version: 66.04
glider: 113
mission: 2
dive: 4
start: 7 18 108 21 28 43
data:
$ID,113
$MISSION,2
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$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,1.023
$MASS,51398
$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,450
$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,-19715.137
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2112
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2900
$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,-26.1754
$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
$GPS1,212441,4743.205,-12225.065,8,3.3,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.3
$GPS2,212823,4743.198,-12225.068,10,3.8,29,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,350.5,565,-25.4,-10.000
$D_GRID,178
$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,14,-1.51,-73.0,0.0,0.0,0,135,0.00,0.00,-117.88,0.000,2,0.000,0.000,164,2115,2883
$GC,137,-1.53,-88.0,3.6,-8.6,21,162,8.82,2.20,-7.80,0.000,4,0.279,0.060,2260,702,3261
$GC,414,-1.53,-88.0,79.1,-23.7,70,420,0.00,2.15,0.00,0.000,6,0.000,0.041,2260,2120,3266
$GC,623,-1.53,-88.0,125.3,-22.5,107,629,0.00,2.17,0.00,0.000,4,0.000,0.056,2260,3526,3266
$GC,668,-1.78,-88.0,135.0,-21.1,115,675,0.17,2.05,0.00,0.000,6,0.096,0.036,2198,2133,3267
$STATE,729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,729,begin apogee
$GC,733,-0.28,0.0,151.2,27.3,126,807,1.12,0.00,67.45,0.841,6,0.188,0.000,2533,2308,2900
$STATE,807,end apogee,CONTROL_FINISHED_OK
$STATE,807,begin climb
$GC,809,1.53,88.0,157.6,0.0,139,884,1.23,2.38,67.95,0.803,4,0.105,0.054,2936,3704,2541
$GC,912,1.32,277.2,162.3,-7.5,157,1065,0.22,2.17,142.73,0.795,6,0.218,0.035,2888,2308,1769
$GC,1268,1.26,277.2,126.2,15.0,220,1275,0.00,2.17,0.00,0.000,4,0.000,0.046,2888,892,1769
$GC,1437,1.26,277.2,101.9,14.3,250,1444,0.00,2.20,0.00,0.000,6,0.000,0.041,2887,2343,1769
$GC,1645,1.26,277.2,70.5,11.8,287,1651,0.00,2.10,0.00,0.000,4,0.000,0.054,2888,3704,1769
$GC,1820,1.08,277.2,42.3,16.6,318,1827,0.20,2.00,0.00,0.000,6,0.175,0.038,2832,2374,1768
$GC,1962,1.41,287.8,28.1,9.0,343,1981,0.20,2.12,9.12,0.706,4,0.073,0.054,2912,3703,1725
$GC,1991,1.41,287.8,24.6,12.0,348,1998,0.00,1.98,0.00,0.000,6,0.000,0.037,2913,2403,1726
$GC,2132,1.45,319.3,9.8,7.1,373,2161,0.00,0.00,23.85,0.762,6,0.000,0.000,2913,2403,1597
$STATE,2238,end climb,SURFACE_DEPTH_REACHED
$STATE,2238,begin surface coast
$FINISH,0.2,1.018894
$STATE,2267,end surface coast,CONTROL_FINISHED_OK
$STATE,2268,begin surface
$SM_CCo,2282,68.82,0.746,0,0,1065,450.13
$SM_GC,1.23,0.00,0.00,68.82,0.000,0.000,0.746,163,2093,1065,-11.21,-0.54,450.13
$RAFOS_CLK,96
$RAFOS,4,1216416543,21.500000,21.484167,59,58,55,55,52,51,205,166,190,152,181,139
$RAFOS_FIX,-29309.968750,-545750.187500,180708,202052,2,64,0.06
$IRIDIUM_FIX,4726.11,-12223.37,121097,212134
$TT8_MAMPS,0.026845
$HUMID,1906
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,24.2,0.886
$10V_AH,10.8,0.331
$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,19.625,26.375,311.100,68.825,0.000,0.000,0.000,0.000,0.250,0.000,0.000,32.267,564.819,783.605,453.473,618.778,25.101,0.000,824.393,0.000,591.524,360.000,0.535,0.000
$DEVICE_MAMPS,279.188,59.826,840.632,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.353,271.678,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12726,397
$CAP_FILE_SIZE,48129,0
$CFSIZE,260165632,257138688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$SOUNDSPEED,1487.7
$GPS,180708,220839,4743.053,-12225.444,5,1.9,5,18.2