version: 66.04
glider: 113
mission: 4
dive: 110
start: 9 28 108 19 30 10
data:
$ID,113
$MISSION,4
$DIVE,110
$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,470
$T_MISSION,500
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$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,275
$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,-24036.734
$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,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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,2420
$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
$GPS1,192407,6642.368,-6010.043,32,0.8,32,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.6
$GPS2,192914,6642.366,-6009.991,13,0.9,13,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.212,-0.072
$KALMAN_X,14261.4,-175.6,276.7,-98923.1,-276.3
$KALMAN_Y,-3990.9,323.3,-1627.0,-17698.7,1048.3
$MHEAD_RNG_PITCHd_Wd,289.2,24190,-12.9,-7.021
$D_GRID,561
$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,-1.08,-146.0,0.0,0.0,0,143,0.00,0.00,-124.88,0.000,2,0.000,0.000,161,2338,2814
$GC,146,-1.08,-146.0,3.7,-3.6,22,166,8.80,2.35,-6.50,0.000,4,0.270,0.072,2199,932,3018
$GC,307,-0.64,-146.0,35.5,-13.9,50,314,0.35,2.30,0.00,0.000,6,0.173,0.054,2298,2347,3023
$GC,651,-0.64,-146.0,64.0,-8.1,111,657,0.00,2.30,0.00,0.000,4,0.000,0.058,2298,923,3025
$GC,713,-0.64,-146.0,69.3,-8.8,122,720,0.00,2.30,0.00,0.000,6,0.000,0.051,2298,2356,3025
$GC,1057,-0.69,-146.0,97.0,-7.9,183,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2356,3026
$GC,1391,-0.78,-146.0,121.0,-6.6,205,1393,0.12,0.00,0.00,0.000,6,0.097,0.000,2251,2356,3026
$GC,1700,-0.72,-146.0,145.1,-7.6,220,1704,0.12,2.30,0.00,0.000,4,0.168,0.059,2283,931,3026
$GC,1742,-0.72,-146.0,148.4,-7.3,222,1747,0.00,2.28,0.00,0.000,6,0.000,0.053,2283,2337,3026
$GC,2070,-0.79,-146.0,172.0,-7.3,238,2073,0.00,2.33,0.00,0.000,4,0.000,0.074,2283,3749,3025
$GC,2164,-0.92,-146.0,179.1,-7.4,242,2169,0.17,2.22,0.00,0.000,6,0.088,0.044,2221,2322,3025
$GC,2490,-0.81,-146.0,209.6,-8.9,258,2492,0.15,0.00,0.00,0.000,6,0.168,0.000,2259,2322,3025
$GC,2799,-0.81,-146.0,230.8,-6.6,273,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2322,3024
$GC,3109,-0.81,-146.0,251.1,-6.7,288,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2322,3024
$GC,3419,-0.86,-146.0,272.0,-6.4,303,3423,0.00,2.35,0.00,0.000,4,0.000,0.076,2260,3740,3024
$GC,3469,-0.97,-146.0,275.3,-6.6,305,3473,0.12,2.20,0.00,0.000,6,0.114,0.044,2218,2336,3024
$GC,3789,-0.90,-146.0,299.6,-7.5,321,3790,0.10,0.00,0.00,0.000,6,0.168,0.000,2242,2335,3023
$GC,4099,-0.90,-146.0,319.5,-6.3,336,4103,0.00,2.22,0.00,0.000,4,0.000,0.059,2243,925,3023
$GC,4136,-0.90,-146.0,322.4,-7.1,337,4143,0.00,2.28,0.00,0.000,6,0.000,0.053,2243,2336,3023
$GC,4454,-0.90,-146.0,343.5,-6.7,353,4458,0.00,2.30,0.00,0.000,4,0.000,0.073,2243,3742,3023
$GC,4498,-0.96,-146.0,346.7,-7.3,355,4502,0.00,2.17,0.00,0.000,6,0.000,0.044,2243,2337,3023
$GC,4830,-0.96,-146.0,369.5,-6.8,371,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2337,3023
$GC,5139,-0.96,-146.0,390.0,-6.3,386,5142,0.00,2.33,0.00,0.000,4,0.000,0.073,2243,3743,3023
$GC,5194,-1.05,-146.0,393.7,-6.9,388,5199,0.12,2.20,0.00,0.000,6,0.100,0.044,2199,2327,3023
$GC,5532,-0.96,-146.0,417.8,-6.9,399,5534,0.12,0.00,0.00,0.000,6,0.162,0.000,2231,2327,3023
$GC,5857,-0.96,-146.0,437.4,-6.1,407,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2327,3023
$GC,6182,-0.96,-146.0,457.9,-6.3,415,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2327,3024
$GC,6507,-0.96,-146.0,478.7,-6.4,423,6510,0.00,2.35,0.00,0.000,4,0.000,0.072,2231,3743,3024
$GC,6624,-1.01,-146.0,486.8,-6.9,425,6628,0.00,2.20,0.00,0.000,6,0.000,0.043,2231,2326,3024
$GC,6966,-1.01,-146.0,509.4,-6.6,434,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2326,3024
$GC,7291,-1.01,-146.0,529.7,-6.3,442,7294,0.00,2.35,0.00,0.000,4,0.000,0.071,2231,3748,3024
$GC,7397,-1.08,-146.0,536.7,-6.8,444,7401,0.12,2.20,0.00,0.000,6,0.100,0.041,2189,2326,3024
$GC,7709,-0.98,-146.0,559.4,-6.9,452,7714,0.15,2.20,0.00,0.000,4,0.154,0.055,2229,932,3024
$STATE,7728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7728,begin apogee
$GC,7735,-0.34,0.0,561.2,7.9,452,7865,0.40,0.00,126.78,1.276,6,0.146,0.000,2357,2520,2420
$STATE,7865,end apogee,CONTROL_FINISHED_OK
$STATE,7865,begin climb
$GC,7867,1.08,146.0,563.3,0.0,455,8005,1.05,2.65,128.70,1.182,4,0.114,0.066,2665,3919,1824
$GC,8034,0.80,146.0,549.9,10.4,459,8039,0.22,2.40,0.00,0.000,6,0.143,0.041,2607,2524,1823
$GC,8358,0.86,195.5,531.4,5.3,467,8407,0.00,2.53,42.62,1.183,4,0.000,0.054,2607,1115,1622
$GC,8413,0.93,203.2,527.5,6.8,468,8428,0.12,2.47,8.48,0.985,6,0.079,0.049,2651,2528,1591
$GC,8764,0.84,203.2,496.7,8.7,477,8766,0.12,0.00,0.00,0.000,6,0.144,0.000,2618,2528,1587
$GC,9089,0.84,203.2,471.9,7.5,485,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2528,1587
$GC,9414,0.86,217.0,449.7,6.6,493,9433,0.00,2.40,12.35,1.130,4,0.000,0.055,2618,1106,1535
$GC,9444,0.97,245.5,447.7,6.0,493,9475,0.10,2.30,25.00,1.164,6,0.093,0.050,2657,2522,1418
$GC,9782,0.92,245.5,419.3,8.6,502,9787,0.10,2.33,0.00,0.000,4,0.144,0.055,2631,1102,1415
$GC,9809,0.96,245.5,417.2,7.8,502,9813,0.00,2.30,0.00,0.000,6,0.000,0.049,2630,2527,1415
$GC,10126,1.01,245.5,394.0,7.4,512,10131,0.10,2.30,0.00,0.000,4,0.089,0.054,2676,1104,1414
$GC,10158,0.95,245.5,391.0,9.5,513,10165,0.12,2.28,0.00,0.000,6,0.147,0.049,2641,2525,1414
$GC,10473,0.95,245.5,365.6,7.9,529,10477,0.00,2.28,0.00,0.000,4,0.000,0.055,2641,1108,1414
$GC,10495,0.95,245.5,363.8,7.9,530,10499,0.00,2.22,0.00,0.000,6,0.000,0.048,2641,2520,1414
$GC,10826,0.95,245.5,336.5,8.4,546,10830,0.00,2.25,0.00,0.000,4,0.000,0.055,2641,1112,1415
$GC,10849,1.00,245.5,334.7,7.5,547,10853,0.00,2.25,0.00,0.000,6,0.000,0.049,2641,2533,1415
$GC,11179,1.00,245.5,308.7,7.6,563,11183,0.00,2.28,0.00,0.000,4,0.000,0.054,2641,1106,1414
$GC,11212,1.08,245.5,306.2,7.4,564,11217,0.10,2.22,0.00,0.000,6,0.096,0.048,2679,2518,1414
$GC,11532,0.99,245.5,275.2,9.6,580,11537,0.12,2.30,0.00,0.000,4,0.138,0.067,2642,3935,1415
$GC,11559,0.93,245.5,272.8,8.7,581,11563,0.00,2.20,0.00,0.000,6,0.000,0.041,2643,2513,1414
$GC,11879,0.93,245.5,248.9,7.4,597,11883,0.00,2.20,0.00,0.000,4,0.000,0.055,2642,1118,1414
$GC,11908,1.01,245.5,246.7,7.4,598,11911,0.00,2.22,0.00,0.000,6,0.000,0.050,2643,2523,1415
$GC,12234,1.07,245.8,223.6,7.0,614,12236,0.10,0.00,0.00,0.000,6,0.093,0.000,2687,2523,1415
$GC,12543,0.99,245.8,195.0,9.5,629,12545,0.15,0.00,0.00,0.000,6,0.143,0.000,2642,2523,1415
$GC,12852,1.07,245.8,170.0,8.1,644,12854,0.10,0.00,0.00,0.000,6,0.091,0.000,2682,2523,1415
$GC,13162,1.07,245.8,141.9,8.6,659,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2523,1415
$GC,13471,1.08,252.1,119.2,6.8,674,13482,0.00,2.30,6.38,0.934,4,0.000,0.071,2682,3935,1392
$GC,13510,0.98,252.1,116.0,8.8,676,13515,0.12,2.20,0.00,0.000,6,0.153,0.044,2649,2522,1391
$GC,13833,1.10,261.2,94.3,6.7,701,13852,0.10,2.33,8.98,0.997,4,0.097,0.058,2690,1105,1355
$GC,13874,1.10,261.2,91.0,7.7,708,13881,0.00,2.28,0.00,0.000,6,0.000,0.052,2690,2523,1354
$GC,14217,1.12,271.2,66.0,6.7,769,14235,0.00,2.33,9.85,0.997,4,0.000,0.058,2690,1120,1314
$GC,14258,1.14,288.9,63.3,6.4,776,14282,0.00,2.28,15.77,1.019,6,0.000,0.051,2690,2529,1242
$GC,14620,1.19,288.9,36.5,7.2,840,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2529,1238
$GC,14963,1.50,296.6,13.2,6.8,901,14977,0.20,2.40,7.43,0.930,4,0.079,0.076,2773,3936,1209
$GC,15022,1.28,296.6,8.6,8.1,911,15029,0.22,2.25,0.00,0.000,6,0.149,0.045,2709,2515,1209
$STATE,15134,end climb,SURFACE_DEPTH_REACHED
$STATE,15134,begin surface coast
$FINISH,0.8,1.011737
$STATE,15175,end surface coast,CONTROL_FINISHED_OK
$STATE,15175,begin surface
$SM_CCo,15250,0.00,0.000,0,0,1205,297.79
$SM_GC,1.85,7.20,0.00,0.00,0.077,0.000,0.000,159,2344,1205,-10.40,0.11,297.79
$RAFOS_CLK,864
$RAFOS,4,1222634660,20.750000,20.738890,75,59,59,58,57,55,754,209,131,117,186,165
$RAFOS,3,1222634058,20.583334,20.571667,121,59,59,58,55,55,676,201,178,145,158,123
$RAFOS,2,1222633461,20.416666,20.405834,91,66,62,57,54,54,854,203,157,121,175,193
$RAFOS,1,1222632842,20.250000,20.233889,139,62,60,54,53,53,726,209,162,192,219,181
$RAFOS,0,1222632257,20.083334,20.071388,83,64,57,55,54,52,482,212,142,223,175,191
$RAFOS_FIX,6642.428223,-6005.200195,280908,202040,5,102,1.02
$IRIDIUM_FIX,6614.97,-6003.82,231297,141420
$TT8_MAMPS,0.027612
$HUMID,1902
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,2
$24V_AH,22.1,26.181
$10V_AH,10.6,10.099
$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,21.250,115.250,392.325,0.000,0.000,25.532,34.789,138.855,0.500,0.000,0.000,15.085,1670.034,11313.481,538.985,1689.303,362.083,33.349,1467.488,0.000,1665.180,1800.000,0.528,0.000
$DEVICE_MAMPS,269.984,75.933,1275.521,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.897,639.632,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34692,938
$CAP_FILE_SIZE,124104,0
$CFSIZE,260165632,243208192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$GPS,280908,234556,6641.991,-6014.790,39,1.2,39,-38.0