version: 66.04
glider: 113
mission: 4
dive: 123
start: 9 30 108 22 2 15
data:
$ID,113
$MISSION,4
$DIVE,123
$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,-24220.227
$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,35
$R_STBD_OVSHOOT,22
$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
$GPS1,215626,6641.422,-6035.688,36,1.5,36,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-65.3
$GPS2,220120,6641.384,-6035.678,8,1.2,13,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.192,-0.117
$KALMAN_X,18409.0,-272.8,-47.0,-121306.8,791.3
$KALMAN_Y,-13136.7,206.2,-2680.0,-9208.1,2942.1
$MHEAD_RNG_PITCHd_Wd,159.3,30778,-12.9,-7.021
$D_GRID,502
$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,15,begin dive
$GC,17,-1.08,-146.0,0.0,0.0,0,130,0.00,0.00,-110.85,0.000,2,0.000,0.000,158,2329,2725
$GC,133,-1.08,-146.0,3.1,-2.5,20,158,8.85,2.33,-10.38,0.000,4,0.272,0.073,2198,940,3019
$GC,413,-0.71,-146.0,50.2,-11.3,69,420,0.30,2.28,0.00,0.000,6,0.173,0.054,2282,2345,3023
$GC,757,-0.71,-146.0,75.2,-8.3,130,763,0.00,2.28,0.00,0.000,4,0.000,0.058,2283,935,3025
$GC,881,-0.66,-146.0,86.9,-9.5,152,887,0.00,2.28,0.00,0.000,6,0.000,0.052,2283,2356,3026
$GC,1220,-0.66,-146.0,115.3,-8.1,188,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2356,3026
$GC,1529,-0.71,-146.0,136.4,-6.3,203,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2356,3026
$GC,1838,-0.78,-146.0,157.9,-7.6,218,1842,0.00,2.30,0.00,0.000,4,0.000,0.074,2283,3753,3025
$GC,1876,-0.90,-146.0,160.9,-8.0,219,1883,0.15,2.22,0.00,0.000,6,0.093,0.044,2231,2325,3025
$GC,2191,-0.81,-146.0,190.2,-9.4,235,2193,0.12,0.00,0.00,0.000,6,0.166,0.000,2263,2325,3025
$GC,2501,-0.81,-146.0,212.0,-6.3,250,2505,0.00,2.38,0.00,0.000,4,0.000,0.075,2263,3749,3025
$GC,2510,-0.81,-146.0,212.6,-6.0,250,2517,0.00,2.20,0.00,0.000,6,0.000,0.044,2263,2343,3025
$GC,2826,-0.85,-146.0,231.9,-6.5,266,2830,0.00,2.33,0.00,0.000,4,0.000,0.074,2263,3748,3024
$GC,2836,-0.91,-146.0,232.6,-6.3,266,2841,0.10,2.22,0.00,0.000,6,0.115,0.044,2231,2324,3024
$GC,3151,-0.85,-146.0,256.1,-7.3,281,3155,0.00,2.38,0.00,0.000,4,0.000,0.074,2231,3746,3024
$GC,3189,-0.85,-146.0,259.1,-8.0,282,3196,0.00,2.22,0.00,0.000,6,0.000,0.043,2230,2343,3023
$GC,3505,-0.80,-146.0,282.2,-7.5,298,3510,0.12,2.35,0.00,0.000,4,0.171,0.073,2261,3749,3024
$GC,3560,-0.91,-146.0,286.1,-7.1,300,3567,0.10,2.20,0.00,0.000,6,0.121,0.044,2228,2340,3023
$GC,3875,-0.91,-146.0,310.9,-7.9,316,3879,0.00,2.35,0.00,0.000,4,0.000,0.074,2228,3750,3023
$GC,3884,-0.91,-146.0,311.8,-8.0,316,3889,0.00,2.22,0.00,0.000,6,0.000,0.044,2227,2342,3023
$GC,4205,-0.91,-146.0,335.3,-7.2,332,4209,0.00,2.35,0.00,0.000,4,0.000,0.074,2228,3756,3023
$GC,4260,-0.91,-146.0,339.3,-7.0,334,4264,0.00,2.22,0.00,0.000,6,0.000,0.044,2227,2329,3023
$GC,4582,-0.91,-146.0,360.1,-6.4,350,4586,0.00,2.35,0.00,0.000,4,0.000,0.072,2227,3743,3023
$GC,4620,-0.91,-146.0,362.6,-6.4,352,4624,0.00,2.20,0.00,0.000,6,0.000,0.044,2227,2333,3023
$GC,4952,-0.91,-146.0,383.5,-6.6,368,4956,0.00,2.35,0.00,0.000,4,0.000,0.074,2228,3743,3023
$GC,4963,-0.91,-146.0,384.2,-6.6,368,4966,0.00,2.20,0.00,0.000,6,0.000,0.044,2227,2331,3023
$GC,5302,-0.91,-146.0,410.3,-8.0,382,5306,0.00,2.35,0.00,0.000,4,0.000,0.073,2228,3746,3023
$GC,5340,-0.91,-146.0,413.5,-8.4,383,5344,0.00,2.20,0.00,0.000,6,0.000,0.043,2228,2334,3023
$GC,5670,-0.91,-146.0,437.1,-7.0,391,5674,0.00,2.35,0.00,0.000,4,0.000,0.072,2227,3753,3023
$GC,5714,-0.91,-146.0,440.0,-6.7,392,5718,0.00,2.20,0.00,0.000,6,0.000,0.043,2227,2328,3023
$GC,6043,-0.91,-146.0,460.8,-6.3,400,6046,0.00,2.35,0.00,0.000,4,0.000,0.072,2227,3744,3023
$GC,6053,-0.91,-146.0,461.4,-6.3,400,6057,0.00,2.17,0.00,0.000,6,0.000,0.042,2227,2341,3023
$GC,6371,-0.91,-146.0,481.2,-6.3,408,6375,0.00,2.33,0.00,0.000,4,0.000,0.072,2227,3752,3023
$GC,6381,-0.91,-146.0,482.0,-6.3,408,6385,0.00,2.22,0.00,0.000,6,0.000,0.041,2228,2343,3023
$STATE,6698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6698,begin apogee
$GC,6704,-0.34,0.0,502.8,6.8,416,6833,0.45,0.00,126.43,1.245,6,0.152,0.000,2363,2525,2420
$STATE,6834,end apogee,CONTROL_FINISHED_OK
$STATE,6834,begin climb
$GC,6835,1.08,146.0,504.8,0.0,419,6969,1.08,0.00,129.73,1.154,6,0.114,0.000,2674,2525,1824
$GC,7265,0.88,146.0,467.3,10.0,430,7270,0.20,2.45,0.00,0.000,4,0.146,0.069,2621,3936,1821
$GC,7359,0.75,146.0,458.7,8.9,432,7363,0.00,2.33,0.00,0.000,6,0.000,0.041,2621,2511,1821
$GC,7679,0.78,168.0,437.4,6.3,440,7703,0.00,2.35,18.75,1.139,4,0.000,0.056,2621,1120,1735
$GC,7753,0.84,209.6,433.0,5.6,441,7794,0.00,2.33,35.58,1.147,6,0.000,0.051,2621,2528,1565
$GC,8132,0.94,249.5,411.3,5.7,451,8171,0.00,0.00,34.80,1.143,6,0.000,0.000,2621,2528,1402
$GC,8478,1.04,249.9,389.1,7.0,463,8483,0.15,2.35,0.00,0.000,4,0.079,0.054,2678,1115,1399
$GC,8556,0.97,249.9,381.5,10.3,466,8560,0.12,2.30,0.00,0.000,6,0.148,0.050,2644,2520,1398
$GC,8875,0.97,249.9,355.2,8.1,482,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2520,1398
$GC,9185,0.97,249.9,330.1,8.1,497,9188,0.00,2.28,0.00,0.000,4,0.000,0.057,2644,1116,1398
$GC,9234,1.05,249.9,326.2,8.1,499,9238,0.00,2.25,0.00,0.000,6,0.000,0.050,2644,2523,1397
$GC,9561,1.06,260.7,303.4,6.7,515,9576,0.08,2.30,10.07,1.051,4,0.104,0.056,2679,1111,1356
$GC,9614,1.06,260.7,299.1,8.8,517,9619,0.00,2.28,0.00,0.000,6,0.000,0.050,2679,2528,1356
$GC,9935,1.00,260.7,271.7,8.9,533,9937,0.10,0.00,0.00,0.000,6,0.153,0.000,2653,2528,1356
$GC,10244,1.00,260.7,248.7,7.4,548,10248,0.00,2.28,0.00,0.000,4,0.000,0.057,2653,1113,1356
$GC,10300,1.09,260.7,244.6,7.3,550,10304,0.00,2.25,0.00,0.000,6,0.000,0.051,2653,2527,1356
$GC,10620,1.15,267.0,222.6,6.8,566,10629,0.12,0.00,6.80,0.959,6,0.081,0.000,2705,2527,1331
$GC,10929,1.03,267.0,194.1,9.4,581,10934,0.17,2.30,0.00,0.000,4,0.140,0.057,2654,1108,1330
$GC,10974,1.13,267.0,190.6,7.5,583,10979,0.10,2.28,0.00,0.000,6,0.094,0.051,2692,2531,1330
$GC,11306,1.07,267.0,159.7,8.9,599,11307,0.10,0.00,0.00,0.000,6,0.147,0.000,2665,2532,1329
$GC,11616,1.16,297.9,139.2,6.0,614,11647,0.10,2.35,26.30,1.087,4,0.091,0.058,2706,1118,1205
$GC,11708,1.16,297.9,131.5,8.1,618,11713,0.00,2.30,0.00,0.000,6,0.000,0.051,2706,2525,1202
$GC,12029,1.16,297.9,102.8,9.7,634,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2525,1200
$GC,12363,1.16,297.9,72.0,7.8,688,12369,0.00,2.28,0.00,0.000,4,0.000,0.058,2706,1116,1200
$GC,12461,1.17,301.3,65.2,6.9,705,12467,0.00,2.25,0.00,0.000,6,0.000,0.052,2706,2520,1199
$GC,12804,1.17,301.3,37.3,8.5,766,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2520,1199
$GC,13147,1.35,343.7,14.2,5.6,827,13191,0.08,2.42,38.05,1.034,4,0.107,0.059,2746,1114,1017
$GC,13242,1.41,343.7,7.4,7.5,843,13249,0.00,2.33,0.00,0.000,6,0.000,0.053,2746,2525,1011
$STATE,13314,end climb,SURFACE_DEPTH_REACHED
$STATE,13314,begin surface coast
$FINISH,0.7,1.012893
$STATE,13345,end surface coast,CONTROL_FINISHED_OK
$STATE,13345,begin surface
$SM_CCo,13421,0.00,0.000,0,0,1007,346.36
$SM_GC,1.77,7.43,0.00,0.00,0.079,0.000,0.000,165,2340,1007,-10.37,-0.03,346.36
$RAFOS_CLK,768
$RAFOS,4,1222821841,0.750000,0.733611,128,61,59,59,56,51,890,141,213,190,177,156
$RAFOS,3,1222821256,0.583333,0.571111,98,71,58,55,54,51,735,214,140,151,196,180
$RAFOS,2,1222820644,0.416667,0.401111,64,61,59,58,54,53,208,176,996,147,189,167
$RAFOS,1,1222820061,0.250000,0.239167,83,66,61,56,56,54,676,162,209,223,146,195
$RAFOS,0,1222819442,0.083333,0.067222,57,56,51,51,51,49,225,209,192,151,179,601
$RAFOS_FIX,6641.601074,-6028.381348,011008,000025,3,103,0.59
$IRIDIUM_FIX,6614.97,-6038.24,251297,181819
$TT8_MAMPS,0.029146
$HUMID,1894
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,28.080
$10V_AH,10.6,10.876
$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,20.025,115.200,426.500,0.000,0.000,27.375,33.440,126.631,0.000,0.000,0.000,15.216,1551.967,9700.051,586.262,1552.428,338.038,33.360,1428.489,0.000,1533.708,1800.000,0.531,0.000
$DEVICE_MAMPS,271.518,78.234,1244.841,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.546,586.461,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31597,861
$CAP_FILE_SIZE,111393,0
$CFSIZE,260165632,242466816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.6
$GPS,011008,014726,6641.460,-6032.807,37,1.8,37,-38.0