version: 66.04
glider: 113
mission: 4
dive: 5
start: 9 5 108 22 38 13
data:
$ID,113
$MISSION,4
$DIVE,5
$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,-22165.967
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,223052,6643.033,-6000.004,68,8.1,87,-38.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.9
$GPS2,223753,6642.984,-6000.039,13,5.6,32,-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,304.7,31524,-18.0,-10.000
$D_GRID,633
$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,13,begin dive
$GC,14,-1.32,-146.0,0.0,0.0,0,140,0.00,0.00,-122.60,0.000,2,0.000,0.000,168,2191,2656
$GC,142,-1.32,-146.0,3.0,-5.7,22,178,8.60,2.40,-20.23,0.000,4,0.270,0.081,2173,3610,3305
$GC,419,-1.32,-146.0,51.6,-14.7,71,425,0.00,2.25,0.00,0.000,6,0.000,0.044,2173,2196,3311
$GC,766,-1.32,-146.0,104.8,-14.7,130,770,0.00,2.25,0.00,0.000,4,0.000,0.058,2173,782,3312
$GC,803,-1.32,-146.0,110.7,-15.3,133,811,0.00,2.30,0.00,0.000,6,0.000,0.050,2173,2204,3312
$GC,1129,-1.32,-146.0,155.8,-12.8,164,1132,0.00,2.30,0.00,0.000,4,0.000,0.071,2173,3611,3312
$GC,1223,-1.44,-146.0,167.8,-12.7,172,1230,0.00,2.25,0.00,0.000,6,0.000,0.044,2173,2194,3312
$GC,1548,-1.51,-146.0,207.1,-12.1,203,1550,0.15,0.00,0.00,0.000,6,0.107,0.000,2125,2194,3312
$GC,1867,-1.44,-146.0,254.7,-15.0,233,1871,0.12,2.33,0.00,0.000,4,0.197,0.071,2152,3608,3311
$GC,1961,-1.53,-146.0,267.5,-13.1,241,1965,0.00,2.20,0.00,0.000,6,0.000,0.048,2152,2198,3311
$GC,2291,-1.53,-146.0,309.6,-12.4,272,2295,0.00,2.22,0.00,0.000,4,0.000,0.060,2152,784,3310
$GC,2359,-1.53,-146.0,318.5,-12.9,278,2362,0.00,2.25,0.00,0.000,6,0.000,0.053,2152,2211,3310
$GC,2689,-1.58,-146.0,359.2,-12.2,309,2693,0.12,2.25,0.00,0.000,4,0.129,0.070,2111,3604,3309
$GC,2855,-1.58,-146.0,383.1,-14.1,323,2862,0.00,2.22,0.00,0.000,6,0.000,0.047,2111,2192,3309
$GC,3182,-1.52,-146.0,427.9,-13.6,354,3184,0.10,0.00,0.00,0.000,6,0.207,0.000,2133,2190,3309
$GC,3499,-1.52,-146.0,467.8,-12.5,384,3502,0.00,2.30,0.00,0.000,4,0.000,0.071,2133,3606,3309
$GC,3559,-1.60,-146.0,475.5,-12.6,389,3566,0.00,2.20,0.00,0.000,6,0.000,0.046,2133,2204,3309
$GC,3884,-1.60,-146.0,513.9,-11.8,420,3887,0.00,2.28,0.00,0.000,4,0.000,0.071,2133,3607,3309
$GC,3933,-1.68,-146.0,519.9,-12.2,424,3940,0.10,2.20,0.00,0.000,6,0.104,0.047,2095,2203,3309
$GC,4257,-1.59,-146.0,564.9,-14.2,455,4262,0.10,2.28,0.00,0.000,4,0.207,0.069,2112,3613,3309
$GC,4334,-1.59,-146.0,575.6,-13.7,461,4341,0.00,2.22,0.00,0.000,6,0.000,0.045,2113,2193,3309
$GC,4654,-1.59,-146.0,616.8,-13.1,484,4657,0.00,2.30,0.00,0.000,4,0.000,0.069,2113,3615,3309
$GC,4714,-1.59,-146.0,624.7,-12.9,485,4721,0.00,2.20,0.00,0.000,6,0.000,0.045,2112,2206,3309
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4783,-0.31,0.0,633.9,13.8,488,4914,0.95,0.00,127.25,1.366,6,0.171,0.000,2397,2205,2708
$STATE,4915,end apogee,CONTROL_FINISHED_OK
$STATE,4915,begin climb
$GC,4916,1.32,146.0,637.7,0.0,492,5055,1.12,2.62,130.80,1.278,4,0.100,0.059,2749,795,2112
$GC,5106,1.02,146.0,624.6,12.7,498,5112,0.25,2.45,0.00,0.000,6,0.174,0.048,2688,2201,2111
$GC,5422,0.89,156.9,593.7,9.5,511,5438,0.12,2.45,10.48,1.154,4,0.174,0.067,2657,3617,2068
$GC,5689,0.73,156.9,568.1,10.1,534,5697,0.12,2.35,0.00,0.000,6,0.168,0.047,2624,2197,2068
$GC,6014,0.81,217.4,543.9,7.2,565,6071,0.00,2.55,51.85,1.282,4,0.000,0.067,2624,3611,1821
$GC,6325,0.83,229.5,516.1,9.4,593,6341,0.00,2.30,11.48,1.158,6,0.000,0.047,2624,2198,1772
$GC,6660,1.02,270.4,488.7,8.1,624,6704,0.20,2.53,35.47,1.246,4,0.090,0.067,2698,3613,1604
$GC,6955,0.91,270.4,449.6,13.6,650,6963,0.17,2.33,0.00,0.000,6,0.169,0.048,2658,2192,1602
$GC,7280,0.99,270.4,414.4,10.8,681,7284,0.10,2.38,0.00,0.000,4,0.107,0.068,2691,3613,1602
$GC,7536,0.91,270.4,379.3,13.7,703,7544,0.10,2.30,0.00,0.000,6,0.166,0.048,2660,2194,1602
$GC,7861,1.00,271.2,345.5,10.0,734,7866,0.10,2.35,0.00,0.000,4,0.111,0.069,2693,3614,1602
$GC,8061,0.91,271.2,319.8,12.9,751,8069,0.10,2.28,0.00,0.000,6,0.166,0.048,2663,2197,1602
$GC,8386,1.03,282.2,288.9,9.5,782,8402,0.10,2.38,10.55,1.100,4,0.108,0.070,2697,3609,1556
$GC,8648,0.96,282.2,256.9,13.0,805,8656,0.10,2.28,0.00,0.000,6,0.166,0.048,2671,2199,1556
$GC,8973,1.09,298.8,226.6,9.2,836,8996,0.12,2.40,14.98,1.116,4,0.102,0.069,2714,3618,1489
$GC,9181,1.00,298.8,199.4,13.0,854,9188,0.10,2.30,0.00,0.000,6,0.168,0.048,2685,2200,1488
$GC,9505,1.10,298.8,165.9,10.0,885,9509,0.00,2.33,0.00,0.000,4,0.000,0.069,2685,3612,1488
$GC,9673,1.10,298.8,147.9,10.4,900,9677,0.00,2.25,0.00,0.000,6,0.000,0.049,2688,2192,1487
$GC,10004,1.26,336.9,118.9,8.2,931,10041,0.17,2.47,31.38,1.116,4,0.099,0.070,2751,3617,1333
$GC,10266,1.14,336.9,84.2,14.6,964,10273,0.17,2.30,0.00,0.000,6,0.175,0.050,2713,2195,1331
$GC,10610,1.31,381.5,50.5,7.9,1025,10652,0.15,2.53,36.72,1.081,4,0.100,0.070,2764,3606,1151
$GC,10810,1.25,381.5,24.7,13.6,1060,10817,0.15,2.30,0.00,0.000,6,0.173,0.051,2733,2198,1146
$STATE,11101,end climb,SURFACE_DEPTH_REACHED
$STATE,11101,begin surface coast
$FINISH,1.0,1.024647
$STATE,11125,end surface coast,CONTROL_FINISHED_OK
$STATE,11125,begin surface
$SM_CCo,11139,80.10,0.989,2,0,669,500.17
$SM_GC,1.09,0.00,0.00,80.10,0.000,0.000,0.989,166,2196,669,-10.58,-0.11,500.17
$RAFOS_CLK,616
$RAFOS,4,1220661844,0.750000,0.734444,58,57,56,54,51,51,214,179,201,133,120,155
$RAFOS,3,1220661242,0.583333,0.567222,62,60,54,52,51,51,134,211,116,197,179,228
$RAFOS,2,1220660643,0.416667,0.400833,65,60,56,51,51,50,188,213,115,140,173,162
$RAFOS,1,1220660051,0.250000,0.236389,68,66,61,59,54,51,221,209,182,191,154,140
$RAFOS,0,1220659456,0.083333,0.071111,67,65,60,56,51,49,216,192,158,133,167,118
$RAFOS_FIX,6548.028320,-5855.775391,060908,000012,4,66,18.57
$IRIDIUM_FIX,6614.97,-5959.11,301197,191944
$TT8_MAMPS,0.027612
$HUMID,1963
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.8,8.294
$10V_AH,10.6,2.187
$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,21.525,97.600,460.950,80.100,0.000,31.032,33.997,231.078,0.000,0.000,0.000,34.910,1914.150,6574.276,679.381,2123.982,410.146,0.000,1753.419,0.000,2065.563,1800.000,0.528,0.000
$DEVICE_MAMPS,269.984,80.535,1366.027,988.663,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.322,761.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40936,1116
$CAP_FILE_SIZE,120015,0
$CFSIZE,260165632,251564032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1453.1
$GPS,060908,014732,6641.198,-6001.458,36,1.5,36,-38.0