version: 66.04
glider: 113
mission: 4
dive: 118
start: 9 30 108 3 55 28
data:
$ID,113
$MISSION,4
$DIVE,118
$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,-24149.742
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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,34
$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
$GPS1,034938,6640.978,-6038.356,41,0.8,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.6
$GPS2,035433,6640.978,-6038.327,11,1.3,11,-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,-0.122,0.188
$KALMAN_X,17214.1,289.4,-158.8,-122494.5,936.2
$KALMAN_Y,-12060.6,132.2,2690.6,-16335.7,-4798.6
$MHEAD_RNG_PITCHd_Wd,5.1,3912,-12.9,-7.021
$D_GRID,490
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.08,-146.0,0.0,0.0,0,151,0.00,0.00,-131.48,0.000,2,0.000,0.000,161,2328,2801
$GC,153,-1.08,-146.0,3.2,-2.7,23,179,8.73,2.33,-7.30,0.000,4,0.268,0.073,2199,932,3019
$GC,432,-0.73,-146.0,49.9,-13.8,72,439,0.28,2.30,0.00,0.000,6,0.170,0.054,2277,2351,3022
$GC,776,-0.73,-146.0,79.8,-7.7,133,782,0.00,2.30,0.00,0.000,4,0.000,0.071,2276,3746,3024
$GC,855,-0.73,-146.0,86.2,-8.4,147,861,0.00,2.22,0.00,0.000,6,0.000,0.042,2276,2326,3024
$GC,1184,-0.73,-146.0,110.5,-7.2,187,1188,0.00,2.22,0.00,0.000,4,0.000,0.059,2276,932,3025
$GC,1239,-0.73,-146.0,115.0,-8.3,189,1243,0.00,2.28,0.00,0.000,6,0.000,0.053,2276,2338,3025
$GC,1560,-0.73,-146.0,139.2,-7.8,205,1564,0.00,2.33,0.00,0.000,4,0.000,0.072,2276,3752,3025
$GC,1637,-0.81,-146.0,145.2,-7.9,208,1641,0.00,2.22,0.00,0.000,6,0.000,0.043,2276,2345,3024
$GC,1958,-0.85,-146.0,167.9,-6.5,224,1960,0.10,0.00,0.00,0.000,6,0.120,0.000,2241,2345,3024
$GC,2268,-0.80,-146.0,192.4,-8.0,239,2272,0.00,2.25,0.00,0.000,4,0.000,0.059,2242,928,3024
$GC,2335,-0.70,-146.0,198.5,-8.8,242,2340,0.17,2.28,0.00,0.000,6,0.170,0.054,2288,2353,3024
$GC,2661,-0.82,-146.0,220.7,-6.7,258,2666,0.12,2.28,0.00,0.000,4,0.107,0.071,2245,3746,3023
$GC,2783,-0.82,-146.0,230.6,-8.2,263,2790,0.00,2.22,0.00,0.000,6,0.000,0.044,2245,2341,3023
$GC,3099,-0.82,-146.0,255.0,-7.8,279,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2341,3023
$GC,3407,-0.82,-146.0,278.6,-7.6,294,3412,0.00,2.33,0.00,0.000,4,0.000,0.074,2245,3750,3023
$GC,3501,-0.82,-146.0,286.5,-7.9,298,3506,0.00,2.22,0.00,0.000,6,0.000,0.044,2245,2346,3023
$GC,3828,-0.82,-146.0,310.9,-7.5,314,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2346,3023
$GC,4138,-0.82,-146.0,332.5,-6.7,329,4141,0.00,2.25,0.00,0.000,4,0.000,0.060,2245,928,3023
$GC,4288,-0.82,-146.0,343.7,-7.5,335,4295,0.00,2.28,0.00,0.000,6,0.000,0.054,2245,2335,3023
$GC,4604,-0.82,-146.0,363.1,-6.0,351,4608,0.00,2.33,0.00,0.000,4,0.000,0.074,2245,3750,3022
$GC,4716,-0.89,-146.0,370.2,-6.4,356,4720,0.00,2.20,0.00,0.000,6,0.000,0.044,2245,2340,3022
$GC,5049,-0.89,-146.0,391.2,-6.2,372,5052,0.00,2.22,0.00,0.000,4,0.000,0.059,2245,934,3022
$GC,5138,-0.89,-146.0,397.2,-6.7,376,5142,0.00,2.25,0.00,0.000,6,0.000,0.054,2245,2344,3021
$GC,5487,-0.93,-146.0,418.8,-6.1,386,5490,0.00,2.30,0.00,0.000,4,0.000,0.072,2245,3750,3022
$GC,5582,-1.04,-146.0,424.6,-5.9,388,5586,0.12,2.20,0.00,0.000,6,0.103,0.043,2201,2336,3022
$GC,5905,-0.95,-146.0,447.4,-7.0,396,5909,0.12,2.22,0.00,0.000,4,0.163,0.058,2232,936,3022
$GC,5981,-0.95,-146.0,452.9,-7.1,397,5986,0.00,2.25,0.00,0.000,6,0.000,0.057,2233,2341,3022
$GC,6318,-0.95,-146.0,473.3,-6.2,406,6322,0.00,2.33,0.00,0.000,4,0.000,0.074,2233,3756,3022
$GC,6468,-0.99,-146.0,483.0,-6.2,409,6472,0.00,2.20,0.00,0.000,6,0.000,0.043,2233,2340,3022
$STATE,6616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6617,begin apogee
$GC,6621,-0.34,0.0,491.5,5.8,413,6750,0.43,0.00,125.57,1.243,6,0.145,0.000,2364,2522,2420
$STATE,6751,end apogee,CONTROL_FINISHED_OK
$STATE,6751,begin climb
$GC,6753,1.08,146.0,494.5,0.0,416,6890,1.02,2.70,128.30,1.150,4,0.111,0.071,2666,3926,1824
$GC,6920,0.77,146.0,482.8,10.3,420,6925,0.25,2.42,0.00,0.000,6,0.147,0.042,2602,2525,1823
$GC,7243,0.80,162.0,461.7,6.5,428,7263,0.00,2.50,14.43,1.094,4,0.000,0.073,2601,3926,1759
$GC,7286,0.80,162.0,458.7,7.3,429,7290,0.00,2.35,0.00,0.000,6,0.000,0.041,2601,2511,1759
$GC,7615,0.90,189.8,438.2,6.1,437,7645,0.12,2.53,24.40,1.151,4,0.084,0.073,2650,3930,1646
$GC,7661,0.79,189.8,434.4,8.9,438,7666,0.17,2.33,0.00,0.000,6,0.150,0.042,2603,2520,1645
$GC,7986,0.90,213.1,413.7,6.2,446,8011,0.12,2.35,20.23,1.151,4,0.081,0.055,2651,1115,1551
$GC,8016,0.90,213.1,411.4,7.6,446,8023,0.00,2.38,0.00,0.000,6,0.000,0.051,2651,2539,1550
$GC,8329,0.86,213.1,385.5,8.0,458,8334,0.12,2.35,0.00,0.000,4,0.144,0.055,2616,1109,1549
$GC,8338,0.86,213.1,384.6,7.9,458,8345,0.00,2.33,0.00,0.000,6,0.000,0.048,2616,2521,1549
$GC,8655,0.96,233.4,364.9,6.3,474,8678,0.10,2.40,17.60,1.144,4,0.094,0.055,2660,1111,1468
$GC,8683,0.96,233.4,362.5,8.0,475,8687,0.00,2.35,0.00,0.000,6,0.000,0.051,2660,2521,1468
$GC,9010,0.91,233.4,333.5,9.0,491,9014,0.10,2.30,0.00,0.000,4,0.147,0.056,2634,1109,1466
$GC,9030,0.91,233.4,331.7,8.0,492,9035,0.00,2.30,0.00,0.000,6,0.000,0.049,2633,2521,1466
$GC,9357,0.99,242.7,309.3,6.7,508,9372,0.00,2.33,9.00,1.045,4,0.000,0.057,2633,1116,1430
$GC,9395,1.13,259.1,306.7,6.5,509,9416,0.15,2.28,15.20,1.095,6,0.080,0.050,2691,2527,1363
$GC,9731,1.03,259.1,273.6,10.3,526,9733,0.12,0.00,0.00,0.000,6,0.135,0.000,2656,2527,1360
$GC,10040,1.03,259.1,246.6,9.1,541,10044,0.00,2.28,0.00,0.000,4,0.000,0.057,2656,1114,1360
$GC,10051,1.08,259.1,245.6,9.0,541,10055,0.00,2.25,0.00,0.000,6,0.000,0.050,2656,2524,1360
$GC,10371,1.13,259.1,218.3,7.9,557,10373,0.10,0.00,0.00,0.000,6,0.085,0.000,2697,2524,1360
$GC,10680,1.04,259.1,189.1,9.1,572,10682,0.15,0.00,0.00,0.000,6,0.144,0.000,2654,2524,1359
$GC,10990,1.12,262.6,167.3,6.9,587,11000,0.10,2.30,3.85,0.742,4,0.092,0.058,2694,1118,1349
$GC,11005,1.12,262.6,166.0,7.1,587,11011,0.00,2.22,0.00,0.000,6,0.000,0.050,2694,2521,1349
$GC,11320,1.07,262.6,138.9,8.6,603,11325,0.10,2.25,0.00,0.000,4,0.154,0.057,2667,1114,1349
$GC,11335,1.07,262.6,137.6,8.3,603,11342,0.00,2.28,0.00,0.000,6,0.000,0.051,2667,2527,1349
$GC,11651,1.13,262.6,113.7,7.5,619,11655,0.00,2.28,0.00,0.000,4,0.000,0.058,2667,1111,1349
$GC,11661,1.20,262.6,113.0,7.5,619,11665,0.12,2.25,0.00,0.000,6,0.087,0.052,2716,2525,1348
$GC,11991,1.10,262.6,82.6,9.0,658,11998,0.15,2.30,0.00,0.000,4,0.140,0.071,2672,3933,1349
$GC,12004,1.01,262.6,81.4,8.9,660,12010,0.00,2.22,0.00,0.000,6,0.000,0.044,2672,2507,1348
$GC,12348,1.09,266.5,59.4,6.9,721,12354,0.00,0.00,4.97,0.850,6,0.000,0.000,2672,2506,1333
$GC,12692,1.24,291.5,37.3,6.2,782,12722,0.12,2.33,21.75,1.057,4,0.090,0.059,2719,1111,1230
$GC,12740,1.42,291.5,33.8,7.4,790,12747,0.10,2.33,0.00,0.000,6,0.094,0.054,2760,2531,1230
$GC,13085,1.33,291.5,3.9,8.1,851,13091,0.15,2.33,0.00,0.000,4,0.149,0.071,2719,3933,1227
$STATE,13112,end climb,SURFACE_DEPTH_REACHED
$STATE,13112,begin surface coast
$FINISH,0.8,1.025197
$STATE,13141,end surface coast,CONTROL_FINISHED_OK
$STATE,13142,begin surface
$SM_CCo,13219,0.00,0.000,0,0,1224,293.38
$SM_GC,1.73,7.22,0.00,0.00,0.077,0.000,0.000,165,2339,1224,-10.37,-0.03,293.38
$RAFOS_CLK,751
$RAFOS,4,1222749859,4.750000,4.738611,121,58,57,52,50,48,815,193,214,140,167,120
$RAFOS,3,1222749244,4.583333,4.567778,64,61,59,55,53,51,813,162,201,188,131,212
$RAFOS,2,1222748657,4.416667,4.404722,83,62,60,57,56,52,949,118,220,197,177,142
$RAFOS,1,1222748049,4.250000,4.235833,80,61,57,55,52,52,761,161,199,215,173,119
$RAFOS,0,1222747444,4.083333,4.067778,59,59,59,51,51,49,156,193,616,218,118,132
$RAFOS_FIX,6641.592773,-6033.628906,300908,040430,3,95,1.73
$IRIDIUM_FIX,6609.62,-6031.45,251297,000013
$TT8_MAMPS,0.027612
$HUMID,1918
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,22.1,27.369
$10V_AH,10.6,10.592
$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,20.700,129.450,385.300,0.000,0.000,28.968,33.689,131.981,0.250,0.000,0.000,12.553,1582.936,9372.388,541.314,1685.576,347.130,33.377,1470.437,0.000,1664.527,1800.000,0.537,0.000
$DEVICE_MAMPS,267.683,79.001,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.581,585.872,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31531,861
$CAP_FILE_SIZE,117712,0
$CFSIZE,260165632,242745344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$GPS,300908,073708,6640.112,-6040.240,29,0.9,29,-38.0