version: 66.04
glider: 113
mission: 4
dive: 39
start: 9 10 108 12 4 39
data:
$ID,113
$MISSION,4
$DIVE,39
$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,-22774.76
$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,31
$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,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
$GPS1,115838,6646.183,-5959.926,34,0.9,34,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-65.8
$GPS2,120415,6646.185,-5959.929,12,0.9,12,-38.1
$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,109.4,37430,-14.7,-8.010
$D_GRID,687
$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,-111.55,0.000,2,0.000,0.000,167,2321,2721
$GC,132,-1.20,-146.0,3.1,-3.2,18,164,8.30,2.33,-15.05,0.000,4,0.260,0.072,2172,925,3210
$GC,231,-0.72,-146.0,28.0,-21.2,35,238,0.40,2.30,0.00,0.000,6,0.176,0.051,2284,2337,3212
$GC,575,-0.83,-146.0,60.7,-9.3,96,583,0.12,2.30,0.00,0.000,4,0.105,0.057,2244,918,3215
$GC,616,-0.83,-146.0,65.4,-11.8,103,622,0.00,2.28,0.00,0.000,6,0.000,0.052,2244,2330,3215
$GC,958,-0.83,-146.0,103.2,-9.4,161,961,0.00,2.33,0.00,0.000,4,0.000,0.072,2244,3746,3216
$GC,996,-0.90,-146.0,106.9,-9.2,164,1004,0.00,2.25,0.00,0.000,6,0.000,0.043,2243,2327,3216
$GC,1321,-0.96,-146.0,136.0,-9.1,195,1325,0.00,2.35,0.00,0.000,4,0.000,0.075,2243,3745,3216
$GC,1337,-1.02,-146.0,137.4,-8.7,196,1345,0.08,2.25,0.00,0.000,6,0.097,0.043,2208,2326,3216
$GC,1661,-1.02,-146.0,170.2,-10.2,227,1665,0.00,2.35,0.00,0.000,4,0.000,0.077,2208,3739,3216
$GC,1710,-1.02,-146.0,175.5,-11.4,231,1717,0.00,2.22,0.00,0.000,6,0.000,0.044,2208,2329,3216
$GC,2036,-1.02,-146.0,209.1,-10.4,262,2039,0.00,2.33,0.00,0.000,4,0.000,0.074,2208,3735,3215
$GC,2050,-1.02,-146.0,210.9,-10.3,263,2058,0.00,2.22,0.00,0.000,6,0.000,0.044,2208,2329,3215
$GC,2375,-1.02,-146.0,243.3,-9.8,294,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2329,3215
$GC,2694,-1.02,-146.0,273.3,-9.0,324,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2329,3214
$GC,3015,-1.02,-146.0,301.5,-9.0,354,3018,0.00,2.33,0.00,0.000,4,0.000,0.074,2208,3745,3213
$GC,3030,-1.02,-146.0,303.2,-8.8,355,3037,0.00,2.22,0.00,0.000,6,0.000,0.044,2208,2330,3213
$GC,3355,-1.02,-146.0,331.0,-8.1,386,3358,0.00,2.33,0.00,0.000,4,0.000,0.075,2208,3743,3213
$GC,3370,-1.08,-146.0,332.5,-8.8,387,3377,0.00,2.22,0.00,0.000,6,0.000,0.044,2208,2329,3213
$GC,3696,-1.13,-146.0,358.1,-8.3,418,3700,0.00,2.20,0.00,0.000,4,0.000,0.058,2208,925,3212
$GC,3722,-1.13,-146.0,360.4,-8.7,420,3730,0.00,2.25,0.00,0.000,6,0.000,0.055,2208,2326,3213
$GC,4048,-1.19,-146.0,386.6,-8.1,451,4050,0.12,0.00,0.00,0.000,6,0.116,0.000,2164,2327,3212
$GC,4388,-1.10,-146.0,420.5,-10.0,469,4390,0.12,0.00,0.00,0.000,6,0.173,0.000,2196,2327,3212
$GC,4713,-1.10,-146.0,448.2,-8.5,477,4717,0.00,2.28,0.00,0.000,4,0.000,0.072,2194,3738,3212
$GC,4740,-1.16,-146.0,450.6,-9.1,477,4744,0.00,2.17,0.00,0.000,6,0.000,0.041,2195,2322,3212
$GC,5082,-1.16,-146.0,479.0,-8.3,486,5086,0.00,2.33,0.00,0.000,4,0.000,0.074,2193,3740,3213
$GC,5131,-1.22,-146.0,483.4,-9.1,487,5136,0.00,2.20,0.00,0.000,6,0.000,0.043,2193,2331,3213
$GC,5455,-1.22,-146.0,510.3,-8.3,495,5459,0.00,2.30,0.00,0.000,4,0.000,0.074,2193,3743,3213
$GC,5476,-1.26,-146.0,512.1,-8.3,495,5481,0.08,2.20,0.00,0.000,6,0.112,0.042,2148,2334,3213
$GC,5824,-1.15,-146.0,547.7,-10.4,504,5825,0.15,0.00,0.00,0.000,6,0.175,0.000,2186,2334,3213
$GC,6148,-1.15,-146.0,575.6,-8.4,512,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2333,3214
$GC,6473,-1.15,-146.0,602.6,-8.2,520,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2333,3213
$GC,6798,-1.15,-146.0,629.2,-8.2,528,6802,0.00,2.30,0.00,0.000,4,0.000,0.074,2186,3741,3214
$GC,6819,-1.20,-146.0,631.0,-8.3,528,6824,0.00,2.20,0.00,0.000,6,0.000,0.042,2186,2326,3214
$GC,7167,-1.20,-146.0,659.4,-8.3,537,7171,0.00,2.30,0.00,0.000,4,0.000,0.075,2187,3739,3214
$GC,7205,-1.27,-146.0,662.8,-8.6,537,7213,0.12,2.17,0.00,0.000,6,0.104,0.043,2144,2321,3214
$STATE,7453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7453,begin apogee
$GC,7458,-0.34,0.0,688.1,10.2,544,7589,0.73,0.00,127.97,1.397,6,0.170,0.000,2363,2580,2610
$STATE,7589,end apogee,CONTROL_FINISHED_OK
$STATE,7589,begin climb
$GC,7591,1.20,146.0,691.9,0.0,547,7728,1.15,0.00,133.38,1.302,6,0.114,0.000,2701,2580,2014
$GC,8021,0.91,146.0,651.7,11.0,558,8026,0.22,2.35,0.00,0.000,4,0.151,0.070,2638,3941,2011
$GC,8199,0.69,146.0,633.5,9.7,562,8204,0.15,2.22,0.00,0.000,6,0.154,0.042,2591,2585,2011
$GC,8524,0.80,186.0,611.6,6.5,570,8563,0.00,0.00,34.53,1.309,6,0.000,0.000,2591,2583,1851
$GC,8888,0.95,223.0,587.9,6.6,579,8930,0.17,2.47,31.73,1.292,4,0.085,0.071,2653,3939,1700
$GC,8968,0.76,223.0,580.3,11.0,580,8976,0.20,2.25,0.00,0.000,6,0.155,0.042,2600,2576,1699
$GC,9299,0.91,256.4,557.3,6.7,589,9333,0.12,0.00,28.65,1.273,6,0.095,0.000,2646,2574,1564
$GC,9665,0.91,256.4,525.3,8.9,598,9668,0.00,2.30,0.00,0.000,4,0.000,0.057,2647,1168,1561
$GC,9725,0.96,256.4,519.9,9.3,599,9730,0.00,2.35,0.00,0.000,6,0.000,0.052,2647,2582,1561
$GC,10038,0.96,256.4,490.6,9.5,607,10042,0.00,2.22,0.00,0.000,4,0.000,0.070,2647,3941,1561
$GC,10098,0.85,256.4,483.9,11.2,608,10103,0.08,2.17,0.00,0.000,6,0.163,0.043,2624,2580,1561
$GC,10411,0.91,256.4,457.6,8.4,616,10415,0.00,2.25,0.00,0.000,4,0.000,0.057,2624,1167,1561
$GC,10488,1.03,256.4,451.2,8.2,617,10493,0.10,2.30,0.00,0.000,6,0.088,0.052,2668,2580,1561
$GC,10824,0.97,256.4,416.3,10.5,626,10829,0.10,2.17,0.00,0.000,4,0.163,0.069,2642,3943,1561
$GC,10862,0.90,256.4,412.2,10.6,626,10869,0.00,2.12,0.00,0.000,6,0.000,0.042,2643,2575,1560
$GC,11179,0.90,256.4,384.3,8.7,645,11182,0.00,2.22,0.00,0.000,4,0.000,0.057,2642,1162,1560
$GC,11246,0.97,256.4,378.3,8.9,651,11250,0.00,2.25,0.00,0.000,6,0.000,0.052,2643,2582,1561
$GC,11578,0.97,256.4,348.4,9.4,682,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2582,1561
$GC,11893,0.97,256.4,319.2,9.0,712,11897,0.00,2.22,0.00,0.000,4,0.000,0.056,2643,1176,1560
$GC,11972,1.06,256.4,312.5,8.2,719,11976,0.08,2.22,0.00,0.000,6,0.119,0.052,2674,2583,1561
$GC,12303,0.99,256.4,280.0,9.8,750,12307,0.10,2.17,0.00,0.000,4,0.155,0.069,2649,3943,1561
$GC,12337,0.93,256.4,276.3,9.9,753,12341,0.00,2.10,0.00,0.000,6,0.000,0.043,2648,2578,1561
$GC,12668,0.98,261.7,248.5,7.8,784,12680,0.00,2.22,5.65,0.943,4,0.000,0.055,2648,1164,1543
$GC,12707,1.08,261.7,245.1,8.3,787,12714,0.00,2.28,0.00,0.000,6,0.000,0.052,2648,2596,1542
$GC,13033,1.15,267.1,218.7,7.8,818,13043,0.12,0.00,6.03,0.951,6,0.097,0.000,2694,2596,1521
$GC,13360,1.08,267.1,186.3,9.7,849,13364,0.10,2.17,0.00,0.000,4,0.165,0.070,2669,3941,1520
$GC,13398,1.01,267.1,182.3,10.4,852,13405,0.00,2.15,0.00,0.000,6,0.000,0.043,2669,2573,1521
$GC,13725,1.01,269.3,155.4,7.9,883,13726,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2573,1521
$GC,14041,1.01,269.3,130.5,8.0,913,14054,0.00,2.28,3.58,0.709,4,0.000,0.073,2668,3930,1511
$GC,14092,0.95,269.3,125.9,9.5,917,14101,0.08,2.12,0.00,0.000,6,0.160,0.044,2642,2580,1512
$GC,14417,1.15,315.4,104.3,6.2,948,14463,0.15,2.35,37.90,1.112,4,0.090,0.058,2698,1174,1323
$GC,14514,1.21,315.4,96.1,9.0,960,14520,0.00,2.33,0.00,0.000,6,0.000,0.054,2698,2579,1322
$GC,14857,1.21,315.4,64.1,9.0,1021,14864,0.00,2.28,0.00,0.000,4,0.000,0.058,2698,1178,1319
$GC,14910,1.27,315.4,59.5,8.9,1030,14916,0.00,2.28,0.00,0.000,6,0.000,0.054,2698,2586,1319
$GC,15254,1.35,332.9,29.6,7.3,1091,15275,0.10,2.40,14.75,1.053,4,0.107,0.059,2735,1171,1252
$GC,15325,1.35,332.9,23.4,8.5,1103,15331,0.00,2.33,0.00,0.000,6,0.000,0.055,2735,2590,1251
$STATE,15660,end climb,SURFACE_DEPTH_REACHED
$STATE,15661,begin surface coast
$FINISH,0.4,1.024552
$STATE,15691,end surface coast,CONTROL_FINISHED_OK
$STATE,15691,begin surface
$SM_CCo,15705,32.70,1.055,0,0,1081,375.06
$SM_GC,1.53,0.00,0.00,32.70,0.000,0.000,1.055,164,2322,1081,-10.45,-0.23,375.06
$RAFOS_CLK,883
$RAFOS,1,1221063244,16.250000,16.234444,61,58,55,55,54,54,199,113,183,208,161,148
$RAFOS,0,1221062651,16.083334,16.069723,60,60,59,58,53,50,178,193,134,213,169,150
$RAFOS,4,1221050643,12.750000,12.734167,58,56,56,54,51,51,126,141,207,219,196,228
$RAFOS,3,1221050047,12.583333,12.568611,67,58,56,56,50,43,186,196,139,214,158,64
$RAFOS,2,1221049449,12.416667,12.402500,59,58,55,50,50,48,237,210,158,115,195,179
$RAFOS,1,1221048841,12.250000,12.233611,64,58,57,55,53,52,203,171,212,187,129,114
$RAFOS,0,1221048300,12.083333,12.083333,66,57,55,52,52,48,179,203,222,120,1881,242
$RAFOS_FIX,7536.429688,-3452.815430,100908,121225,3,66,1523.92
$IRIDIUM_FIX,6614.97,-6006.54,051297,070718
$TT8_MAMPS,0.029913
$HUMID,1920
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.7,14.141
$10V_AH,10.6,4.471
$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,20.650,131.925,424.150,32.700,0.000,27.371,32.420,166.011,0.000,0.000,0.000,14.954,2230.161,10837.171,683.084,2007.207,388.270,0.000,1739.247,0.000,1991.423,2880.000,0.529,0.000
$DEVICE_MAMPS,260.013,76.700,1397.474,1055.392,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.853,798.501,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40952,1168
$CAP_FILE_SIZE,136386,0
$CFSIZE,260165632,249384960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$CURRENT,0.074,170.5,1
$GPS,100908,162932,6646.099,-5954.425,40,1.1,40,-38.0