version: 66.04
glider: 113
mission: 4
dive: 4
start: 9 5 108 19 12 37
data:
$ID,113
$MISSION,4
$DIVE,4
$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,330
$T_MISSION,396
$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,0
$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,500
$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,-22130.428
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2465
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,21
$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,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$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
$GPS1,190816,6644.740,-5957.936,10,2.8,29,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-51.7
$GPS2,191217,6644.699,-5958.052,12,2.9,31,-38.0
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$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,299.4,33304,-18.0,-10.000
$D_GRID,663
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.32,-146.0,0.0,0.0,0,168,0.00,0.00,-151.48,0.000,2,0.000,0.000,167,2211,2825
$GC,171,-1.32,-146.0,3.8,-9.6,27,195,8.40,0.00,-12.25,0.000,6,0.268,0.000,2177,2211,3306
$GC,533,-1.32,-146.0,70.2,-15.0,91,539,0.00,2.28,0.00,0.000,4,0.000,0.066,2176,3612,3312
$GC,647,-1.38,-146.0,86.8,-14.3,111,653,0.00,2.22,0.00,0.000,6,0.000,0.045,2177,2187,3312
$GC,981,-1.38,-146.0,134.3,-13.2,150,985,0.00,2.20,0.00,0.000,4,0.000,0.058,2177,786,3312
$GC,1019,-1.38,-146.0,139.7,-14.1,153,1026,0.00,2.25,0.00,0.000,6,0.000,0.048,2176,2202,3312
$GC,1345,-1.45,-146.0,180.1,-11.9,184,1349,0.12,2.25,0.00,0.000,4,0.123,0.067,2137,3603,3312
$GC,1432,-1.45,-146.0,192.4,-13.7,191,1439,0.00,2.22,0.00,0.000,6,0.000,0.048,2137,2195,3312
$GC,1759,-1.40,-146.0,236.3,-14.3,222,1764,0.10,2.20,0.00,0.000,4,0.202,0.059,2158,793,3311
$GC,1819,-1.40,-146.0,244.9,-13.6,227,1826,0.00,2.22,0.00,0.000,6,0.000,0.051,2159,2193,3311
$GC,2145,-1.46,-146.0,287.2,-13.9,258,2149,0.00,2.25,0.00,0.000,4,0.000,0.065,2159,3604,3309
$GC,2283,-1.58,-146.0,305.3,-12.8,270,2291,0.10,2.20,0.00,0.000,6,0.099,0.044,2120,2199,3309
$GC,2610,-1.53,-146.0,352.2,-14.1,301,2613,0.00,2.28,0.00,0.000,4,0.000,0.067,2120,3609,3308
$GC,2687,-1.53,-146.0,363.2,-13.7,308,2691,0.00,2.17,0.00,0.000,6,0.000,0.044,2120,2195,3308
$GC,3018,-1.48,-146.0,407.1,-13.3,339,3022,0.10,2.28,0.00,0.000,4,0.207,0.067,2139,3602,3307
$GC,3067,-1.57,-146.0,413.5,-12.6,343,3071,0.00,2.17,0.00,0.000,6,0.000,0.044,2139,2187,3307
$GC,3398,-1.57,-146.0,454.6,-12.3,374,3402,0.00,2.30,0.00,0.000,4,0.000,0.070,2139,3612,3306
$GC,3455,-1.66,-146.0,461.6,-12.2,379,3460,0.15,2.17,0.00,0.000,6,0.114,0.044,2091,2194,3306
$GC,3784,-1.55,-146.0,510.7,-15.5,410,3789,0.15,2.30,0.00,0.000,4,0.200,0.070,2126,3613,3306
$GC,3849,-1.62,-146.0,519.8,-13.0,415,3856,0.00,2.20,0.00,0.000,6,0.000,0.044,2126,2200,3305
$GC,4174,-1.62,-146.0,560.8,-12.8,446,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2200,3306
$GC,4492,-1.62,-146.0,599.9,-12.4,476,4496,0.00,2.25,0.00,0.000,4,0.000,0.070,2126,3608,3306
$GC,4586,-1.68,-146.0,611.6,-12.3,479,4594,0.08,2.20,0.00,0.000,6,0.117,0.044,2095,2194,3306
$GC,4901,-1.62,-146.0,654.9,-13.8,490,4905,0.00,2.28,0.00,0.000,4,0.000,0.070,2095,3602,3306
$GC,4956,-1.62,-146.0,662.9,-14.0,491,4961,0.00,2.17,0.00,0.000,6,0.000,0.043,2095,2202,3305
$STATE,4966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4967,begin apogee
$GC,4970,-0.31,0.0,664.3,13.4,492,5100,1.00,0.00,126.30,1.381,6,0.171,0.000,2394,2199,2708
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5102,1.32,146.0,667.6,0.0,496,5242,1.15,2.65,130.20,1.292,4,0.097,0.064,2757,3610,2112
$GC,5314,0.88,146.0,650.5,15.2,503,5319,0.35,2.45,0.00,0.000,6,0.176,0.049,2653,2201,2111
$GC,5648,0.87,188.2,621.7,8.0,514,5690,0.00,2.50,36.85,1.285,4,0.000,0.064,2653,3602,1940
$GC,5943,0.77,188.2,591.9,10.2,527,5947,0.00,2.33,0.00,0.000,6,0.000,0.050,2653,2189,1937
$GC,6269,0.79,208.0,562.6,9.1,557,6292,0.00,2.50,17.50,1.250,4,0.000,0.066,2653,3607,1859
$GC,6297,0.83,236.1,559.7,8.7,559,6329,0.00,2.33,25.12,1.240,6,0.000,0.044,2653,2190,1745
$GC,6654,0.91,247.9,525.8,9.4,593,6670,0.00,2.33,11.07,1.169,4,0.000,0.058,2653,788,1697
$GC,6715,1.00,254.2,520.3,9.7,598,6728,0.12,2.33,7.25,1.055,6,0.104,0.048,2694,2209,1671
$GC,7043,1.00,254.2,482.1,11.5,629,7047,0.00,2.30,0.00,0.000,4,0.000,0.064,2694,3606,1670
$GC,7302,0.87,254.2,447.7,13.3,652,7307,0.17,2.25,0.00,0.000,6,0.168,0.051,2648,2203,1669
$GC,7626,0.97,256.2,415.7,9.9,682,7630,0.10,2.30,0.00,0.000,4,0.110,0.064,2683,3607,1669
$GC,7871,0.87,256.2,384.9,12.5,703,7878,0.10,2.25,0.00,0.000,6,0.165,0.045,2656,2192,1669
$GC,8196,0.97,267.8,353.7,9.5,734,8218,0.00,2.42,12.18,1.151,4,0.000,0.067,2656,3611,1616
$GC,8408,0.97,267.8,331.2,10.2,753,8412,0.00,2.22,0.00,0.000,6,0.000,0.045,2656,2200,1614
$GC,8739,1.10,275.0,300.2,9.7,784,8752,0.15,2.40,7.47,1.034,4,0.097,0.067,2710,3611,1586
$GC,8925,0.98,275.0,274.7,13.5,800,8933,0.10,2.25,0.00,0.000,6,0.177,0.045,2680,2205,1586
$GC,9250,1.06,284.6,241.4,9.5,831,9265,0.00,2.35,9.48,1.069,4,0.000,0.065,2680,3599,1547
$GC,9495,1.06,284.6,214.3,10.7,853,9499,0.00,2.22,0.00,0.000,6,0.000,0.045,2680,2187,1546
$GC,9826,1.19,316.5,185.7,8.5,884,9860,0.15,2.42,26.60,1.136,4,0.100,0.067,2732,3609,1417
$GC,10107,1.08,316.5,150.8,13.0,909,10112,0.15,2.25,0.00,0.000,6,0.171,0.047,2694,2200,1415
$GC,10431,1.20,325.2,119.0,9.6,939,10447,0.12,2.38,8.38,1.009,4,0.104,0.068,2737,3599,1382
$GC,10655,1.10,325.2,91.5,12.4,964,10661,0.15,2.22,0.00,0.000,6,0.177,0.048,2700,2198,1380
$GC,10999,1.26,355.1,61.4,8.6,1025,11030,0.15,2.47,24.98,1.095,4,0.103,0.071,2753,3605,1259
$GC,11215,1.19,355.1,31.9,14.3,1063,11222,0.15,2.28,0.00,0.000,6,0.176,0.048,2721,2193,1256
$GC,11561,1.43,378.7,7.3,8.9,1124,11586,0.20,2.47,19.65,1.058,4,0.091,0.071,2795,3605,1164
$STATE,11607,end climb,SURFACE_DEPTH_REACHED
$STATE,11607,begin surface coast
$FINISH,0.5,1.024572
$STATE,11625,end surface coast,CONTROL_FINISHED_OK
$STATE,11625,begin surface
$SM_CCo,11641,83.65,1.005,0,0,668,500.17
$SM_GC,1.23,0.00,0.00,83.65,0.000,0.000,1.005,167,2192,668,-10.57,-0.23,500.17
$RAFOS_CLK,684
$RAFOS,4,1220647450,20.750000,20.736111,60,54,54,53,52,50,166,127,185,219,136,204
$RAFOS,3,1220646854,20.583334,20.570555,59,57,56,55,53,52,210,150,227,169,123,192
$RAFOS,2,1220646246,20.416666,20.401667,62,62,58,51,49,48,175,204,218,136,243,123
$RAFOS,1,1220645644,20.250000,20.234444,59,59,52,51,50,50,136,218,190,175,158,121
$RAFOS,0,1220645044,20.083334,20.067778,62,53,52,50,50,45,214,162,188,139,178,120
$RAFOS_FIX,6603.883789,-5910.934082,050908,202049,3,61,19.45
$IRIDIUM_FIX,6614.97,-6003.82,301197,191925
$TT8_MAMPS,0.027612
$HUMID,2047
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,8.091
$10V_AH,10.6,2.115
$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,21.275,110.250,463.025,83.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,33.683,1935.460,6965.818,712.585,2153.817,93.912,0.000,1800.802,0.000,2097.288,1800.000,0.528,0.000
$DEVICE_MAMPS,268.450,71.331,1380.600,1004.770,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.467,774.468,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40921,1135
$CAP_FILE_SIZE,135977,0
$CFSIZE,260165632,251600896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,050908,223052,6643.033,-6000.004,68,8.1,87,-38.0