version: 66.04
glider: 113
mission: 4
dive: 30
start: 9 9 108 2 17 28
data:
$ID,113
$MISSION,4
$DIVE,30
$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,-22625.818
$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,32
$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
$GPS1,021156,6642.301,-6027.646,39,1.5,39,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.6
$GPS2,021703,6642.295,-6027.635,14,0.9,14,-38.0
$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,62.3,24684,-14.7,-8.010
$D_GRID,517
$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,-146.0,0.0,0.0,0,125,0.00,0.00,-107.35,0.000,2,0.000,0.000,160,2321,2741
$GC,127,-1.20,-146.0,3.2,-3.5,17,156,8.65,2.45,-14.00,0.000,4,0.276,0.084,2165,3737,3209
$GC,409,-0.93,-146.0,58.2,-15.2,66,416,0.25,2.25,0.00,0.000,6,0.180,0.045,2231,2319,3215
$GC,753,-0.88,-146.0,95.7,-10.1,127,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2320,3216
$GC,1084,-0.88,-146.0,128.4,-10.1,162,1088,0.00,2.35,0.00,0.000,4,0.000,0.071,2231,3743,3216
$GC,1122,-0.88,-146.0,132.1,-9.9,165,1131,0.00,2.25,0.00,0.000,6,0.000,0.044,2231,2326,3216
$GC,1449,-0.88,-146.0,162.6,-9.6,196,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2326,3215
$GC,1766,-0.88,-146.0,191.6,-8.6,226,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2326,3215
$GC,2085,-0.93,-146.0,219.6,-8.9,256,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2326,3215
$GC,2403,-0.99,-146.0,247.5,-9.0,286,2407,0.00,2.22,0.00,0.000,4,0.000,0.061,2231,919,3215
$GC,2452,-1.04,-146.0,252.4,-9.7,290,2460,0.00,2.28,0.00,0.000,6,0.000,0.058,2231,2327,3214
$GC,2778,-1.13,-146.0,281.8,-8.9,321,2783,0.15,2.30,0.00,0.000,4,0.110,0.074,2180,3739,3213
$GC,2906,-1.13,-146.0,295.6,-10.7,332,2910,0.00,2.20,0.00,0.000,6,0.000,0.047,2179,2324,3213
$GC,3238,-1.05,-146.0,331.0,-10.2,363,3243,0.12,2.35,0.00,0.000,4,0.183,0.076,2210,3748,3213
$GC,3337,-1.15,-146.0,340.3,-8.9,371,3345,0.05,2.22,0.00,0.000,6,0.117,0.046,2187,2334,3212
$GC,3663,-1.15,-146.0,369.9,-9.1,402,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2334,3212
$GC,3980,-1.15,-146.0,400.3,-8.9,432,3984,0.00,2.33,0.00,0.000,4,0.000,0.077,2186,3745,3212
$GC,4018,-1.15,-146.0,403.9,-9.2,435,4025,0.00,2.22,0.00,0.000,6,0.000,0.044,2186,2329,3212
$GC,4344,-1.15,-146.0,432.7,-8.8,466,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2329,3212
$GC,4661,-1.15,-146.0,461.8,-8.8,496,4665,0.00,2.33,0.00,0.000,4,0.000,0.075,2186,3748,3212
$GC,4719,-1.15,-146.0,466.7,-8.9,501,4723,0.00,2.20,0.00,0.000,6,0.000,0.044,2187,2322,3212
$GC,5049,-1.15,-146.0,494.6,-9.7,532,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2322,3212
$STATE,5301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5301,begin apogee
$GC,5306,-0.34,0.0,517.8,9.5,556,5436,0.57,0.00,125.32,1.304,6,0.166,0.000,2360,2580,2610
$STATE,5436,end apogee,CONTROL_FINISHED_OK
$STATE,5436,begin climb
$GC,5438,1.20,146.0,521.8,0.0,569,5577,1.12,2.65,130.15,1.210,4,0.117,0.070,2694,3939,2013
$GC,5644,0.82,146.0,506.2,11.2,587,5651,0.25,2.38,0.00,0.000,6,0.162,0.043,2616,2582,2012
$GC,5968,0.86,171.7,482.4,7.0,618,5993,0.00,0.00,22.55,1.195,6,0.000,0.000,2616,2582,1909
$GC,6308,0.88,188.6,457.1,7.4,650,6329,0.00,0.00,15.48,1.174,6,0.000,0.000,2616,2582,1840
$GC,6647,0.91,208.2,431.7,7.3,682,6670,0.00,2.45,17.45,1.183,4,0.000,0.071,2616,3945,1761
$GC,6686,0.91,209.7,428.4,8.0,685,6693,0.00,2.30,0.00,0.000,6,0.000,0.042,2616,2571,1761
$GC,7011,0.98,220.9,402.5,7.6,716,7026,0.12,0.00,12.12,1.136,6,0.096,0.000,2661,2570,1709
$GC,7339,0.93,220.9,370.4,10.0,747,7344,0.10,2.33,0.00,0.000,4,0.166,0.071,2637,3945,1708
$GC,7370,0.85,220.9,367.2,10.5,749,7377,0.00,2.20,0.00,0.000,6,0.000,0.044,2637,2583,1708
$GC,7695,0.85,220.9,339.7,8.6,780,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2583,1708
$GC,8013,0.85,220.9,313.4,8.5,810,8017,0.00,2.28,0.00,0.000,4,0.000,0.075,2637,3947,1708
$GC,8035,0.85,220.9,311.5,8.5,812,8039,0.00,2.15,0.00,0.000,6,0.000,0.044,2637,2574,1708
$GC,8365,0.85,220.9,283.9,8.4,843,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2573,1708
$GC,8685,0.85,224.1,258.2,7.9,873,8694,0.00,0.00,4.25,0.821,6,0.000,0.000,2637,2573,1696
$GC,9013,0.92,236.9,232.8,7.5,904,9026,0.00,0.00,11.80,1.099,6,0.000,0.000,2637,2573,1644
$GC,9340,1.02,248.1,206.9,7.6,935,9353,0.00,0.00,10.65,1.068,6,0.000,0.000,2637,2573,1598
$GC,9670,1.16,271.6,183.0,7.1,966,9696,0.17,2.35,20.08,1.112,4,0.092,0.058,2703,1178,1502
$GC,9717,1.16,271.6,178.5,9.8,970,9724,0.00,2.35,0.00,0.000,6,0.000,0.054,2703,2579,1502
$GC,10043,1.08,271.6,146.0,10.1,1001,10045,0.12,0.00,0.00,0.000,6,0.156,0.000,2670,2579,1500
$GC,10362,1.14,276.0,121.1,7.8,1031,10371,0.00,0.00,5.05,0.871,6,0.000,0.000,2671,2579,1483
$GC,10692,1.22,276.0,95.3,8.0,1067,10699,0.12,2.28,0.00,0.000,4,0.100,0.058,2715,1174,1483
$GC,10710,1.27,276.0,93.8,8.5,1070,10717,0.00,2.28,0.00,0.000,6,0.000,0.055,2714,2586,1483
$GC,11054,1.21,276.0,58.8,9.5,1131,11060,0.00,2.22,0.00,0.000,4,0.000,0.075,2714,3944,1482
$GC,11105,1.04,276.0,53.2,11.0,1140,11113,0.20,2.15,0.00,0.000,6,0.163,0.045,2658,2570,1481
$GC,11451,1.30,304.7,29.1,6.9,1201,11484,0.20,2.35,24.25,1.088,4,0.088,0.060,2736,1170,1366
$GC,11502,1.32,321.7,25.5,7.4,1209,11528,0.00,2.35,15.23,1.015,6,0.000,0.057,2736,2587,1297
$GC,11867,1.45,379.8,3.2,5.8,1273,11886,0.00,0.00,16.98,1.029,2,0.000,0.000,2736,2587,1210
$STATE,11887,end climb,SURFACE_DEPTH_REACHED
$STATE,11887,begin surface coast
$FINISH,0.4,1.012241
$STATE,11920,end surface coast,CONTROL_FINISHED_OK
$STATE,11920,begin surface
$SM_CCo,11934,24.92,1.013,0,0,1081,375.06
$SM_GC,1.59,0.00,0.00,24.92,0.000,0.000,1.013,166,2327,1081,-10.44,-0.08,375.06
$RAFOS_CLK,664
$RAFOS,4,1220935446,4.750000,4.735000,60,59,57,54,50,50,206,154,186,216,163,118
$RAFOS,3,1220934841,4.583333,4.566945,59,55,53,51,51,48,201,173,218,159,229,117
$RAFOS,2,1220934246,4.416667,4.401667,67,65,59,57,57,56,218,231,171,159,143,120
$RAFOS,1,1220933646,4.250000,4.235000,58,56,55,55,53,51,134,191,145,209,174,219
$RAFOS,0,1220933049,4.083333,4.069167,64,59,59,59,51,51,208,166,129,217,153,182
$RAFOS_FIX,6607.759277,-5904.210449,090908,040449,3,64,11.76
$IRIDIUM_FIX,6614.97,-6030.83,031297,232343
$TT8_MAMPS,0.027612
$HUMID,1923
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,21.7,12.608
$10V_AH,10.6,3.789
$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,19.800,69.850,431.350,24.925,0.000,24.858,34.430,142.767,0.000,0.000,0.000,15.541,2235.871,7162.481,585.700,1991.651,335.545,0.000,1602.541,0.000,1973.033,1800.000,0.528,0.000
$DEVICE_MAMPS,276.120,83.603,1303.900,1013.207,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.163,875.581,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47216,1282
$CAP_FILE_SIZE,113723,0
$CFSIZE,260165632,250032128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$CURRENT,0.164,174.3,1
$GPS,090908,053838,6642.612,-6025.529,30,0.8,30,-38.0