version: 66.04
glider: 113
mission: 4
dive: 28
start: 9 8 108 19 37 15
data:
$ID,113
$MISSION,4
$DIVE,28
$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,-22593.461
$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,30
$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,2708
$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
$GPS1,193137,6642.960,-6035.021,35,1.9,35,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.7
$GPS2,193650,6642.945,-6035.019,10,1.8,15,-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,127.2,29460,-14.7,-8.010
$D_GRID,502
$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,-146.0,0.0,0.0,0,142,0.00,0.00,-124.28,0.000,2,0.000,0.000,166,2341,2844
$GC,144,-1.20,-146.0,3.7,-5.1,20,172,8.57,2.42,-12.60,0.000,4,0.273,0.084,2165,3740,3308
$GC,217,-0.69,-146.0,25.5,-27.5,32,225,0.45,2.30,0.00,0.000,6,0.180,0.048,2289,2319,3311
$GC,563,-0.82,-146.0,59.6,-8.6,93,570,0.12,2.25,0.00,0.000,4,0.110,0.058,2248,919,3315
$GC,609,-0.82,-146.0,64.7,-11.6,101,616,0.00,2.30,0.00,0.000,6,0.000,0.054,2247,2345,3315
$GC,951,-0.82,-146.0,102.5,-10.3,160,955,0.00,2.30,0.00,0.000,4,0.000,0.072,2248,3745,3317
$GC,975,-0.90,-146.0,104.7,-10.0,162,979,0.00,2.22,0.00,0.000,6,0.000,0.044,2248,2327,3316
$GC,1305,-0.97,-146.0,136.8,-9.6,193,1307,0.08,0.00,0.00,0.000,6,0.144,0.000,2219,2327,3316
$GC,1623,-0.97,-146.0,169.5,-10.2,223,1627,0.00,2.33,0.00,0.000,4,0.000,0.074,2219,3735,3316
$GC,1661,-1.02,-146.0,173.6,-11.0,226,1665,0.00,2.20,0.00,0.000,6,0.000,0.045,2219,2330,3315
$GC,1991,-1.02,-146.0,205.9,-9.2,257,1994,0.00,2.22,0.00,0.000,4,0.000,0.061,2219,924,3315
$GC,2017,-1.02,-146.0,208.7,-10.2,259,2024,0.00,2.28,0.00,0.000,6,0.000,0.055,2219,2329,3315
$GC,2343,-1.02,-146.0,240.3,-9.7,290,2346,0.00,2.25,0.00,0.000,4,0.000,0.061,2219,924,3314
$GC,2369,-1.02,-146.0,243.2,-10.9,292,2376,0.00,2.28,0.00,0.000,6,0.000,0.055,2219,2334,3314
$GC,2695,-1.08,-146.0,274.3,-9.6,323,2699,0.00,2.25,0.00,0.000,4,0.000,0.062,2219,925,3313
$GC,2732,-1.08,-146.0,278.2,-9.5,326,2740,0.00,2.28,0.00,0.000,6,0.000,0.056,2219,2334,3313
$GC,3058,-1.15,-146.0,308.3,-9.0,357,3063,0.12,2.25,0.00,0.000,4,0.123,0.061,2177,924,3313
$GC,3108,-1.04,-146.0,313.9,-11.7,361,3113,0.12,2.25,0.00,0.000,6,0.191,0.055,2206,2342,3313
$GC,3432,-1.09,-146.0,345.0,-9.7,391,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2341,3313
$GC,3751,-1.15,-146.0,374.4,-8.5,421,3755,0.00,2.28,0.00,0.000,4,0.000,0.074,2206,3740,3313
$GC,3796,-1.26,-146.0,378.2,-8.7,425,3801,0.17,2.20,0.00,0.000,6,0.108,0.045,2148,2321,3313
$GC,4120,-1.11,-146.0,415.0,-11.6,455,4124,0.17,2.33,0.00,0.000,4,0.182,0.075,2192,3744,3312
$GC,4129,-0.99,-146.0,416.1,-11.4,455,4136,0.08,2.22,0.00,0.000,6,0.170,0.044,2215,2329,3312
$GC,4454,-1.11,-146.0,442.8,-8.2,486,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2329,3312
$GC,4773,-1.22,-146.0,469.1,-8.6,516,4778,0.17,2.33,0.00,0.000,4,0.101,0.076,2152,3742,3312
$GC,4783,-1.31,-146.0,470.0,-8.3,516,4789,0.00,2.20,0.00,0.000,6,0.000,0.044,2152,2336,3312
$STATE,5073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5074,begin apogee
$GC,5078,-0.34,0.0,502.7,11.2,544,5208,0.70,0.00,125.28,1.295,6,0.172,0.000,2362,2577,2708
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5211,1.20,146.0,507.8,0.0,557,5349,1.10,2.62,130.23,1.202,4,0.116,0.071,2692,3940,2112
$GC,5473,0.79,146.0,489.0,11.2,580,5478,0.32,2.30,0.00,0.000,6,0.165,0.044,2608,2583,2110
$GC,5797,0.84,185.6,467.7,6.5,610,5839,0.00,0.00,34.12,1.203,6,0.000,0.000,2608,2583,1950
$GC,6156,0.88,216.7,442.9,6.8,644,6191,0.00,2.47,27.23,1.192,4,0.000,0.073,2608,3944,1823
$GC,6225,0.88,216.7,437.7,8.8,650,6229,0.00,2.30,0.00,0.000,6,0.000,0.042,2608,2576,1823
$GC,6550,0.98,241.6,414.9,7.1,680,6575,0.15,0.00,21.98,1.180,6,0.094,0.000,2660,2575,1723
$GC,6889,0.90,241.6,382.6,9.5,712,6891,0.12,0.00,0.00,0.000,6,0.161,0.000,2629,2575,1721
$GC,7209,0.92,251.7,357.7,7.6,742,7224,0.00,2.38,9.80,1.091,4,0.000,0.073,2628,3951,1681
$GC,7257,0.86,251.7,353.4,9.0,746,7264,0.00,2.25,0.00,0.000,6,0.000,0.043,2628,2578,1680
$GC,7582,0.89,277.3,329.4,7.0,777,7606,0.00,0.00,22.12,1.167,6,0.000,0.000,2628,2578,1578
$GC,7921,0.98,287.0,304.4,7.6,809,7935,0.00,2.38,9.52,1.065,4,0.000,0.057,2628,1169,1537
$GC,7996,1.13,301.6,298.7,7.5,815,8015,0.17,2.33,13.55,1.099,6,0.088,0.054,2691,2582,1478
$GC,8331,1.04,301.6,262.7,10.9,847,8336,0.12,2.25,0.00,0.000,4,0.156,0.070,2658,3940,1476
$GC,8381,0.95,301.6,257.5,10.5,851,8385,0.00,2.17,0.00,0.000,6,0.000,0.044,2660,2571,1476
$GC,8711,0.95,301.6,228.7,9.0,882,8715,0.00,2.25,0.00,0.000,4,0.000,0.058,2660,1164,1476
$GC,8778,1.02,301.6,222.9,8.7,888,8782,0.00,2.30,0.00,0.000,6,0.000,0.054,2660,2588,1476
$GC,9103,1.03,304.6,196.4,7.9,918,9112,0.00,0.00,3.85,0.750,6,0.000,0.000,2660,2588,1466
$GC,9431,1.11,326.8,171.9,7.2,949,9456,0.00,2.35,19.42,1.118,4,0.000,0.072,2660,3947,1375
$GC,9478,1.11,326.8,168.2,8.3,953,9482,0.00,2.20,0.00,0.000,6,0.000,0.043,2660,2579,1374
$GC,9809,1.24,349.6,144.2,7.1,984,9834,0.15,2.40,19.60,1.097,4,0.094,0.059,2717,1166,1281
$GC,9880,1.24,349.6,137.1,10.3,990,9884,0.00,2.35,0.00,0.000,6,0.000,0.054,2717,2583,1280
$GC,10204,1.18,349.6,101.1,10.7,1020,10208,0.10,2.28,0.00,0.000,4,0.160,0.075,2692,3947,1279
$GC,10249,1.12,349.6,96.2,11.0,1026,10255,0.00,2.17,0.00,0.000,6,0.000,0.044,2692,2578,1278
$GC,10592,1.20,350.4,67.5,8.0,1087,10599,0.00,2.25,0.00,0.000,4,0.000,0.059,2692,1170,1278
$GC,10627,1.31,350.4,64.8,8.1,1093,10635,0.10,2.30,0.00,0.000,6,0.107,0.056,2727,2595,1278
$GC,10973,1.31,350.4,30.8,10.5,1154,10979,0.00,2.20,0.00,0.000,4,0.000,0.074,2727,3945,1277
$GC,11102,1.32,360.4,18.6,7.6,1177,11117,0.00,2.15,9.52,1.014,6,0.000,0.046,2728,2574,1238
$STATE,11357,end climb,SURFACE_DEPTH_REACHED
$STATE,11357,begin surface coast
$FINISH,0.6,1.014275
$STATE,11386,end surface coast,CONTROL_FINISHED_OK
$STATE,11386,begin surface
$SM_CCo,11401,11.25,1.012,0,0,1178,375.06
$SM_GC,1.55,0.00,0.00,11.25,0.000,0.000,1.012,163,2319,1178,-10.46,-0.31,375.06
$RAFOS_CLK,639
$RAFOS,4,1220906647,20.750000,20.735277,60,60,58,53,52,51,179,220,209,161,148,138
$RAFOS,3,1220906044,20.583334,20.567778,66,59,57,55,54,52,217,204,195,150,126,186
$RAFOS,2,1220905446,20.416666,20.401667,62,59,52,51,51,51,172,208,150,185,631,1310
$RAFOS,1,1220904848,20.250000,20.235556,59,56,53,53,52,51,197,156,176,213,114,138
$RAFOS,0,1220904245,20.083334,20.068056,64,59,56,54,53,50,207,157,184,129,221,169
$RAFOS_FIX,6745.631348,-5824.179688,080908,202008,4,63,50.05
$IRIDIUM_FIX,6614.97,-6038.24,031297,161620
$TT8_MAMPS,0.029146
$HUMID,1935
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.7,12.278
$10V_AH,10.6,3.649
$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,20.450,101.350,446.225,11.250,0.000,33.102,41.696,135.338,0.000,0.000,0.000,16.609,2162.116,6719.907,594.834,1953.079,351.129,0.000,1620.156,0.000,1937.509,1800.000,0.528,0.000
$DEVICE_MAMPS,273.052,84.370,1295.463,1012.440,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.495,838.519,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44095,1227
$CAP_FILE_SIZE,119449,0
$CFSIZE,260165632,250159104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$CURRENT,0.063,249.7,1
$GPS,080908,224938,6642.863,-6031.797,38,1.2,38,-38.1