version: 66.04
glider: 113
mission: 4
dive: 125
start: 10 1 108 5 52 28
data:
$ID,113
$MISSION,4
$DIVE,125
$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,-24246.414
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,054622,6642.060,-6029.209,28,1.9,43,-38.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.7
$GPS2,055133,6642.004,-6029.290,9,1.5,9,-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,0.194,0.112
$KALMAN_X,17004.4,49.1,-219.9,-115411.6,39.0
$KALMAN_Y,-15006.8,-609.2,1914.2,-9966.0,-4722.5
$MHEAD_RNG_PITCHd_Wd,97.9,26006,-12.9,-7.021
$D_GRID,514
$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,-146.0,0.0,0.0,0,134,0.00,0.00,-114.38,0.000,2,0.000,0.000,160,2331,2725
$GC,136,-1.08,-146.0,3.1,-2.2,20,162,8.88,2.35,-10.50,0.000,4,0.272,0.072,2199,930,3019
$GC,191,-0.14,-146.0,14.8,-21.0,29,198,0.75,2.30,0.00,0.000,6,0.187,0.054,2405,2341,3021
$GC,536,-0.62,-146.0,41.6,-5.1,90,543,0.30,2.33,0.00,0.000,4,0.076,0.071,2290,3745,3024
$GC,712,-0.62,-146.0,54.8,-8.1,121,718,0.00,2.22,0.00,0.000,6,0.000,0.043,2290,2327,3025
$GC,1056,-0.62,-146.0,79.6,-6.2,182,1062,0.00,2.38,0.00,0.000,4,0.000,0.072,2290,3754,3026
$GC,1141,-0.69,-146.0,85.0,-6.3,197,1147,0.00,2.22,0.00,0.000,6,0.000,0.043,2290,2333,3026
$GC,1487,-0.75,-146.0,106.6,-6.3,245,1491,0.00,2.22,0.00,0.000,4,0.000,0.058,2290,930,3026
$GC,1525,-0.75,-146.0,109.5,-7.3,246,1532,0.00,2.28,0.00,0.000,6,0.000,0.052,2290,2336,3026
$GC,1841,-0.83,-146.0,131.6,-7.3,262,1846,0.12,2.33,0.00,0.000,4,0.104,0.070,2245,3754,3026
$GC,1868,-0.83,-146.0,134.0,-9.7,263,1872,0.00,2.20,0.00,0.000,6,0.000,0.042,2245,2342,3025
$GC,2189,-0.77,-146.0,160.1,-7.8,279,2194,0.10,2.33,0.00,0.000,4,0.177,0.071,2270,3747,3025
$GC,2221,-0.83,-146.0,162.5,-7.0,280,2225,0.00,2.20,0.00,0.000,6,0.000,0.044,2270,2336,3025
$GC,2543,-0.88,-146.0,182.5,-6.0,296,2547,0.10,2.35,0.00,0.000,4,0.104,0.071,2234,3749,3025
$GC,2569,-0.88,-146.0,184.6,-7.8,297,2573,0.00,2.22,0.00,0.000,6,0.000,0.044,2233,2344,3025
$GC,2890,-0.81,-146.0,208.7,-7.1,313,2892,0.10,0.00,0.00,0.000,6,0.181,0.000,2257,2344,3025
$GC,3199,-0.81,-146.0,228.7,-6.5,328,3204,0.00,2.35,0.00,0.000,4,0.000,0.075,2258,3752,3024
$GC,3215,-0.81,-146.0,229.6,-6.5,328,3222,0.00,2.22,0.00,0.000,6,0.000,0.044,2258,2327,3024
$GC,3531,-0.81,-146.0,249.7,-6.4,344,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2327,3024
$GC,3840,-0.81,-146.0,272.1,-7.4,359,3844,0.00,2.35,0.00,0.000,4,0.000,0.076,2258,3743,3024
$GC,3872,-0.90,-146.0,274.7,-7.8,360,3876,0.00,2.20,0.00,0.000,6,0.000,0.044,2258,2336,3024
$GC,4193,-0.96,-146.0,298.5,-7.2,376,4198,0.12,2.35,0.00,0.000,4,0.104,0.071,2214,3750,3024
$GC,4232,-0.88,-146.0,302.1,-9.1,378,4236,0.12,2.22,0.00,0.000,6,0.170,0.044,2245,2326,3024
$GC,4563,-0.88,-146.0,327.1,-7.3,394,4567,0.00,2.38,0.00,0.000,4,0.000,0.074,2245,3751,3024
$GC,4601,-0.94,-146.0,329.7,-7.0,395,4607,0.00,2.20,0.00,0.000,6,0.000,0.044,2245,2340,3024
$GC,4916,-0.94,-146.0,349.0,-5.8,411,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2340,3024
$GC,5226,-0.94,-146.0,366.5,-5.7,426,5230,0.00,2.35,0.00,0.000,4,0.000,0.074,2245,3752,3023
$GC,5253,-1.00,-146.0,368.1,-6.0,427,5258,0.05,2.25,0.00,0.000,6,0.104,0.044,2205,2333,3023
$GC,5579,-0.92,-146.0,391.0,-7.3,443,5584,0.12,2.35,0.00,0.000,4,0.161,0.074,2238,3749,3023
$GC,5594,-0.92,-146.0,392.1,-7.5,443,5601,0.00,2.22,0.00,0.000,6,0.000,0.044,2238,2341,3023
$GC,5928,-0.92,-146.0,414.0,-6.6,455,5932,0.00,2.33,0.00,0.000,4,0.000,0.073,2238,3746,3022
$GC,5937,-0.92,-146.0,414.8,-6.7,455,5942,0.00,2.22,0.00,0.000,6,0.000,0.043,2238,2341,3022
$GC,6257,-0.92,-146.0,436.3,-6.8,463,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2341,3022
$GC,6581,-0.92,-146.0,456.0,-5.9,471,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2341,3022
$GC,6907,-0.97,-146.0,474.5,-5.7,479,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2341,3023
$GC,7231,-1.02,-146.0,492.8,-5.6,487,7236,0.10,2.33,0.00,0.000,4,0.119,0.071,2203,3750,3023
$GC,7308,-1.02,-146.0,498.2,-7.4,488,7313,0.00,2.22,0.00,0.000,6,0.000,0.042,2202,2315,3023
$STATE,7562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7562,begin apogee
$GC,7567,-0.34,0.0,515.7,6.9,495,7696,0.52,0.00,126.75,1.254,6,0.150,0.000,2362,2530,2420
$STATE,7697,end apogee,CONTROL_FINISHED_OK
$STATE,7697,begin climb
$GC,7699,1.08,146.0,517.8,0.0,498,7832,1.05,0.00,129.62,1.161,6,0.116,0.000,2668,2529,1824
$GC,8145,0.89,146.0,479.0,9.4,509,8147,0.17,0.00,0.00,0.000,6,0.149,0.000,2623,2529,1821
$GC,8469,0.89,146.0,454.1,7.7,517,8474,0.00,2.38,0.00,0.000,4,0.000,0.071,2622,3940,1820
$GC,8502,0.76,146.0,451.4,8.4,517,8507,0.10,2.28,0.00,0.000,6,0.160,0.041,2597,2516,1820
$GC,8839,0.86,180.6,431.4,5.8,526,8871,0.10,0.00,29.27,1.177,6,0.090,0.000,2637,2516,1683
$GC,9163,0.86,180.6,407.2,7.5,534,9167,0.00,2.25,0.00,0.000,4,0.000,0.056,2637,1119,1679
$GC,9211,0.86,180.6,403.4,7.5,535,9216,0.00,2.30,0.00,0.000,6,0.000,0.051,2637,2521,1680
$GC,9540,0.86,180.6,378.2,7.6,549,9544,0.00,2.30,0.00,0.000,4,0.000,0.067,2637,3930,1679
$GC,9578,0.74,180.6,374.9,8.7,550,9585,0.15,2.22,0.00,0.000,6,0.147,0.042,2596,2511,1679
$GC,9894,0.87,192.9,354.6,6.6,566,9908,0.10,0.00,11.02,1.083,6,0.090,0.000,2638,2510,1633
$GC,10202,0.87,192.9,330.9,7.4,581,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2510,1632
$GC,10511,0.87,192.9,307.3,7.6,596,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2510,1632
$GC,10821,0.87,195.3,285.4,6.9,611,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2510,1631
$GC,11130,0.91,223.2,266.1,6.1,626,11161,0.00,2.42,25.58,1.118,4,0.000,0.071,2637,3929,1509
$GC,11189,0.91,223.2,262.0,7.8,629,11193,0.00,2.28,0.00,0.000,6,0.000,0.042,2637,2509,1508
$GC,11521,0.97,227.3,239.6,6.9,645,11530,0.00,2.25,4.75,0.828,4,0.000,0.057,2638,1112,1493
$GC,11575,1.07,239.5,235.8,6.6,647,11592,0.12,2.28,11.45,1.034,6,0.087,0.051,2689,2527,1443
$GC,11915,0.98,239.5,206.2,8.6,664,11917,0.15,0.00,0.00,0.000,6,0.131,0.000,2646,2527,1442
$GC,12223,1.06,254.1,185.7,6.5,679,12244,0.00,2.35,13.27,1.054,4,0.000,0.057,2646,1119,1384
$GC,12272,1.20,275.0,182.5,6.3,681,12298,0.17,2.28,18.58,1.048,6,0.080,0.051,2712,2520,1297
$GC,12620,1.10,275.0,148.9,9.8,698,12622,0.15,0.00,0.00,0.000,6,0.146,0.000,2669,2522,1293
$GC,12928,1.10,275.0,124.9,7.7,713,12932,0.00,2.28,0.00,0.000,4,0.000,0.058,2669,1117,1293
$GC,12989,1.18,275.0,120.1,8.3,715,12996,0.08,2.25,0.00,0.000,6,0.103,0.051,2702,2520,1293
$GC,13311,1.13,275.0,93.4,7.8,740,13317,0.00,2.30,0.00,0.000,4,0.000,0.071,2701,3926,1292
$GC,13340,1.03,275.0,90.7,8.9,745,13347,0.17,2.22,0.00,0.000,6,0.146,0.044,2654,2508,1292
$GC,13686,1.23,332.2,71.0,5.1,806,13739,0.17,2.40,47.08,1.049,4,0.081,0.059,2720,1114,1064
$GC,13801,1.23,332.2,61.1,9.2,826,13807,0.00,2.33,0.00,0.000,6,0.000,0.052,2720,2525,1059
$GC,14144,1.23,332.2,25.9,8.8,887,14150,0.00,2.33,0.00,0.000,4,0.000,0.060,2720,1111,1056
$GC,14161,1.23,332.2,24.4,8.5,890,14167,0.00,2.28,0.00,0.000,6,0.000,0.052,2720,2520,1056
$STATE,14485,end climb,SURFACE_DEPTH_REACHED
$STATE,14485,begin surface coast
$FINISH,0.7,1.000934
$STATE,14515,end surface coast,CONTROL_FINISHED_OK
$STATE,14515,begin surface
$SM_CCo,14590,0.00,0.000,0,0,1051,335.82
$SM_GC,1.72,7.20,0.00,0.00,0.076,0.000,0.000,164,2343,1051,-10.38,0.08,335.82
$RAFOS_CLK,837
$RAFOS,4,1222850651,8.750000,8.736389,99,67,65,55,51,51,830,194,117,176,218,230
$RAFOS,3,1222850054,8.583333,8.570556,81,56,55,55,54,53,721,178,199,165,216,122
$RAFOS,2,1222849469,8.416667,8.408055,62,53,53,52,51,51,839,159,125,216,239,227
$RAFOS,1,1222848843,8.250000,8.234167,97,58,57,56,55,55,752,193,203,160,171,150
$RAFOS,0,1222848247,8.083333,8.068611,83,71,56,52,51,50,564,206,132,171,180,236
$RAFOS_FIX,6641.032715,-6020.163574,011008,080840,4,90,0.74
$IRIDIUM_FIX,6614.97,-6030.83,261297,010149
$TT8_MAMPS,0.027612
$HUMID,1906
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.1,28.378
$10V_AH,10.6,11.000
$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,21.300,115.050,417.375,0.000,0.000,30.506,31.998,144.332,0.250,0.000,0.000,11.202,1685.560,10652.861,589.547,1616.774,374.211,33.353,1473.796,0.000,1608.700,1800.000,0.532,0.000
$DEVICE_MAMPS,272.285,75.933,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.846,648.829,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34698,953
$CAP_FILE_SIZE,118522,0
$CFSIZE,260165632,242343936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.4
$GPS,011008,095707,6640.771,-6025.104,31,1.0,31,-38.0