version: 66.04
glider: 113
mission: 4
dive: 29
start: 9 8 108 22 56 52
data:
$ID,113
$MISSION,4
$DIVE,29
$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,-22609.65
$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,25
$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
$GPS1,224938,6642.863,-6031.797,38,1.2,38,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.2
$GPS2,225627,6642.816,-6031.901,14,1.3,14,-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,110.6,27332,-14.7,-8.010
$D_GRID,509
$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,-146.0,0.0,0.0,0,129,0.00,0.00,-111.18,0.000,2,0.000,0.000,163,2318,2841
$GC,131,-1.20,-146.0,3.9,-5.4,18,159,8.52,2.47,-12.52,0.000,4,0.272,0.087,2165,3737,3307
$GC,289,-0.89,-146.0,38.3,-15.2,45,295,0.28,2.25,0.00,0.000,6,0.178,0.045,2239,2326,3313
$GC,632,-0.89,-146.0,77.3,-11.0,106,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2326,3316
$GC,968,-0.89,-146.0,112.3,-10.2,156,972,0.00,2.22,0.00,0.000,4,0.000,0.059,2239,926,3317
$GC,1069,-0.89,-146.0,123.2,-10.8,165,1073,0.00,2.25,0.00,0.000,6,0.000,0.055,2239,2335,3316
$GC,1399,-0.97,-146.0,157.2,-10.1,196,1403,0.00,2.28,0.00,0.000,4,0.000,0.060,2239,915,3316
$GC,1470,-1.01,-146.0,164.6,-10.3,202,1479,0.10,2.28,0.00,0.000,6,0.123,0.056,2206,2341,3316
$GC,1794,-1.01,-146.0,198.6,-10.4,233,1798,0.00,2.30,0.00,0.000,4,0.000,0.076,2206,3744,3315
$GC,1817,-1.01,-146.0,201.0,-11.1,235,1821,0.00,2.22,0.00,0.000,6,0.000,0.045,2206,2318,3315
$GC,2146,-1.01,-146.0,236.0,-10.4,266,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2318,3315
$GC,2465,-1.01,-146.0,268.7,-10.7,296,2468,0.00,2.20,0.00,0.000,4,0.000,0.061,2207,924,3314
$GC,2502,-1.01,-146.0,272.8,-10.3,299,2509,0.00,2.28,0.00,0.000,6,0.000,0.056,2206,2334,3313
$GC,2827,-1.01,-146.0,305.7,-10.0,330,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2334,3313
$GC,3146,-1.01,-146.0,337.2,-9.6,360,3149,0.00,2.25,0.00,0.000,4,0.000,0.061,2207,924,3313
$GC,3217,-1.01,-146.0,344.8,-11.0,366,3225,0.00,2.28,0.00,0.000,6,0.000,0.055,2207,2339,3312
$GC,3544,-1.07,-146.0,374.0,-8.7,397,3548,0.00,2.25,0.00,0.000,4,0.000,0.060,2206,921,3312
$GC,3622,-1.07,-146.0,381.6,-9.5,404,3626,0.00,2.22,0.00,0.000,6,0.000,0.055,2207,2329,3312
$GC,3953,-1.14,-146.0,410.6,-8.9,435,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2329,3312
$GC,4271,-1.21,-146.0,438.1,-8.5,465,4276,0.12,2.28,0.00,0.000,4,0.120,0.073,2164,3736,3311
$GC,4300,-1.21,-146.0,440.8,-10.2,467,4304,0.00,2.17,0.00,0.000,6,0.000,0.045,2164,2327,3311
$GC,4629,-1.13,-146.0,475.8,-10.8,498,4631,0.12,0.00,0.00,0.000,6,0.182,0.000,2194,2327,3312
$GC,4949,-1.19,-146.0,504.8,-9.1,528,4953,0.00,2.20,0.00,0.000,4,0.000,0.060,2194,920,3312
$GC,4964,-1.19,-146.0,506.4,-9.1,529,4971,0.00,2.25,0.00,0.000,6,0.000,0.056,2194,2325,3312
$STATE,5000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5000,begin apogee
$GC,5005,-0.34,0.0,510.0,9.6,533,5134,0.55,0.00,125.00,1.299,6,0.159,0.000,2365,2579,2708
$STATE,5135,end apogee,CONTROL_FINISHED_OK
$STATE,5135,begin climb
$GC,5137,1.20,146.0,513.9,0.0,546,5275,1.10,2.67,129.98,1.206,4,0.114,0.070,2696,3941,2112
$GC,5324,0.76,146.0,502.9,10.4,562,5332,0.35,2.38,0.00,0.000,6,0.166,0.044,2599,2594,2111
$GC,5649,0.81,183.8,482.8,6.6,593,5688,0.00,2.50,32.60,1.204,4,0.000,0.074,2599,3933,1958
$GC,5716,0.77,188.4,478.1,7.8,599,5730,0.00,2.33,5.60,0.901,6,0.000,0.042,2599,2564,1940
$GC,6045,0.87,217.8,455.5,6.9,630,6080,0.10,2.53,25.95,1.195,4,0.103,0.073,2634,3934,1820
$GC,6115,0.71,217.8,449.6,10.2,636,6119,0.17,2.28,0.00,0.000,6,0.161,0.043,2591,2580,1820
$GC,6440,0.90,257.6,428.0,6.5,666,6480,0.15,0.00,34.70,1.201,6,0.091,0.000,2643,2579,1657
$GC,6797,0.90,257.6,397.1,8.4,700,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2579,1654
$GC,7116,0.91,266.0,372.0,7.7,730,7127,0.00,0.00,7.97,1.053,6,0.000,0.000,2643,2580,1623
$GC,7445,0.91,266.0,344.4,8.6,761,7449,0.00,2.28,0.00,0.000,4,0.000,0.058,2647,1173,1623
$GC,7505,0.96,266.0,339.0,8.7,766,7512,0.00,2.33,0.00,0.000,6,0.000,0.054,2647,2579,1623
$GC,7830,0.96,266.0,310.3,8.4,797,7834,0.00,2.22,0.00,0.000,4,0.000,0.071,2648,3937,1623
$GC,7864,0.86,266.0,306.9,10.5,800,7869,0.12,2.15,0.00,0.000,6,0.164,0.044,2615,2569,1623
$GC,8195,1.00,277.6,281.6,7.6,831,8213,0.15,2.30,11.05,1.101,4,0.094,0.058,2670,1176,1575
$GC,8234,1.00,277.6,277.8,9.4,834,8241,0.00,2.33,0.00,0.000,6,0.000,0.053,2670,2583,1575
$GC,8559,0.95,277.6,247.2,9.3,865,8564,0.12,2.22,0.00,0.000,4,0.163,0.071,2637,3941,1574
$GC,8604,0.95,277.6,243.0,9.6,869,8608,0.00,2.15,0.00,0.000,6,0.000,0.043,2637,2572,1575
$GC,8935,1.08,308.2,219.7,6.8,900,8965,0.12,0.00,25.67,1.140,6,0.099,0.000,2683,2572,1451
$GC,9281,1.08,308.2,188.3,8.8,933,9285,0.00,2.30,0.00,0.000,4,0.000,0.074,2683,3940,1449
$GC,9316,0.96,308.2,184.8,11.1,936,9320,0.17,2.15,0.00,0.000,6,0.158,0.044,2640,2580,1448
$GC,9646,1.12,328.6,160.8,7.2,967,9672,0.15,2.38,17.70,1.098,4,0.097,0.058,2693,1170,1367
$GC,9698,1.12,328.6,155.8,10.6,971,9706,0.00,2.35,0.00,0.000,6,0.000,0.055,2693,2577,1366
$GC,10024,1.12,328.6,123.2,9.7,1002,10028,0.00,2.25,0.00,0.000,4,0.000,0.074,2693,3943,1365
$GC,10058,1.02,328.6,119.5,11.4,1005,10062,0.15,2.15,0.00,0.000,6,0.160,0.044,2654,2577,1365
$GC,10386,1.20,349.1,93.9,7.2,1042,10412,0.15,2.35,17.50,1.082,4,0.096,0.059,2707,1173,1284
$GC,10446,1.20,349.1,88.5,9.2,1052,10453,0.00,2.33,0.00,0.000,6,0.000,0.056,2707,2584,1282
$GC,10791,1.20,349.1,56.5,8.7,1113,10797,0.00,2.30,0.00,0.000,4,0.000,0.060,2707,1172,1281
$GC,10837,1.24,349.1,52.7,8.3,1121,10844,0.00,2.30,0.00,0.000,6,0.000,0.056,2707,2589,1281
$GC,11180,1.24,349.1,20.8,8.5,1182,11187,0.00,2.22,0.00,0.000,4,0.000,0.074,2707,3947,1280
$GC,11214,1.24,349.1,18.0,8.5,1188,11222,0.00,2.15,0.00,0.000,6,0.000,0.045,2707,2577,1280
$STATE,11491,end climb,SURFACE_DEPTH_REACHED
$STATE,11491,begin surface coast
$FINISH,0.4,1.022433
$STATE,11525,end surface coast,CONTROL_FINISHED_OK
$STATE,11525,begin surface
$SM_CCo,11539,20.95,1.060,0,0,1179,375.06
$SM_GC,1.14,0.00,0.00,20.95,0.000,0.000,1.060,160,2323,1179,-10.47,-0.20,375.06
$RAFOS_CLK,646
$RAFOS,4,1220921048,0.750000,0.735556,64,62,60,53,52,49,212,181,200,133,156,224
$RAFOS,3,1220920443,0.583333,0.567500,60,59,58,50,49,48,200,214,168,134,122,79
$RAFOS,2,1220919844,0.416667,0.401111,65,61,58,54,52,51,205,190,163,222,144,175
$RAFOS,1,1220919250,0.250000,0.236111,69,61,60,58,58,52,218,157,194,207,234,179
$RAFOS,0,1220918647,0.083333,0.068611,64,59,58,54,51,49,221,181,135,198,146,157
$RAFOS_FIX,6747.138184,-5817.145020,090908,000019,5,64,28.84
$IRIDIUM_FIX,6614.97,-6028.78,031297,232355
$TT8_MAMPS,0.027612
$HUMID,1926
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.7,12.445
$10V_AH,10.6,3.719
$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,20.050,101.300,433.725,20.950,0.000,52.016,58.955,133.713,0.000,0.000,0.000,15.561,2218.207,6858.236,598.494,1984.967,376.275,0.000,1633.078,0.000,1961.207,1800.000,0.528,0.000
$DEVICE_MAMPS,272.285,86.671,1299.298,1059.994,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,963.474,848.534,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44130,1243
$CAP_FILE_SIZE,118451,0
$CFSIZE,260165632,250097664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$CURRENT,0.182,171.9,1
$GPS,090908,021156,6642.301,-6027.646,39,1.5,39,-38.0