version: 66.04
glider: 113
mission: 4
dive: 124
start: 10 1 108 1 53 53
data:
$ID,113
$MISSION,4
$DIVE,124
$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,-24234.582
$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,27
$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
$GPS1,014726,6641.460,-6032.807,37,1.8,37,-38.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.3
$GPS2,015257,6641.451,-6032.815,12,1.4,12,-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,0.216,0.061
$KALMAN_X,17597.3,-51.4,-145.0,-118533.1,11.5
$KALMAN_Y,-14245.2,-300.8,707.6,-10848.7,320.5
$MHEAD_RNG_PITCHd_Wd,112.2,28776,-12.9,-7.021
$D_GRID,506
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-120.07,0.000,2,0.000,0.000,165,2337,2787
$GC,141,-1.08,-146.0,3.2,-2.7,21,167,8.88,2.33,-7.72,0.000,4,0.273,0.072,2200,936,3019
$GC,229,-0.46,-146.0,23.2,-21.6,36,236,0.47,2.30,0.00,0.000,6,0.183,0.054,2332,2348,3021
$GC,574,-0.56,-146.0,48.8,-6.5,97,580,0.00,2.30,0.00,0.000,4,0.000,0.058,2332,927,3023
$GC,648,-0.64,-146.0,54.9,-8.4,110,655,0.15,2.28,0.00,0.000,6,0.094,0.052,2280,2345,3023
$GC,991,-0.64,-146.0,82.3,-6.3,171,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2345,3024
$GC,1338,-0.64,-146.0,105.4,-6.5,222,1342,0.00,2.28,0.00,0.000,4,0.000,0.058,2280,928,3025
$GC,1414,-0.64,-146.0,110.9,-7.2,225,1419,0.00,2.30,0.00,0.000,6,0.000,0.052,2280,2345,3025
$GC,1735,-0.64,-146.0,134.3,-7.7,241,1739,0.00,2.28,0.00,0.000,4,0.000,0.058,2280,926,3025
$GC,1790,-0.64,-146.0,138.9,-8.4,243,1795,0.00,2.28,0.00,0.000,6,0.000,0.052,2279,2337,3024
$GC,2111,-0.70,-146.0,162.5,-7.0,259,2115,0.00,2.33,0.00,0.000,4,0.000,0.072,2280,3753,3024
$GC,2134,-0.79,-146.0,164.1,-7.5,260,2138,0.00,2.22,0.00,0.000,6,0.000,0.044,2280,2326,3024
$GC,2466,-0.86,-146.0,185.4,-6.2,276,2468,0.12,0.00,0.00,0.000,6,0.103,0.000,2234,2326,3024
$GC,2775,-0.79,-146.0,211.8,-9.1,291,2779,0.12,2.38,0.00,0.000,4,0.172,0.073,2266,3750,3024
$GC,2802,-0.85,-146.0,214.3,-9.0,292,2806,0.00,2.20,0.00,0.000,6,0.000,0.044,2266,2333,3024
$GC,3122,-0.92,-146.0,240.2,-7.6,308,3127,0.12,2.35,0.00,0.000,4,0.104,0.073,2223,3743,3024
$GC,3148,-0.92,-146.0,242.6,-9.1,309,3153,0.00,2.22,0.00,0.000,6,0.000,0.044,2223,2341,3023
$GC,3470,-0.84,-146.0,269.4,-8.0,325,3475,0.12,2.35,0.00,0.000,4,0.178,0.072,2255,3751,3023
$GC,3496,-0.84,-146.0,271.2,-6.6,326,3501,0.00,2.22,0.00,0.000,6,0.000,0.044,2255,2327,3023
$GC,3818,-0.88,-146.0,291.2,-6.1,342,3822,0.00,2.38,0.00,0.000,4,0.000,0.074,2255,3753,3024
$GC,3857,-0.96,-146.0,293.6,-6.1,343,3864,0.12,2.22,0.00,0.000,6,0.100,0.044,2212,2329,3023
$GC,4172,-0.87,-146.0,320.2,-8.8,359,4174,0.15,0.00,0.00,0.000,6,0.167,0.000,2253,2329,3023
$GC,4482,-0.92,-146.0,342.6,-7.1,374,4485,0.00,2.35,0.00,0.000,4,0.000,0.072,2253,3746,3023
$GC,4504,-0.99,-146.0,344.2,-7.0,375,4508,0.12,2.20,0.00,0.000,6,0.105,0.044,2208,2337,3022
$GC,4835,-0.91,-146.0,371.2,-8.0,391,4840,0.12,2.35,0.00,0.000,4,0.163,0.073,2240,3746,3022
$GC,4875,-0.97,-146.0,373.9,-7.0,393,4879,0.00,2.20,0.00,0.000,6,0.000,0.044,2241,2335,3022
$GC,5206,-0.97,-146.0,394.0,-5.6,409,5210,0.00,2.35,0.00,0.000,4,0.000,0.071,2241,3754,3022
$GC,5274,-1.04,-146.0,397.9,-5.8,412,5279,0.12,2.22,0.00,0.000,6,0.099,0.044,2197,2323,3022
$GC,5601,-0.93,-146.0,421.1,-7.1,421,5603,0.15,0.00,0.00,0.000,6,0.163,0.000,2237,2323,3021
$GC,5926,-0.93,-146.0,440.7,-6.1,429,5930,0.00,2.35,0.00,0.000,4,0.000,0.074,2237,3742,3021
$GC,5953,-0.98,-146.0,442.4,-6.5,429,5957,0.00,2.20,0.00,0.000,6,0.000,0.043,2237,2330,3022
$GC,6296,-1.03,-146.0,463.4,-6.0,438,6300,0.10,2.33,0.00,0.000,4,0.116,0.071,2201,3743,3022
$GC,6395,-0.98,-146.0,470.7,-7.4,440,6399,0.00,2.20,0.00,0.000,6,0.000,0.043,2201,2327,3022
$GC,6708,-0.91,-146.0,493.3,-7.2,448,6713,0.15,2.35,0.00,0.000,4,0.160,0.071,2242,3742,3022
$GC,6832,-1.02,-146.0,500.8,-6.1,450,6839,0.12,2.20,0.00,0.000,6,0.100,0.042,2198,2326,3022
$STATE,6917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6917,begin apogee
$GC,6922,-0.34,0.0,507.0,7.0,453,7051,0.55,0.00,126.38,1.246,6,0.156,0.000,2363,2523,2420
$STATE,7052,end apogee,CONTROL_FINISHED_OK
$STATE,7052,begin climb
$GC,7054,1.08,146.0,509.5,0.0,456,7187,1.02,0.00,129.60,1.154,6,0.114,0.000,2665,2523,1824
$GC,7500,0.91,146.0,474.2,8.6,467,7505,0.12,2.45,0.00,0.000,4,0.153,0.069,2634,3936,1821
$GC,7555,0.73,146.0,469.2,9.0,468,7560,0.15,2.33,0.00,0.000,6,0.151,0.041,2595,2514,1821
$GC,7868,0.85,186.2,451.0,5.7,476,7909,0.10,0.00,34.12,1.170,6,0.091,0.000,2635,2514,1660
$GC,8232,0.85,186.2,422.2,8.0,485,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2514,1657
$GC,8558,0.88,202.7,399.8,6.5,493,8578,0.00,0.00,14.55,1.120,6,0.000,0.000,2635,2513,1592
$GC,8887,0.88,202.7,376.0,7.5,509,8890,0.00,2.25,0.00,0.000,4,0.000,0.056,2635,1114,1592
$GC,8931,0.88,202.7,372.8,7.5,511,8935,0.00,2.28,0.00,0.000,6,0.000,0.050,2635,2530,1591
$GC,9262,0.88,202.7,348.8,7.3,527,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2530,1591
$GC,9571,0.88,202.7,326.9,7.3,542,9575,0.00,2.28,0.00,0.000,4,0.000,0.055,2635,1111,1592
$GC,9598,0.94,211.3,325.0,6.7,543,9616,0.00,2.25,8.52,1.030,6,0.000,0.050,2635,2527,1557
$GC,9923,0.98,236.3,304.4,6.2,559,9949,0.00,2.35,21.48,1.119,4,0.000,0.054,2635,1109,1455
$GC,9971,1.11,260.6,301.2,6.2,561,9998,0.15,2.30,21.30,1.081,6,0.081,0.048,2692,2520,1357
$GC,10309,1.02,260.6,270.3,9.6,577,10311,0.15,0.00,0.00,0.000,6,0.134,0.000,2650,2520,1354
$GC,10617,1.08,260.6,246.2,7.8,592,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2520,1353
$GC,10927,1.15,260.6,221.7,7.9,607,10931,0.12,2.28,0.00,0.000,4,0.086,0.056,2698,1112,1354
$GC,10971,1.08,260.6,217.6,9.8,609,10976,0.12,2.25,0.00,0.000,6,0.148,0.050,2666,2527,1354
$GC,11302,1.08,260.6,191.7,7.1,625,11306,0.00,2.28,0.00,0.000,4,0.000,0.057,2666,1111,1353
$GC,11347,1.15,260.6,188.7,7.1,627,11351,0.00,2.25,0.00,0.000,6,0.000,0.051,2665,2522,1353
$GC,11678,1.15,260.6,165.6,7.3,643,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2522,1353
$GC,11987,1.15,262.5,143.0,7.0,658,11992,0.00,2.25,0.00,0.000,4,0.000,0.058,2665,1110,1353
$GC,12033,1.25,267.2,139.9,6.9,660,12046,0.15,2.25,6.45,0.937,6,0.087,0.052,2721,2533,1330
$GC,12363,1.13,267.2,111.0,8.8,676,12365,0.15,0.00,0.00,0.000,6,0.140,0.000,2678,2533,1328
$GC,12683,1.13,267.2,86.7,8.1,712,12689,0.00,2.28,0.00,0.000,4,0.000,0.058,2678,1115,1328
$GC,12746,1.23,267.2,81.8,8.0,723,12752,0.10,2.25,0.00,0.000,6,0.097,0.052,2716,2526,1328
$GC,13090,1.17,267.2,48.7,9.3,784,13097,0.10,2.30,0.00,0.000,4,0.148,0.071,2689,3928,1328
$GC,13131,1.11,267.2,44.7,9.6,791,13137,0.00,2.22,0.00,0.000,6,0.000,0.044,2689,2506,1328
$GC,13476,1.36,330.1,21.2,4.9,852,13536,0.15,2.35,52.33,1.036,4,0.081,0.059,2749,1111,1071
$GC,13638,1.42,337.5,10.3,6.8,880,13650,0.00,2.33,6.22,0.828,6,0.000,0.053,2749,2519,1044
$STATE,13750,end climb,SURFACE_DEPTH_REACHED
$STATE,13750,begin surface coast
$FINISH,0.9,1.024974
$STATE,13780,end surface coast,CONTROL_FINISHED_OK
$STATE,13780,begin surface
$SM_CCo,13856,0.00,0.000,0,0,1039,338.76
$SM_GC,1.77,7.40,0.00,0.00,0.075,0.000,0.000,160,2334,1039,-10.39,-0.17,338.76
$RAFOS_CLK,790
$RAFOS,4,1222836256,4.750000,4.737778,96,62,59,57,57,51,800,185,220,167,203,151
$RAFOS,3,1222835645,4.583333,4.568056,67,63,53,53,52,51,786,209,224,171,121,146
$RAFOS,2,1222835046,4.416667,4.401667,67,67,56,55,52,52,206,978,197,220,150,173
$RAFOS,1,1222834467,4.250000,4.240833,115,67,64,62,60,57,634,220,145,189,159,200
$RAFOS,0,1222833858,4.083333,4.071667,62,61,59,59,58,56,171,193,149,226,508,135
$RAFOS_FIX,6644.617188,-6027.618164,011008,040456,2,106,0.74
$IRIDIUM_FIX,6609.62,-5921.65,251297,222245
$TT8_MAMPS,0.027612
$HUMID,1896
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.1,28.230
$10V_AH,10.5,10.938
$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,21.725,114.875,420.950,0.000,0.000,29.009,34.671,161.938,0.000,0.000,0.000,13.726,1630.889,9968.312,589.187,1613.574,397.225,33.354,1473.492,0.000,1599.861,1800.000,0.529,0.000
$DEVICE_MAMPS,273.052,76.700,1246.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.624,616.051,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31563,905
$CAP_FILE_SIZE,119274,0
$CFSIZE,260165632,242401280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$GPS,011008,054622,6642.060,-6029.209,28,1.9,43,-38.0