version: 66.04
glider: 113
mission: 4
dive: 38
start: 9 10 108 7 45 40
data:
$ID,113
$MISSION,4
$DIVE,38
$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,-22759.178
$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,23
$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
$GPS1,073958,6644.709,-6002.823,30,4.7,49,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.5
$GPS2,074515,6644.686,-6002.886,12,1.6,12,-38.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,70.0,40243,-14.7,-8.010
$D_GRID,641
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-114.70,0.000,2,0.000,0.000,164,2326,2794
$GC,135,-1.20,-146.0,3.5,-4.3,18,162,8.50,2.28,-11.82,0.000,4,0.271,0.071,2169,925,3207
$GC,196,-0.54,-146.0,21.6,-27.8,28,203,0.55,2.30,0.00,0.000,6,0.187,0.055,2320,2330,3211
$GC,541,-0.76,-146.0,51.9,-6.8,89,548,0.17,2.28,0.00,0.000,4,0.100,0.056,2260,918,3214
$GC,582,-0.76,-146.0,55.7,-9.4,96,588,0.00,2.28,0.00,0.000,6,0.000,0.052,2260,2337,3214
$GC,925,-0.81,-146.0,87.8,-9.1,157,931,0.00,2.30,0.00,0.000,4,0.000,0.071,2260,3740,3215
$GC,966,-0.93,-146.0,91.6,-9.5,164,973,0.10,2.22,0.00,0.000,6,0.114,0.043,2226,2317,3215
$GC,1295,-0.93,-146.0,125.6,-10.0,202,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2316,3215
$GC,1616,-0.93,-146.0,157.8,-10.5,232,1620,0.00,2.35,0.00,0.000,4,0.000,0.074,2226,3739,3214
$GC,1699,-0.99,-146.0,166.8,-10.8,239,1708,0.00,2.22,0.00,0.000,6,0.000,0.044,2226,2311,3214
$GC,2023,-0.99,-146.0,199.3,-9.7,270,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2311,3214
$GC,2343,-1.04,-146.0,227.7,-8.7,300,2347,0.00,2.17,0.00,0.000,4,0.000,0.058,2225,925,3213
$GC,2399,-1.04,-146.0,233.0,-9.2,305,2402,0.00,2.25,0.00,0.000,6,0.000,0.057,2225,2340,3213
$GC,2730,-1.11,-146.0,260.9,-8.8,336,2734,0.12,2.28,0.00,0.000,4,0.116,0.072,2181,3741,3212
$GC,2772,-1.11,-146.0,265.5,-10.8,339,2782,0.00,2.22,0.00,0.000,6,0.000,0.045,2180,2329,3212
$GC,3098,-1.05,-146.0,298.2,-9.9,370,3100,0.12,0.00,0.00,0.000,6,0.176,0.000,2212,2329,3211
$GC,3419,-1.10,-146.0,325.0,-8.2,400,3423,0.00,2.33,0.00,0.000,4,0.000,0.077,2212,3739,3211
$GC,3457,-1.20,-146.0,328.5,-7.9,403,3466,0.15,2.17,0.00,0.000,6,0.108,0.044,2163,2329,3211
$GC,3781,-1.10,-146.0,359.7,-9.8,434,3786,0.15,2.20,0.00,0.000,4,0.173,0.058,2201,924,3211
$GC,3853,-1.10,-146.0,366.1,-8.9,440,3857,0.00,2.22,0.00,0.000,6,0.000,0.057,2201,2328,3210
$GC,4185,-1.15,-146.0,392.1,-7.6,471,4189,0.00,2.30,0.00,0.000,4,0.000,0.076,2201,3743,3210
$GC,4241,-1.23,-146.0,396.9,-8.1,476,4246,0.12,2.20,0.00,0.000,6,0.107,0.044,2160,2319,3210
$GC,4570,-1.14,-146.0,429.5,-10.0,507,4572,0.12,0.00,0.00,0.000,6,0.182,0.000,2190,2318,3211
$GC,4889,-1.14,-146.0,457.3,-8.6,537,4893,0.00,2.33,0.00,0.000,4,0.000,0.075,2190,3738,3211
$GC,4938,-1.20,-146.0,461.9,-9.5,541,4945,0.00,2.17,0.00,0.000,6,0.000,0.044,2190,2323,3211
$GC,5263,-1.20,-146.0,489.8,-8.0,572,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2323,3211
$GC,5581,-1.20,-146.0,516.4,-8.1,602,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2323,3211
$GC,5900,-1.20,-146.0,542.1,-8.2,632,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2323,3211
$GC,6220,-1.20,-146.0,567.1,-7.9,662,6224,0.00,2.33,0.00,0.000,4,0.000,0.075,2190,3746,3211
$GC,6298,-1.27,-146.0,573.4,-8.1,669,6302,0.12,2.17,0.00,0.000,6,0.114,0.044,2149,2329,3211
$GC,6626,-1.17,-146.0,603.6,-9.0,698,6628,0.12,0.00,0.00,0.000,6,0.177,0.000,2179,2329,3211
$GC,6932,-1.17,-146.0,630.4,-8.9,708,6935,0.00,2.30,0.00,0.000,4,0.000,0.075,2180,3738,3211
$GC,6992,-1.22,-146.0,635.8,-9.2,709,6999,0.00,2.20,0.00,0.000,6,0.000,0.044,2179,2324,3212
$STATE,7058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7058,begin apogee
$GC,7063,-0.34,0.0,641.1,8.1,712,7193,0.60,0.00,127.15,1.368,6,0.163,0.000,2363,2583,2610
$STATE,7194,end apogee,CONTROL_FINISHED_OK
$STATE,7194,begin climb
$GC,7195,1.20,146.0,644.6,0.0,716,7335,1.10,2.65,132.00,1.272,4,0.113,0.073,2692,3933,2014
$GC,7392,0.82,146.0,628.7,12.2,722,7397,0.22,2.35,0.00,0.000,6,0.156,0.042,2614,2587,2012
$GC,7726,0.84,164.5,603.8,7.3,733,7744,0.00,0.00,16.60,1.225,6,0.000,0.000,2614,2586,1939
$GC,8042,0.84,165.7,579.2,8.0,759,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2586,1938
$GC,8361,0.86,182.8,555.4,7.4,789,8383,0.00,2.35,16.70,1.245,4,0.000,0.072,2614,3941,1865
$GC,8410,0.78,182.8,551.1,9.0,793,8417,0.00,2.25,0.00,0.000,6,0.000,0.041,2614,2576,1863
$GC,8736,0.81,202.0,526.9,7.3,824,8757,0.00,0.00,17.23,1.238,6,0.000,0.000,2614,2575,1786
$GC,9075,0.82,210.6,500.8,7.7,856,9090,0.00,2.33,8.68,1.126,4,0.000,0.056,2614,1176,1751
$GC,9120,0.94,223.9,497.5,7.5,860,9143,0.10,2.33,12.80,1.177,6,0.100,0.052,2650,2594,1697
$GC,9460,0.88,223.9,465.4,9.8,892,9465,0.10,2.33,0.00,0.000,4,0.157,0.055,2626,1170,1694
$GC,9487,0.95,223.9,463.1,8.0,894,9491,0.00,2.30,0.00,0.000,6,0.000,0.052,2625,2587,1694
$GC,9818,0.95,223.9,436.0,8.4,925,9820,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2587,1694
$GC,10135,0.95,228.9,410.6,7.8,955,10146,0.00,0.00,5.75,0.986,6,0.000,0.000,2625,2587,1675
$GC,10465,1.00,228.9,383.6,8.6,986,10469,0.10,2.28,0.00,0.000,4,0.101,0.055,2664,1171,1675
$GC,10504,1.00,228.9,379.9,10.2,989,10507,0.00,2.28,0.00,0.000,6,0.000,0.052,2664,2593,1675
$GC,10834,0.92,228.9,346.4,9.8,1020,10836,0.12,0.00,0.00,0.000,6,0.157,0.000,2630,2593,1675
$GC,11153,0.97,228.9,320.3,8.0,1050,11157,0.00,2.28,0.00,0.000,4,0.000,0.056,2630,1160,1675
$GC,11191,1.09,234.1,317.1,7.8,1053,11202,0.15,2.28,5.95,0.975,6,0.091,0.052,2685,2594,1655
$GC,11527,0.99,234.1,283.1,9.7,1085,11532,0.15,2.28,0.00,0.000,4,0.153,0.055,2646,1172,1654
$GC,11547,0.99,234.1,281.0,8.7,1086,11554,0.00,2.28,0.00,0.000,6,0.000,0.052,2645,2579,1654
$GC,11874,0.99,234.1,254.5,8.3,1117,11876,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2579,1654
$GC,12191,0.99,234.1,227.1,8.4,1147,12195,0.00,2.25,0.00,0.000,4,0.000,0.056,2646,1161,1654
$GC,12213,1.06,234.1,225.3,8.4,1149,12217,0.00,2.25,0.00,0.000,6,0.000,0.052,2646,2582,1655
$GC,12544,1.09,256.9,200.1,7.1,1180,12568,0.10,0.00,19.17,1.125,6,0.107,0.000,2685,2582,1562
$GC,12885,1.09,256.9,168.8,9.4,1212,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2582,1561
$GC,13204,1.09,256.9,140.1,8.5,1242,13205,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2582,1560
$GC,13522,1.09,256.9,114.0,8.1,1272,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2582,1560
$GC,13849,1.09,256.9,87.0,8.2,1315,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2582,1560
$GC,14191,1.09,256.9,59.5,8.5,1376,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2582,1559
$GC,14534,1.13,290.7,33.5,6.7,1437,14567,0.00,2.40,27.73,1.091,4,0.000,0.058,2685,1174,1424
$GC,14578,1.26,318.9,30.5,6.9,1444,14613,0.10,2.33,24.27,1.027,6,0.105,0.055,2721,2580,1308
$GC,14951,1.42,363.8,7.1,6.3,1509,14994,0.10,0.00,37.08,1.035,6,0.103,0.000,2760,2581,1124
$STATE,15014,end climb,SURFACE_DEPTH_REACHED
$STATE,15014,begin surface coast
$FINISH,0.5,1.024623
$STATE,15044,end surface coast,CONTROL_FINISHED_OK
$STATE,15044,begin surface
$SM_CCo,15059,7.55,0.884,0,0,1081,375.06
$SM_GC,1.99,0.00,0.00,7.55,0.000,0.000,0.884,167,2321,1081,-10.44,-0.25,375.06
$RAFOS_CLK,835
$RAFOS,4,1221036243,8.750000,8.734167,60,55,54,54,52,51,145,178,194,223,154,124
$RAFOS,3,1221035645,8.583333,8.568055,59,59,58,58,51,51,183,204,164,218,117,145
$RAFOS,2,1221035048,8.416667,8.402223,62,55,54,51,50,46,218,194,122,178,146,160
$RAFOS,1,1221034443,8.250000,8.234167,58,57,52,51,50,48,192,224,209,180,146,161
$RAFOS,0,1221033843,8.083333,8.067500,58,58,56,53,52,49,130,207,188,168,155,117
$RAFOS_FIX,42707.285156,893959.562500,100908,080808,2,61,133356.78
$IRIDIUM_FIX,6614.97,-6003.82,051297,030358
$TT8_MAMPS,0.027612
$HUMID,1903
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,21.7,13.964
$10V_AH,10.6,4.397
$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,21.025,96.675,451.100,7.550,0.000,25.405,30.107,152.877,0.000,0.000,0.000,13.892,2691.769,9324.684,610.830,2411.484,381.772,0.000,1840.321,0.000,2396.483,1800.000,0.528,0.000
$DEVICE_MAMPS,270.751,77.467,1367.561,883.584,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1190.637,1045.960,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53533,1525
$CAP_FILE_SIZE,141277,0
$CFSIZE,260165632,249438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$CURRENT,0.021,183.3,1
$GPS,100908,115838,6646.183,-5959.926,34,0.9,34,-38.1