version: 66.04
glider: 113
mission: 4
dive: 127
start: 10 1 108 14 7 41
data:
$ID,113
$MISSION,4
$DIVE,127
$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,-24299.146
$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,37
$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
$GPS1,140108,6641.263,-6023.076,27,2.0,27,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.7
$GPS2,140647,6641.247,-6023.089,13,2.1,32,-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,0.222,0.033
$KALMAN_X,15936.7,-123.2,-153.3,-109733.7,-698.8
$KALMAN_Y,-15849.1,387.8,462.6,-10071.1,931.5
$MHEAD_RNG_PITCHd_Wd,119.6,22465,-12.9,-7.021
$D_GRID,526
$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,17,-1.08,-146.0,0.0,0.0,0,116,0.00,0.00,-96.43,0.000,2,0.000,0.000,167,2322,2701
$GC,118,-1.08,-146.0,3.0,-2.0,17,144,8.80,2.33,-11.50,0.000,4,0.272,0.073,2197,935,3018
$GC,397,-0.68,-146.0,48.4,-12.9,66,404,0.32,2.28,0.00,0.000,6,0.176,0.054,2288,2340,3023
$GC,742,-0.68,-146.0,73.5,-6.8,127,748,0.00,2.28,0.00,0.000,4,0.000,0.058,2288,932,3024
$GC,753,-0.68,-146.0,74.2,-6.5,129,760,0.00,2.28,0.00,0.000,6,0.000,0.051,2288,2355,3024
$GC,1097,-0.73,-146.0,98.6,-7.4,190,1103,0.00,2.28,0.00,0.000,4,0.000,0.058,2288,939,3025
$GC,1215,-0.73,-146.0,108.2,-8.2,198,1219,0.00,2.28,0.00,0.000,6,0.000,0.053,2288,2343,3025
$GC,1542,-0.81,-146.0,132.9,-7.8,214,1546,0.12,2.30,0.00,0.000,4,0.107,0.071,2245,3744,3024
$GC,1568,-0.81,-146.0,135.3,-9.7,215,1573,0.00,2.22,0.00,0.000,6,0.000,0.044,2245,2341,3024
$GC,1890,-0.76,-146.0,164.6,-8.9,231,1891,0.12,0.00,0.00,0.000,6,0.172,0.000,2277,2341,3024
$GC,2198,-0.83,-146.0,187.9,-7.4,246,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2341,3025
$GC,2508,-0.91,-146.0,210.5,-7.1,261,2512,0.15,2.35,0.00,0.000,4,0.100,0.072,2226,3752,3023
$GC,2524,-0.91,-146.0,211.8,-7.3,262,2528,0.00,2.22,0.00,0.000,6,0.000,0.044,2226,2330,3023
$GC,2856,-0.83,-146.0,238.6,-7.9,278,2860,0.12,2.38,0.00,0.000,4,0.177,0.074,2257,3750,3023
$GC,2866,-0.78,-146.0,239.5,-7.8,278,2872,0.00,2.20,0.00,0.000,6,0.000,0.044,2257,2340,3023
$GC,3181,-0.83,-146.0,257.9,-5.4,294,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2340,3023
$GC,3490,-0.88,-146.0,274.4,-5.3,309,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2340,3023
$GC,3800,-0.93,-146.0,291.1,-5.6,324,3801,0.10,0.00,0.00,0.000,6,0.107,0.000,2221,2340,3023
$GC,4108,-0.87,-146.0,313.3,-7.4,339,4110,0.10,0.00,0.00,0.000,6,0.172,0.000,2245,2340,3022
$GC,4417,-0.87,-146.0,334.6,-7.1,354,4421,0.00,2.35,0.00,0.000,4,0.000,0.072,2245,3756,3022
$GC,4450,-0.93,-146.0,337.1,-7.6,355,4454,0.00,2.22,0.00,0.000,6,0.000,0.044,2245,2331,3022
$GC,4771,-0.93,-146.0,360.7,-7.4,371,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2331,3022
$GC,5081,-0.98,-146.0,382.8,-6.8,386,5085,0.10,2.35,0.00,0.000,4,0.109,0.072,2209,3753,3022
$GC,5102,-0.98,-146.0,384.5,-8.0,387,5106,0.00,2.22,0.00,0.000,6,0.000,0.044,2208,2326,3022
$GC,5432,-0.91,-146.0,410.1,-7.6,400,5434,0.12,0.00,0.00,0.000,6,0.166,0.000,2241,2326,3022
$GC,5757,-0.96,-146.0,430.0,-5.9,408,5761,0.00,2.35,0.00,0.000,4,0.000,0.074,2241,3744,3022
$GC,5785,-1.04,-146.0,431.7,-6.5,408,5789,0.12,2.20,0.00,0.000,6,0.097,0.043,2196,2327,3022
$GC,6126,-0.94,-146.0,456.2,-7.1,417,6131,0.15,2.38,0.00,0.000,4,0.160,0.072,2237,3755,3022
$GC,6181,-1.01,-146.0,459.6,-5.8,418,6185,0.00,2.20,0.00,0.000,6,0.000,0.042,2237,2338,3022
$GC,6495,-1.06,-146.0,476.9,-5.6,426,6497,0.12,0.00,0.00,0.000,6,0.106,0.000,2192,2339,3022
$GC,6819,-0.97,-146.0,500.4,-7.1,434,6824,0.12,2.35,0.00,0.000,4,0.160,0.071,2225,3755,3023
$GC,6863,-1.03,-146.0,503.3,-6.4,435,6867,0.00,2.20,0.00,0.000,6,0.000,0.042,2225,2335,3022
$GC,7187,-1.03,-146.0,522.6,-5.6,443,7191,0.00,2.33,0.00,0.000,4,0.000,0.071,2226,3747,3024
$GC,7219,-1.07,-146.0,524.8,-6.5,443,7223,0.10,2.17,0.00,0.000,6,0.105,0.042,2191,2340,3023
$STATE,7269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7269,begin apogee
$GC,7274,-0.34,0.0,528.4,7.1,445,7404,0.57,0.00,127.35,1.249,6,0.153,0.000,2363,2523,2420
$STATE,7405,end apogee,CONTROL_FINISHED_OK
$STATE,7405,begin climb
$GC,7407,1.08,146.0,531.5,0.0,448,7541,1.02,0.00,129.48,1.161,6,0.110,0.000,2667,2523,1824
$GC,7855,0.89,146.0,493.0,9.2,459,7860,0.15,2.42,0.00,0.000,4,0.140,0.067,2626,3927,1821
$GC,7927,0.73,146.0,486.4,9.0,460,7931,0.12,2.30,0.00,0.000,6,0.145,0.041,2593,2516,1820
$GC,8263,0.87,195.8,467.8,5.3,469,8307,0.12,0.00,41.75,1.180,6,0.084,0.000,2639,2515,1621
$GC,8628,0.87,195.8,441.2,7.4,478,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2515,1620
$GC,8952,0.87,195.8,417.6,7.3,486,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2515,1618
$GC,9257,0.87,195.8,395.6,7.3,494,9261,0.00,2.25,0.00,0.000,4,0.000,0.056,2639,1105,1618
$GC,9289,0.87,195.8,393.2,7.7,495,9294,0.00,2.30,0.00,0.000,6,0.000,0.050,2639,2521,1619
$GC,9610,0.87,196.5,370.2,7.0,511,9614,0.00,2.30,0.00,0.000,4,0.000,0.067,2640,3936,1619
$GC,9643,0.76,196.5,367.3,8.6,512,9648,0.15,2.22,0.00,0.000,6,0.140,0.042,2597,2511,1619
$GC,9964,0.94,233.8,349.0,5.8,528,10001,0.15,2.30,31.40,1.154,4,0.077,0.054,2658,1116,1466
$GC,10050,0.94,233.8,342.1,8.1,531,10055,0.00,2.33,0.00,0.000,6,0.000,0.049,2658,2543,1464
$GC,10377,0.94,233.8,314.9,8.6,547,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2543,1463
$GC,10686,0.94,233.8,287.9,9.0,562,10690,0.00,2.30,0.00,0.000,4,0.000,0.055,2658,1111,1463
$GC,10735,0.94,233.8,283.4,9.4,564,10740,0.00,2.28,0.00,0.000,6,0.000,0.050,2658,2520,1463
$GC,11062,0.94,233.8,255.4,8.2,580,11066,0.00,2.30,0.00,0.000,4,0.000,0.068,2658,3934,1463
$GC,11094,0.86,233.8,252.4,9.2,581,11099,0.15,2.22,0.00,0.000,6,0.147,0.043,2614,2506,1463
$GC,11416,1.13,297.9,235.1,4.8,597,11478,0.20,2.40,52.50,1.108,4,0.082,0.054,2694,1108,1204
$GC,11556,1.19,297.9,225.1,7.3,603,11560,0.00,2.33,0.00,0.000,6,0.000,0.050,2694,2519,1200
$GC,11878,1.32,297.9,201.6,7.7,619,11882,0.10,2.30,0.00,0.000,4,0.091,0.054,2735,1107,1198
$GC,12018,1.18,297.9,187.5,11.6,625,12022,0.17,2.28,0.00,0.000,6,0.143,0.051,2685,2520,1198
$GC,12332,1.18,297.9,156.4,10.2,640,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2520,1197
$GC,12641,1.18,297.9,123.4,10.5,655,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2520,1196
$GC,12956,1.18,297.9,93.6,8.8,679,12963,0.00,2.28,0.00,0.000,4,0.000,0.058,2685,1112,1196
$GC,13013,1.28,297.9,88.7,8.7,689,13020,0.12,2.25,0.00,0.000,6,0.087,0.052,2731,2522,1196
$GC,13358,1.20,297.9,50.4,10.7,750,13364,0.15,0.00,0.00,0.000,6,0.140,0.000,2688,2523,1195
$GC,13702,1.34,306.6,24.5,6.7,811,13716,0.15,2.33,7.12,0.929,4,0.076,0.059,2749,1119,1168
$GC,13778,1.34,306.6,18.7,7.4,824,13784,0.00,2.25,0.00,0.000,6,0.000,0.053,2749,2520,1168
$STATE,14007,end climb,SURFACE_DEPTH_REACHED
$STATE,14007,begin surface coast
$FINISH,0.9,1.024996
$STATE,14037,end surface coast,CONTROL_FINISHED_OK
$STATE,14038,begin surface
$SM_CCo,14113,0.00,0.000,0,0,1164,308.10
$SM_GC,1.75,7.32,0.00,0.00,0.081,0.000,0.000,164,2347,1164,-10.38,0.20,308.10
$RAFOS_CLK,811
$RAFOS,4,1222879443,16.750000,16.734167,123,61,59,58,57,55,852,167,214,198,146,227
$RAFOS,3,1222878849,16.583334,16.569166,97,57,56,52,50,50,748,208,153,191,171,134
$RAFOS,2,1222878281,16.416666,16.411388,123,65,64,59,51,51,762,165,194,222,178,142
$RAFOS,1,1222877670,16.250000,16.241667,64,59,56,55,55,54,214,593,225,176,157,134
$RAFOS,0,1222877042,16.083334,16.067223,87,58,58,56,55,55,579,165,147,234,176,201
$RAFOS_FIX,6642.105957,-6014.725586,011008,161620,4,108,0.74
$IRIDIUM_FIX,6609.62,-6024.05,261297,101026
$TT8_MAMPS,0.027612
$HUMID,1919
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.0,28.654
$10V_AH,10.6,11.122
$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,21.375,101.200,389.600,0.000,0.000,32.991,46.456,131.266,0.000,0.000,0.000,35.271,1569.728,10432.203,510.729,1600.010,355.920,33.356,1366.275,0.000,1552.639,1800.000,0.529,0.000
$DEVICE_MAMPS,271.518,76.700,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.324,594.172,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31546,870
$CAP_FILE_SIZE,113349,0
$CFSIZE,260165632,242237440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$GPS,011008,180431,6641.755,-6020.494,39,1.3,39,-38.0