version: 66.04
glider: 113
mission: 4
dive: 122
start: 9 30 108 18 12 53
data:
$ID,113
$MISSION,4
$DIVE,122
$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,-24204.383
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,180456,6643.255,-6040.272,39,1.6,39,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.8
$GPS2,181157,6643.171,-6040.274,13,1.0,13,-38.1
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.211,0.077
$KALMAN_X,18404.2,-467.2,-176.1,-124315.7,850.5
$KALMAN_Y,-12866.9,384.7,1278.4,-10309.6,-4398.0
$MHEAD_RNG_PITCHd_Wd,107.9,33092,-12.9,-7.021
$D_GRID,500
$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,16,-1.08,-146.0,0.0,0.0,0,132,0.00,0.00,-113.22,0.000,2,0.000,0.000,160,2343,2829
$GC,134,-1.08,-146.0,3.5,-3.3,20,155,8.95,2.38,-5.97,0.000,4,0.276,0.073,2197,932,3018
$GC,380,-0.70,-146.0,48.0,-13.7,63,387,0.30,2.30,0.00,0.000,6,0.180,0.054,2281,2353,3023
$GC,723,-0.70,-146.0,80.7,-9.6,124,729,0.00,2.30,0.00,0.000,4,0.000,0.071,2281,3747,3024
$GC,824,-0.70,-146.0,90.4,-9.0,142,831,0.00,2.22,0.00,0.000,6,0.000,0.043,2281,2326,3024
$GC,1166,-0.70,-146.0,117.0,-6.7,173,1169,0.00,2.22,0.00,0.000,4,0.000,0.058,2281,928,3025
$GC,1193,-0.70,-146.0,118.8,-6.6,174,1197,0.00,2.28,0.00,0.000,6,0.000,0.052,2281,2352,3025
$GC,1520,-0.70,-146.0,137.0,-5.7,190,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2352,3025
$GC,1829,-0.76,-146.0,157.3,-7.3,205,1832,0.00,2.30,0.00,0.000,4,0.000,0.071,2281,3753,3025
$GC,1878,-0.88,-146.0,161.2,-7.7,207,1883,0.12,2.20,0.00,0.000,6,0.098,0.042,2237,2340,3024
$GC,2205,-0.81,-146.0,190.2,-8.6,223,2210,0.10,2.25,0.00,0.000,4,0.174,0.058,2260,927,3024
$GC,2243,-0.81,-146.0,193.4,-8.5,225,2247,0.00,2.28,0.00,0.000,6,0.000,0.054,2260,2350,3024
$GC,2574,-0.81,-146.0,218.4,-7.4,241,2578,0.00,2.30,0.00,0.000,4,0.000,0.072,2260,3751,3023
$GC,2624,-0.86,-146.0,222.1,-7.1,243,2628,0.00,2.20,0.00,0.000,6,0.000,0.043,2260,2337,3023
$GC,2951,-0.86,-146.0,243.3,-6.0,259,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2337,3023
$GC,3260,-0.86,-146.0,260.7,-5.8,274,3264,0.00,2.35,0.00,0.000,4,0.000,0.074,2260,3752,3023
$GC,3299,-0.96,-146.0,263.0,-6.2,275,3306,0.12,2.22,0.00,0.000,6,0.118,0.044,2218,2328,3023
$GC,3614,-0.87,-146.0,286.9,-7.8,291,3618,0.12,2.38,0.00,0.000,4,0.163,0.073,2248,3753,3023
$GC,3653,-0.94,-146.0,289.9,-7.8,293,3657,0.00,2.22,0.00,0.000,6,0.000,0.044,2249,2329,3023
$GC,3984,-0.94,-146.0,314.0,-7.1,309,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2329,3023
$GC,4294,-0.94,-146.0,335.3,-6.7,324,4298,0.00,2.38,0.00,0.000,4,0.000,0.074,2248,3758,3022
$GC,4321,-1.00,-146.0,337.2,-6.5,325,4325,0.12,2.22,0.00,0.000,6,0.114,0.044,2204,2333,3022
$GC,4646,-0.90,-146.0,363.2,-8.1,341,4648,0.15,0.00,0.00,0.000,6,0.157,0.000,2244,2333,3022
$GC,4956,-0.95,-146.0,384.0,-6.6,356,4960,0.00,2.35,0.00,0.000,4,0.000,0.072,2245,3752,3022
$GC,5017,-1.05,-146.0,387.9,-5.8,358,5024,0.15,2.22,0.00,0.000,6,0.095,0.044,2192,2324,3022
$GC,5350,-0.92,-146.0,413.7,-7.8,371,5352,0.17,0.00,0.00,0.000,6,0.156,0.000,2240,2324,3022
$GC,5676,-0.97,-146.0,434.9,-6.5,379,5680,0.00,2.35,0.00,0.000,4,0.000,0.074,2240,3747,3022
$GC,5703,-1.04,-146.0,436.7,-7.0,379,5708,0.12,2.20,0.00,0.000,6,0.098,0.044,2196,2336,3022
$GC,6045,-0.94,-146.0,463.1,-7.6,388,6050,0.15,2.22,0.00,0.000,4,0.162,0.057,2236,932,3022
$GC,6065,-0.94,-146.0,464.7,-7.4,388,6070,0.00,2.28,0.00,0.000,6,0.000,0.052,2236,2343,3022
$GC,6409,-1.01,-146.0,485.9,-6.0,397,6413,0.00,2.25,0.00,0.000,4,0.000,0.057,2237,936,3022
$GC,6441,-1.01,-146.0,488.3,-7.2,397,6446,0.00,2.28,0.00,0.000,6,0.000,0.052,2237,2348,3022
$STATE,6698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6698,begin apogee
$GC,6703,-0.34,0.0,502.0,5.2,404,6832,0.43,0.00,126.15,1.247,6,0.148,0.000,2366,2527,2420
$STATE,6833,end apogee,CONTROL_FINISHED_OK
$STATE,6833,begin climb
$GC,6835,1.08,146.0,504.3,0.0,407,6968,1.05,0.00,129.77,1.154,6,0.110,0.000,2673,2527,1824
$GC,7262,0.87,146.0,465.4,10.0,418,7267,0.20,2.42,0.00,0.000,4,0.146,0.067,2615,3934,1821
$GC,7322,0.76,146.0,460.1,9.2,419,7327,0.00,2.33,0.00,0.000,6,0.000,0.041,2615,2514,1821
$GC,7671,0.76,146.0,433.8,7.5,428,7675,0.00,2.25,0.00,0.000,4,0.000,0.056,2615,1114,1820
$GC,7709,0.78,155.6,431.1,6.7,428,7725,0.00,2.33,8.85,1.045,6,0.000,0.051,2615,2522,1785
$GC,8044,0.78,160.9,408.8,6.8,437,8057,0.00,2.40,6.47,0.969,4,0.000,0.067,2615,3936,1762
$GC,8102,0.71,160.9,403.9,8.3,438,8107,0.10,2.28,0.00,0.000,6,0.161,0.041,2590,2522,1761
$GC,8418,0.92,233.9,387.1,4.5,451,8485,0.15,2.45,59.83,1.164,4,0.081,0.056,2649,1116,1465
$GC,8525,0.93,240.1,380.3,6.8,456,8538,0.00,2.38,6.47,0.904,6,0.000,0.048,2649,2526,1441
$GC,8855,0.93,240.1,354.4,8.7,472,8859,0.00,2.35,0.00,0.000,4,0.000,0.067,2649,3930,1440
$GC,8910,0.82,240.1,348.6,10.0,474,8917,0.15,2.28,0.00,0.000,6,0.146,0.041,2608,2508,1440
$GC,9225,1.14,240.1,323.7,8.3,490,9230,0.20,2.25,0.00,0.000,4,0.081,0.053,2690,1105,1439
$GC,9336,1.03,240.1,312.5,10.1,495,9341,0.12,2.28,0.00,0.000,6,0.149,0.051,2656,2521,1440
$GC,9662,1.03,240.1,284.0,8.6,511,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2522,1440
$GC,9972,1.03,240.1,256.6,8.6,526,9975,0.00,2.28,0.00,0.000,4,0.000,0.057,2656,1111,1440
$GC,10004,1.09,240.1,253.8,8.2,527,10009,0.00,2.25,0.00,0.000,6,0.000,0.050,2655,2535,1439
$GC,10325,1.09,240.1,229.0,7.5,543,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2535,1439
$GC,10634,1.09,242.2,206.8,6.9,558,10638,0.00,2.28,0.00,0.000,4,0.000,0.057,2656,1115,1439
$GC,10667,1.20,263.2,204.7,6.3,559,10693,0.15,2.25,19.80,1.095,6,0.085,0.051,2711,2531,1347
$GC,11009,1.09,263.2,173.8,9.4,576,11011,0.15,0.00,0.00,0.000,6,0.146,0.000,2668,2531,1344
$GC,11317,1.09,263.2,151.6,7.4,591,11320,0.00,2.30,0.00,0.000,4,0.000,0.057,2669,1108,1344
$GC,11367,1.18,266.5,147.9,6.9,593,11377,0.10,2.28,4.25,0.776,6,0.096,0.051,2705,2526,1333
$GC,11693,1.10,266.5,119.3,9.0,609,11697,0.12,2.30,0.00,0.000,4,0.147,0.069,2670,3927,1332
$GC,11725,1.10,266.5,116.2,8.9,610,11731,0.00,2.25,0.00,0.000,6,0.000,0.044,2670,2494,1332
$GC,12048,1.16,266.5,93.6,7.1,638,12055,0.00,2.20,0.00,0.000,4,0.000,0.059,2670,1111,1332
$GC,12100,1.28,274.0,90.1,6.8,647,12114,0.15,2.25,7.70,0.963,6,0.083,0.052,2725,2522,1302
$GC,12451,1.17,274.0,58.0,8.8,709,12457,0.15,0.00,0.00,0.000,6,0.142,0.000,2682,2522,1300
$GC,12795,1.31,322.2,36.8,5.4,770,12843,0.12,2.38,40.42,1.044,4,0.087,0.058,2731,1119,1105
$GC,12900,1.38,322.2,27.6,9.3,788,12906,0.00,2.33,0.00,0.000,6,0.000,0.052,2731,2525,1101
$STATE,13219,end climb,SURFACE_DEPTH_REACHED
$STATE,13219,begin surface coast
$FINISH,0.7,1.025072
$STATE,13248,end surface coast,CONTROL_FINISHED_OK
$STATE,13249,begin surface
$SM_CCo,13324,0.00,0.000,0,0,1095,325.02
$SM_GC,1.71,7.20,0.00,0.00,0.069,0.000,0.000,158,2332,1095,-10.40,-0.23,325.02
$RAFOS_CLK,771
$RAFOS,4,1222807452,20.750000,20.736666,72,57,53,52,51,49,850,220,190,168,146,229
$RAFOS,3,1222806842,20.583334,20.567223,91,59,59,58,58,56,814,166,131,227,182,205
$RAFOS,2,1222806252,20.416666,20.403334,66,66,58,58,57,56,195,963,154,173,218,206
$RAFOS,1,1222805644,20.250000,20.234444,105,69,60,59,54,53,777,194,208,217,148,125
$RAFOS,0,1222805068,20.083334,20.074444,64,61,60,55,52,51,204,195,161,172,220,148
$RAFOS_FIX,6641.533691,-6033.435059,300908,202021,3,89,0.70
$IRIDIUM_FIX,6614.97,-6038.24,251297,141417
$TT8_MAMPS,0.027612
$HUMID,1914
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,27.930
$10V_AH,10.6,10.818
$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,21.150,115.025,409.725,0.000,0.000,57.356,64.215,133.674,0.000,0.000,0.000,14.768,1519.436,9727.720,559.104,1543.230,410.992,33.386,1401.449,0.000,1520.482,1800.000,0.528,0.000
$DEVICE_MAMPS,276.120,80.535,1247.142,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,665.536,578.617,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31570,850
$CAP_FILE_SIZE,113193,0
$CFSIZE,260165632,242524160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$GPS,300908,215626,6641.422,-6035.688,36,1.5,36,-38.0