version: 66.04
glider: 113
mission: 4
dive: 20
start: 9 7 108 18 43 40
data:
$ID,113
$MISSION,4
$DIVE,20
$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,-22433.641
$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,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
$GPS1,183808,6641.220,-6035.268,29,1.2,29,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.3
$GPS2,184315,6641.198,-6035.239,13,1.2,13,-38.0
$SPEED_LIMITS,0.139,0.238
$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,291.9,5876,-14.7,-8.010
$D_GRID,501
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-109.90,0.000,2,0.000,0.000,164,2314,2779
$GC,130,-1.20,-146.0,3.3,-4.4,18,164,8.65,2.47,-15.45,0.000,4,0.275,0.087,2165,3739,3307
$GC,383,-0.96,-146.0,51.9,-15.4,62,391,0.22,2.25,0.00,0.000,6,0.181,0.046,2225,2329,3312
$GC,728,-0.91,-146.0,95.4,-12.3,123,734,0.00,2.25,0.00,0.000,4,0.000,0.058,2224,919,3315
$GC,774,-0.85,-146.0,101.3,-12.6,131,779,0.12,2.28,0.00,0.000,6,0.188,0.055,2256,2332,3315
$GC,1097,-0.96,-146.0,133.4,-9.0,161,1102,0.12,2.30,0.00,0.000,4,0.113,0.073,2215,3736,3315
$GC,1158,-0.96,-146.0,139.7,-10.9,166,1162,0.00,2.22,0.00,0.000,6,0.000,0.045,2215,2317,3315
$GC,1488,-0.96,-146.0,175.4,-10.4,197,1492,0.00,2.22,0.00,0.000,4,0.000,0.060,2215,912,3315
$GC,1532,-0.96,-146.0,180.5,-11.0,201,1536,0.00,2.28,0.00,0.000,6,0.000,0.055,2215,2337,3315
$GC,1862,-0.96,-146.0,213.5,-9.6,232,1866,0.00,2.30,0.00,0.000,4,0.000,0.075,2215,3745,3314
$GC,1911,-1.04,-146.0,218.4,-9.5,236,1918,0.00,2.25,0.00,0.000,6,0.000,0.046,2215,2324,3314
$GC,2237,-1.04,-146.0,248.1,-9.7,267,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2324,3313
$GC,2555,-1.10,-146.0,278.6,-9.6,297,2559,0.00,2.35,0.00,0.000,4,0.000,0.079,2216,3740,3313
$GC,2645,-1.20,-146.0,287.7,-9.7,305,2649,0.15,2.20,0.00,0.000,6,0.110,0.047,2164,2329,3312
$GC,2974,-1.09,-146.0,326.6,-11.4,336,2978,0.15,2.33,0.00,0.000,4,0.179,0.075,2201,3739,3312
$GC,3013,-1.17,-146.0,330.5,-10.0,339,3017,0.00,2.20,0.00,0.000,6,0.000,0.046,2202,2323,3312
$GC,3343,-1.17,-146.0,359.8,-9.0,370,3346,0.00,2.20,0.00,0.000,4,0.000,0.061,2201,922,3311
$GC,3380,-1.17,-146.0,363.3,-9.4,373,3387,0.00,2.25,0.00,0.000,6,0.000,0.056,2201,2325,3311
$GC,3708,-1.22,-146.0,392.7,-9.3,404,3709,0.12,0.00,0.00,0.000,6,0.113,0.000,2161,2325,3311
$GC,4024,-1.15,-146.0,427.6,-10.8,434,4029,0.12,2.30,0.00,0.000,4,0.179,0.074,2191,3743,3311
$GC,4135,-1.23,-146.0,437.8,-9.3,443,4141,0.00,2.20,0.00,0.000,6,0.000,0.045,2191,2318,3311
$GC,4459,-1.23,-146.0,467.9,-9.8,474,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2318,3311
$GC,4777,-1.23,-146.0,497.1,-8.8,504,4781,0.00,2.33,0.00,0.000,4,0.000,0.075,2191,3740,3311
$STATE,4820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4820,begin apogee
$GC,4826,-0.34,0.0,501.3,9.4,508,4954,0.55,0.00,124.85,1.292,6,0.159,0.000,2361,2566,2708
$STATE,4955,end apogee,CONTROL_FINISHED_OK
$STATE,4955,begin climb
$GC,4957,1.20,146.0,506.1,0.0,521,5096,1.10,2.72,129.90,1.200,4,0.116,0.074,2692,3931,2112
$GC,5215,0.79,146.0,487.6,11.7,544,5220,0.35,2.30,0.00,0.000,6,0.166,0.044,2607,2579,2110
$GC,5538,0.84,183.8,466.2,6.6,574,5576,0.00,2.47,32.42,1.200,4,0.000,0.058,2607,1161,1958
$GC,5582,0.89,224.4,463.3,6.5,578,5629,0.10,2.47,36.22,1.164,6,0.104,0.054,2639,2577,1793
$GC,5945,0.85,224.4,433.1,8.3,612,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2578,1791
$GC,6263,0.85,224.4,407.3,8.5,642,6267,0.00,2.30,0.00,0.000,4,0.000,0.074,2640,3941,1791
$GC,6274,0.79,224.4,406.3,8.8,643,6279,0.12,2.20,0.00,0.000,6,0.170,0.043,2609,2572,1791
$GC,6599,0.89,237.9,381.6,7.5,673,6620,0.00,2.38,12.32,1.135,4,0.000,0.057,2609,1166,1738
$GC,6631,1.04,270.2,379.2,6.8,676,6667,0.17,2.38,28.10,1.169,6,0.087,0.055,2669,2594,1606
$GC,6981,0.97,270.2,344.1,10.3,709,6986,0.10,2.35,0.00,0.000,4,0.159,0.058,2646,1176,1604
$GC,7019,1.03,270.2,340.5,8.7,712,7024,0.00,2.33,0.00,0.000,6,0.000,0.054,2645,2586,1604
$GC,7344,1.03,270.2,311.1,9.0,742,7347,0.00,2.30,0.00,0.000,4,0.000,0.058,2646,1176,1604
$GC,7355,1.03,270.2,310.1,8.7,743,7359,0.00,2.30,0.00,0.000,6,0.000,0.054,2646,2590,1603
$GC,7678,1.03,270.2,283.3,8.3,773,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2590,1604
$GC,7997,1.04,276.2,257.8,7.8,803,8010,0.00,2.33,6.25,0.973,4,0.000,0.058,2645,1162,1581
$GC,8021,1.11,288.1,256.0,7.6,805,8038,0.12,2.30,11.38,1.081,6,0.103,0.054,2691,2582,1533
$GC,8356,1.02,288.1,224.2,9.5,836,8360,0.12,2.25,0.00,0.000,4,0.158,0.072,2658,3945,1531
$GC,8365,0.95,288.1,223.2,9.7,836,8371,0.00,2.17,0.00,0.000,6,0.000,0.043,2658,2583,1531
$GC,8690,0.97,299.7,197.6,7.6,867,8706,0.00,2.30,10.75,1.071,4,0.000,0.058,2658,1163,1485
$GC,8733,1.06,299.7,194.3,8.1,870,8742,0.00,2.35,0.00,0.000,6,0.000,0.054,2658,2580,1485
$GC,9059,1.17,338.4,171.1,6.5,901,9098,0.12,2.42,32.35,1.124,4,0.099,0.058,2703,1179,1328
$GC,9126,1.17,338.4,164.9,9.7,907,9130,0.00,2.35,0.00,0.000,6,0.000,0.055,2703,2581,1326
$GC,9450,1.17,338.4,133.0,9.5,937,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2581,1324
$GC,9769,1.17,338.4,102.0,10.2,967,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2581,1323
$GC,10104,1.17,338.4,69.1,8.3,1025,10110,0.00,2.25,0.00,0.000,4,0.000,0.076,2703,3950,1323
$GC,10139,1.11,338.4,66.0,9.1,1031,10146,0.12,2.15,0.00,0.000,6,0.169,0.046,2670,2579,1323
$GC,10483,1.28,368.0,40.7,6.9,1092,10510,0.15,0.00,24.65,1.089,6,0.097,0.000,2722,2579,1207
$GC,10848,1.46,401.2,14.1,6.7,1156,10881,0.12,2.42,27.55,1.058,4,0.097,0.061,2771,1170,1072
$GC,10961,1.47,408.1,4.9,7.7,1175,10973,0.00,2.35,6.15,0.861,6,0.000,0.057,2771,2580,1044
$STATE,10994,end climb,SURFACE_DEPTH_REACHED
$STATE,10994,begin surface coast
$FINISH,0.3,1.006380
$STATE,11018,end surface coast,CONTROL_FINISHED_OK
$STATE,11018,begin surface
$SM_CCo,11093,0.00,0.000,0,0,1039,409.41
$SM_GC,1.38,7.68,0.00,0.00,0.087,0.000,0.000,164,2322,1039,-10.39,-0.23,409.41
$RAFOS_CLK,620
$RAFOS,4,1220820245,20.750000,20.734722,59,59,54,54,54,52,166,200,189,210,223,135
$RAFOS,3,1220819644,20.583334,20.567778,61,54,54,53,52,51,176,196,218,121,136,155
$RAFOS,2,1220819048,20.416666,20.402222,69,53,51,51,50,49,218,196,170,228,122,144
$RAFOS,1,1220818450,20.250000,20.236111,67,59,55,54,52,48,184,144,202,155,226,126
$RAFOS,0,1220817851,20.083334,20.069723,62,55,55,52,51,49,208,191,134,168,217,806
$RAFOS_FIX,6735.803223,-5832.086914,070908,202040,4,65,23.30
$IRIDIUM_FIX,6614.97,-6036.17,021297,151527
$TT8_MAMPS,0.027612
$HUMID,1945
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.7,10.938
$10V_AH,10.6,3.128
$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,20.625,101.575,482.900,0.000,0.000,29.128,37.577,138.183,0.000,0.000,0.000,14.509,2088.647,6537.770,584.207,1911.535,330.414,0.000,1599.556,0.000,1891.003,1800.000,0.528,0.000
$DEVICE_MAMPS,274.586,86.671,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.278,807.416,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44078,1185
$CAP_FILE_SIZE,116104,0
$CFSIZE,260165632,250646528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$CURRENT,0.065,264.1,1
$GPS,070908,215038,6640.890,-6040.003,35,0.9,35,-38.0