0.00,0.000,4,0.000,0.059,2705,1166,1365
$GC,13439,1.20,308.4,65.8,7.9,1307,13453,0.00,2.28,4.50,0.818,6,0.000,0.055,2705,2587,1352
$GC,13790,1.20,308.4,37.0,8.1,1369,13797,0.00,2.28,0.00,0.000,4,0.000,0.059,2705,1171,1351
$GC,13859,1.29,308.4,31.6,8.1,1381,13865,0.00,2.28,0.00,0.000,6,0.000,0.056,2705,2589,1351
$GC,14203,1.63,367.2,10.6,5.8,1442,14257,0.22,2.40,47.97,1.063,4,0.082,0.074,2796,3941,1111
$STATE,14300,end climb,SURFACE_DEPTH_REACHED
$STATE,14300,begin surface coast
$FINISH,0.4,1.016517
$STATE,14319,end surface coast,CONTROL_FINISHED_OK
$STATE,14320,begin surface
$SM_CCo,14337,4.78,0.764,0,0,1081,375.06
$SM_GC,2.09,0.00,0.00,4.78,0.000,0.000,0.764,164,2325,1081,-10.45,-0.14,375.06
$RAFOS_CLK,805
$RAFOS,4,1221021849,4.750000,4.735833,63,63,59,57,55,51,121,213,164,196,132,1043
$RAFOS,3,1221021249,4.583333,4.569167,64,59,57,57,53,52,220,196,123,168,233,144
$RAFOS,2,1221020650,4.416667,4.402778,59,58,55,51,51,51,213,222,180,201,144,112
$RAFOS,1,1221020050,4.250000,4.236111,72,66,60,58,51,51,188,156,224,210,178,123
$RAFOS,0,1221019449,4.083333,4.069167,72,60,59,56,52,52,141,210,222,194,176,127
$RAFOS_FIX,6547.582520,-5949.773926,100908,040400,4,68,38.49
$IRIDIUM_FIX,6614.97,-6006.54,051297,030315
$TT8_MAMPS,0.028379
$HUMID,1928
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.50
$XPDR_PINGS,1
$24V_AH,21.7,13.794
$10V_AH,10.6,4.314
$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,19.475,101.525,453.925,4.775,0.000,49.815,50.483,163.077,0.250,0.000,0.000,13.868,2589.352,8876.879,653.718,2287.640,418.712,0.000,1803.805,0.000,2272.035,1800.000,0.529,0.000
$DEVICE_MAMPS,263.081,76.700,1350.687,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.382,1002.162,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53584,1461
$CAP_FILE_SIZE,132764,0
$CFSIZE,260165632,249524224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$CURRENT,0.163,180.0,1
$GPS,100908,073958,6644.709,-6002.823,30,4.7,49,-38.0