version: 66.04
glider: 113
mission: 4
dive: 120
start: 9 30 108 11 17 28
data:
$ID,113
$MISSION,4
$DIVE,120
$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,-24174.533
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,111138,6641.077,-6040.627,38,1.3,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.6
$GPS2,111633,6641.113,-6040.619,9,1.6,9,-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,-0.133,-0.124
$KALMAN_X,17882.2,21.4,80.1,-124792.5,83.5
$KALMAN_Y,-12853.3,120.2,-1889.9,-10709.7,3344.4
$MHEAD_RNG_PITCHd_Wd,265.0,2396,-17.3,-7.021
$D_GRID,479
$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,14,begin dive
$GC,17,-1.30,-87.1,0.0,0.0,0,138,0.00,0.00,-118.40,0.000,6,0.000,0.000,165,2350,2776
$GC,140,-1.38,-146.0,3.3,-2.8,21,165,8.43,2.35,-8.30,0.000,4,0.269,0.073,2131,941,3019
$GC,239,-0.80,-146.0,27.9,-25.3,38,246,0.50,2.28,0.00,0.000,6,0.194,0.054,2263,2343,3021
$GC,584,-0.89,-146.0,66.0,-9.2,99,590,0.00,2.33,0.00,0.000,4,0.000,0.071,2262,3752,3023
$GC,686,-1.04,-146.0,75.4,-9.0,117,693,0.17,2.22,0.00,0.000,6,0.100,0.043,2201,2334,3023
$GC,1020,-1.04,-146.0,111.5,-11.2,163,1024,0.00,2.22,0.00,0.000,4,0.000,0.058,2201,937,3024
$GC,1075,-0.96,-146.0,118.0,-11.7,165,1080,0.12,2.28,0.00,0.000,6,0.184,0.055,2231,2348,3024
$GC,1396,-1.05,-146.0,150.5,-10.0,181,1400,0.00,2.30,0.00,0.000,4,0.000,0.072,2231,3745,3024
$GC,1535,-1.19,-146.0,165.1,-10.1,187,1540,0.20,2.20,0.00,0.000,6,0.094,0.042,2162,2333,3024
$GC,1862,-1.08,-146.0,204.9,-11.8,203,1866,0.15,2.22,0.00,0.000,4,0.178,0.059,2200,938,3023
$GC,1900,-1.08,-146.0,209.2,-10.6,204,1907,0.00,2.28,0.00,0.000,6,0.000,0.054,2200,2341,3023
$GC,2215,-1.08,-146.0,238.2,-9.2,220,2219,0.00,2.30,0.00,0.000,4,0.000,0.071,2200,3743,3023
$GC,2294,-1.15,-146.0,245.4,-9.1,223,2298,0.00,2.20,0.00,0.000,6,0.000,0.044,2200,2339,3023
$GC,2614,-1.21,-146.0,272.4,-8.6,239,2616,0.12,0.00,0.00,0.000,6,0.103,0.000,2159,2338,3023
$GC,2923,-1.14,-146.0,304.0,-10.0,254,2925,0.12,0.00,0.00,0.000,6,0.189,0.000,2188,2339,3022
$GC,3233,-1.14,-146.0,332.1,-8.7,269,3236,0.00,2.35,0.00,0.000,4,0.000,0.074,2188,3753,3022
$GC,3277,-1.19,-146.0,336.1,-9.1,271,3281,0.00,2.22,0.00,0.000,6,0.000,0.044,2188,2326,3022
$GC,3609,-1.24,-146.0,363.2,-8.0,287,3611,0.10,0.00,0.00,0.000,6,0.110,0.000,2153,2326,3022
$GC,3919,-1.19,-146.0,391.6,-9.5,302,3923,0.10,2.38,0.00,0.000,4,0.188,0.074,2175,3746,3022
$GC,3962,-1.19,-146.0,395.6,-8.7,304,3966,0.00,2.22,0.00,0.000,6,0.000,0.044,2175,2342,3022
$GC,4305,-1.19,-146.0,425.4,-8.7,314,4309,0.00,2.22,0.00,0.000,4,0.000,0.058,2175,934,3022
$GC,4376,-1.19,-146.0,432.0,-9.2,315,4381,0.00,2.28,0.00,0.000,6,0.000,0.057,2175,2333,3022
$GC,4719,-1.23,-146.0,461.3,-8.7,324,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2334,3022
$STATE,4962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4962,begin apogee
$GC,4967,-0.34,0.0,481.6,9.0,330,5096,0.62,0.00,125.53,1.241,6,0.153,0.000,2365,2528,2420
$STATE,5096,end apogee,CONTROL_FINISHED_OK
$STATE,5097,begin climb
$GC,5098,1.38,146.0,485.2,0.0,333,5236,1.25,2.67,128.27,1.147,4,0.110,0.070,2734,3927,1823
$GC,5287,1.09,146.0,466.8,13.7,337,5292,0.25,2.42,0.00,0.000,6,0.156,0.043,2671,2516,1821
$GC,5628,1.09,146.0,434.1,9.0,346,5632,0.00,2.45,0.00,0.000,4,0.000,0.071,2671,3927,1820
$GC,5655,1.04,146.0,431.3,10.2,346,5659,0.00,2.30,0.00,0.000,6,0.000,0.043,2674,2515,1820
$GC,5991,1.04,146.0,399.9,9.5,355,5995,0.00,2.28,0.00,0.000,4,0.000,0.058,2674,1111,1821
$GC,6019,1.09,146.0,397.3,9.2,356,6023,0.00,2.30,0.00,0.000,6,0.000,0.052,2674,2522,1821
$GC,6345,1.09,146.0,368.1,9.0,372,6348,0.00,2.33,0.00,0.000,4,0.000,0.069,2673,3934,1820
$GC,6439,0.99,146.0,357.9,10.9,376,6444,0.10,2.25,0.00,0.000,6,0.168,0.043,2650,2507,1819
$GC,6766,1.10,146.0,330.4,8.2,392,6768,0.10,0.00,0.00,0.000,6,0.098,0.000,2688,2506,1820
$GC,7074,1.10,146.0,301.6,8.9,407,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2506,1820
$GC,7384,1.10,146.0,275.1,8.6,422,7388,0.00,2.35,0.00,0.000,4,0.000,0.070,2688,3930,1819
$GC,7466,0.97,146.0,266.8,11.2,425,7474,0.17,2.22,0.00,0.000,6,0.159,0.044,2641,2509,1820
$GC,7782,1.14,146.0,242.1,7.9,441,7786,0.15,2.22,0.00,0.000,4,0.094,0.057,2696,1109,1820
$GC,7797,1.26,146.0,240.7,8.2,441,7804,0.00,2.25,0.00,0.000,6,0.000,0.051,2696,2524,1820
$GC,8112,1.26,146.0,212.6,8.3,457,8116,0.00,2.28,0.00,0.000,4,0.000,0.069,2696,3926,1820
$GC,8166,1.13,146.0,207.5,9.9,459,8171,0.00,2.22,0.00,0.000,6,0.000,0.044,2702,2519,1821
$GC,8487,1.13,146.0,181.5,8.5,475,8491,0.00,2.33,0.00,0.000,4,0.000,0.071,2702,3927,1821
$GC,8555,1.01,146.0,174.9,10.2,478,8559,0.17,2.20,0.00,0.000,6,0.156,0.044,2654,2518,1821
$GC,8886,1.16,146.0,150.8,7.1,494,8890,0.12,2.22,0.00,0.000,4,0.095,0.057,2703,1114,1820
$GC,8918,1.16,146.0,148.2,7.7,495,8922,0.00,2.28,0.00,0.000,6,0.000,0.052,2702,2542,1820
$GC,9239,1.17,152.8,124.4,6.6,511,9250,0.00,2.33,6.47,0.943,4,0.000,0.071,2702,3933,1796
$GC,9288,1.07,152.8,120.7,8.2,513,9293,0.15,2.22,0.00,0.000,6,0.160,0.044,2663,2513,1796
$GC,9609,1.25,168.7,103.3,6.1,529,9630,0.15,0.00,14.43,1.054,6,0.087,0.000,2719,2512,1732
$GC,9962,1.25,168.7,72.3,8.3,584,9968,0.00,2.38,0.00,0.000,4,0.000,0.074,2719,3925,1730
$GC,10008,1.16,168.7,67.8,10.0,592,10015,0.12,2.22,0.00,0.000,6,0.168,0.046,2687,2519,1729
$GC,10353,1.30,193.1,43.9,5.7,653,10383,0.12,2.35,20.58,1.045,4,0.091,0.060,2732,1114,1631
$GC,10400,1.32,202.3,40.9,6.5,661,10414,0.00,2.30,8.95,0.926,6,0.000,0.054,2733,2518,1595
$GC,10752,1.42,202.3,14.4,7.1,723,10758,0.00,2.30,0.00,0.000,4,0.000,0.058,2733,1112,1592
$GC,10922,1.60,235.0,4.1,5.2,753,10954,0.17,2.30,25.90,1.014,2,0.085,0.054,2797,2534,1464
$STATE,10955,end climb,SURFACE_DEPTH_REACHED
$STATE,10955,begin surface coast
$FINISH,0.9,1.020525
$STATE,10982,end surface coast,CONTROL_FINISHED_OK
$STATE,10982,begin surface
$SM_CCo,10997,32.05,0.976,0,0,1298,275.23
$SM_GC,2.06,0.00,0.00,32.05,0.000,0.000,0.976,167,2331,1298,-10.44,-0.25,275.23
$RAFOS_CLK,630
$RAFOS,4,1222778643,12.750000,12.734167,83,57,55,54,52,48,911,218,199,118,162,235
$RAFOS,3,1222778043,12.583333,12.567500,107,62,59,54,54,53,830,181,200,218,145,170
$RAFOS,2,1222777446,12.416667,12.401667,115,60,55,55,52,51,1009,176,203,194,158,228
$RAFOS,1,1222776849,12.250000,12.235833,91,59,59,53,52,51,772,192,138,118,224,149
$RAFOS,0,1222776245,12.083333,12.068055,91,57,56,55,54,54,619,221,206,190,160,177
$RAFOS_FIX,6641.055664,-6037.394531,300908,121248,5,97,0.57
$IRIDIUM_FIX,6609.62,-6036.17,251297,070724
$TT8_MAMPS,0.028379
$HUMID,1891
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.1,27.643
$10V_AH,10.5,10.702
$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,21.250,101.450,330.125,32.050,0.000,22.511,37.559,132.789,0.000,0.000,0.000,10.528,1374.806,7731.251,504.471,1409.205,326.018,33.369,1278.277,0.000,1390.661,1800.000,0.528,0.000
$DEVICE_MAMPS,269.217,79.001,1241.006,975.624,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.175,518.106,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28440,763
$CAP_FILE_SIZE,99236,0
$CFSIZE,260165632,242651136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.9
$GPS,300908,142255,6642.370,-6043.192,38,1.4,38,-38.1