version: 66.04
glider: 113
mission: 4
dive: 128
start: 10 1 108 18 10 22
data:
$ID,113
$MISSION,4
$DIVE,128
$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,-24314.881
$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,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
$GPS1,180431,6641.755,-6020.494,39,1.3,39,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.4
$GPS2,180927,6641.735,-6020.653,13,1.8,13,-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,0.173,0.143
$KALMAN_X,14833.5,-315.8,-414.9,-106406.3,62.0
$KALMAN_Y,-16769.2,551.6,1632.4,-9578.7,-4995.9
$MHEAD_RNG_PITCHd_Wd,88.4,20470,-12.9,-7.021
$D_GRID,530
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-106.90,0.000,2,0.000,0.000,164,2345,2743
$GC,129,-1.08,-146.0,3.2,-2.4,19,154,8.85,2.30,-9.57,0.000,4,0.272,0.071,2200,932,3018
$GC,200,-0.43,-146.0,18.9,-21.1,31,207,0.50,2.30,0.00,0.000,6,0.178,0.054,2341,2347,3020
$GC,545,-0.54,-146.0,44.6,-6.1,92,552,0.10,2.33,0.00,0.000,4,0.100,0.071,2303,3747,3023
$GC,586,-0.60,-146.0,47.6,-7.5,99,592,0.00,2.22,0.00,0.000,6,0.000,0.042,2303,2327,3023
$GC,930,-0.65,-146.0,71.6,-6.7,160,936,0.00,2.38,0.00,0.000,4,0.000,0.071,2303,3753,3025
$GC,976,-0.73,-146.0,74.8,-6.8,168,983,0.10,2.22,0.00,0.000,6,0.110,0.043,2266,2332,3025
$GC,1331,-0.73,-146.0,105.6,-8.9,223,1335,0.00,2.35,0.00,0.000,4,0.000,0.071,2266,3745,3025
$GC,1363,-0.73,-146.0,108.7,-9.9,224,1368,0.00,2.22,0.00,0.000,6,0.000,0.043,2266,2343,3025
$GC,1685,-0.73,-146.0,137.8,-8.9,240,1688,0.00,2.33,0.00,0.000,4,0.000,0.071,2266,3745,3025
$GC,1707,-0.73,-146.0,139.9,-9.2,241,1711,0.00,2.20,0.00,0.000,6,0.000,0.044,2266,2334,3024
$GC,2038,-0.73,-146.0,167.2,-8.1,257,2042,0.00,2.35,0.00,0.000,4,0.000,0.072,2266,3753,3024
$GC,2064,-0.79,-146.0,169.3,-8.0,258,2068,0.00,2.22,0.00,0.000,6,0.000,0.043,2266,2328,3024
$GC,2391,-0.79,-146.0,195.1,-7.7,274,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2329,3024
$GC,2701,-0.83,-146.0,218.1,-6.9,289,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2329,3024
$GC,3010,-0.89,-146.0,237.9,-6.2,304,3012,0.10,0.00,0.00,0.000,6,0.117,0.000,2231,2329,3024
$GC,3319,-0.84,-146.0,259.3,-7.0,319,3321,0.10,0.00,0.00,0.000,6,0.173,0.000,2256,2329,3024
$GC,3628,-0.84,-146.0,278.9,-6.3,334,3632,0.00,2.38,0.00,0.000,4,0.000,0.074,2256,3751,3023
$GC,3684,-0.93,-146.0,282.5,-5.9,336,3688,0.00,2.22,0.00,0.000,6,0.000,0.044,2255,2330,3023
$GC,4005,-0.98,-146.0,302.7,-6.3,352,4006,0.12,0.00,0.00,0.000,6,0.099,0.000,2212,2330,3023
$GC,4314,-0.90,-146.0,327.5,-8.2,367,4318,0.12,2.38,0.00,0.000,4,0.166,0.073,2243,3752,3023
$GC,4346,-0.96,-146.0,330.1,-7.1,368,4352,0.00,2.20,0.00,0.000,6,0.000,0.044,2243,2341,3023
$GC,4661,-0.96,-146.0,354.0,-7.6,384,4664,0.00,2.22,0.00,0.000,4,0.000,0.059,2243,935,3022
$GC,4705,-0.96,-146.0,357.6,-8.2,386,4709,0.00,2.25,0.00,0.000,6,0.000,0.054,2243,2345,3022
$GC,5037,-1.01,-146.0,381.6,-7.1,402,5039,0.10,0.00,0.00,0.000,6,0.108,0.000,2207,2345,3021
$GC,5365,-0.94,-146.0,407.4,-7.8,416,5367,0.10,0.00,0.00,0.000,6,0.168,0.000,2230,2345,3021
$GC,5690,-0.94,-146.0,428.1,-6.2,424,5694,0.00,2.30,0.00,0.000,4,0.000,0.072,2230,3747,3021
$GC,5740,-0.99,-146.0,431.3,-6.3,425,5744,0.00,2.20,0.00,0.000,6,0.000,0.042,2231,2331,3021
$GC,6063,-0.99,-146.0,449.6,-5.6,433,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2331,3021
$GC,6388,-0.99,-146.0,468.8,-5.8,441,6392,0.00,2.20,0.00,0.000,4,0.000,0.058,2230,938,3022
$GC,6433,-0.99,-146.0,471.7,-6.7,442,6437,0.00,2.25,0.00,0.000,6,0.000,0.054,2231,2351,3022
$GC,6762,-0.99,-146.0,489.5,-5.3,450,6766,0.00,2.28,0.00,0.000,4,0.000,0.071,2231,3753,3022
$GC,6824,-1.07,-146.0,492.9,-5.8,451,6828,0.12,2.20,0.00,0.000,6,0.099,0.042,2188,2336,3023
$GC,7171,-0.97,-146.0,517.0,-7.3,460,7176,0.15,2.22,0.00,0.000,4,0.156,0.056,2228,927,3023
$GC,7203,-0.97,-146.0,519.2,-6.7,460,7207,0.00,2.25,0.00,0.000,6,0.000,0.052,2228,2344,3023
$STATE,7375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7375,begin apogee
$GC,7380,-0.34,0.0,530.2,6.2,465,7510,0.45,0.00,126.95,1.253,6,0.146,0.000,2366,2524,2420
$STATE,7511,end apogee,CONTROL_FINISHED_OK
$STATE,7511,begin climb
$GC,7513,1.08,146.0,531.8,0.0,468,7651,1.00,2.67,129.23,1.163,4,0.108,0.069,2665,3928,1824
$GC,7735,0.79,146.0,512.0,11.8,473,7740,0.22,2.40,0.00,0.000,6,0.141,0.041,2605,2516,1821
$GC,8057,0.80,150.3,489.8,6.9,481,8063,0.00,0.00,4.75,0.837,6,0.000,0.000,2605,2516,1807
$GC,8378,0.82,166.0,468.4,6.5,489,8395,0.00,0.00,14.80,1.131,6,0.000,0.000,2605,2516,1743
$GC,8703,0.84,184.5,447.3,6.4,497,8722,0.00,0.00,16.73,1.140,6,0.000,0.000,2605,2516,1667
$GC,9028,0.94,206.7,426.8,6.3,505,9050,0.12,0.00,19.50,1.144,6,0.084,0.000,2652,2514,1577
$GC,9353,0.88,206.7,400.1,8.3,513,9355,0.10,0.00,0.00,0.000,6,0.145,0.000,2626,2514,1575
$GC,9662,0.88,209.1,378.4,6.9,527,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2514,1575
$GC,9971,0.90,222.0,357.6,6.6,542,9992,0.00,2.42,13.82,1.104,4,0.000,0.070,2626,3931,1514
$GC,10015,0.90,222.0,354.5,7.2,544,10019,0.00,2.25,0.00,0.000,6,0.000,0.041,2626,2513,1513
$GC,10347,0.99,231.8,333.0,6.7,560,10362,0.10,2.28,9.60,1.040,4,0.091,0.056,2666,1106,1474
$GC,10406,0.99,231.8,328.1,8.2,562,10413,0.00,2.33,0.00,0.000,6,0.000,0.049,2666,2528,1473
$GC,10721,0.99,231.8,301.3,8.4,578,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2529,1473
$GC,11031,0.99,231.8,274.3,9.1,593,11035,0.00,2.28,0.00,0.000,4,0.000,0.055,2666,1112,1473
$GC,11069,0.99,231.8,270.9,9.0,594,11075,0.00,2.25,0.00,0.000,6,0.000,0.050,2666,2528,1473
$GC,11384,0.99,231.8,243.1,8.5,610,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2528,1473
$GC,11693,0.99,231.8,217.5,8.3,625,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2528,1473
$GC,12002,0.99,231.8,192.9,7.8,640,12006,0.00,2.28,0.00,0.000,4,0.000,0.057,2666,1106,1472
$GC,12047,0.99,231.8,189.5,7.5,642,12050,0.00,2.25,0.00,0.000,6,0.000,0.051,2666,2522,1473
$GC,12378,0.99,231.8,162.2,8.2,658,12382,0.00,2.28,0.00,0.000,4,0.000,0.070,2666,3923,1472
$GC,12416,0.88,231.8,158.5,9.7,659,12424,0.15,2.20,0.00,0.000,6,0.143,0.044,2624,2510,1472
$GC,12732,1.06,256.7,138.6,6.2,675,12759,0.15,2.25,21.30,1.078,4,0.079,0.057,2686,1112,1372
$GC,12794,1.17,256.7,133.7,7.8,678,12798,0.00,2.30,0.00,0.000,6,0.000,0.052,2686,2528,1371
$GC,13120,1.26,256.7,105.7,8.7,694,13124,0.10,2.30,0.00,0.000,4,0.093,0.055,2730,1110,1369
$GC,13181,1.13,256.7,100.0,9.8,697,13186,0.17,2.28,0.00,0.000,6,0.148,0.053,2682,2529,1369
$GC,13523,1.13,256.7,73.1,7.5,755,13530,0.00,2.30,0.00,0.000,4,0.000,0.071,2681,3930,1369
$GC,13563,1.13,256.7,69.6,8.7,762,13569,0.00,2.22,0.00,0.000,6,0.000,0.044,2681,2514,1369
$GC,13907,1.13,256.7,40.4,8.6,823,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2514,1368
$GC,14250,1.39,304.6,15.7,5.4,884,14297,0.20,2.47,39.12,1.033,4,0.077,0.074,2762,3933,1177
$GC,14343,1.26,308.9,9.2,6.9,900,14356,0.20,2.30,4.57,0.729,6,0.148,0.044,2707,2513,1160
$STATE,14481,end climb,SURFACE_DEPTH_REACHED
$STATE,14481,begin surface coast
$FINISH,0.8,1.016091
$STATE,14514,end surface coast,CONTROL_FINISHED_OK
$STATE,14514,begin surface
$SM_CCo,14589,0.00,0.000,0,0,1156,310.30
$SM_GC,1.65,7.25,0.00,0.00,0.073,0.000,0.000,159,2338,1156,-10.39,-0.06,310.30
$RAFOS_CLK,832
$RAFOS,4,1222893851,20.750000,20.736389,117,62,59,51,50,49,812,216,162,129,178,93
$RAFOS,3,1222893242,20.583334,20.567223,83,63,62,58,54,52,766,198,219,127,163,138
$RAFOS,2,1222892673,20.416666,20.409166,99,62,51,51,50,49,798,199,221,183,172,135
$RAFOS,1,1222892078,20.250000,20.243889,59,58,57,56,49,46,195,159,212,116,173,229
$RAFOS,0,1222891443,20.083334,20.067499,91,62,59,59,58,56,574,193,215,206,226,172
$RAFOS_FIX,6641.159668,-6011.710449,011008,202016,4,98,0.80
$IRIDIUM_FIX,6609.62,-6016.65,261297,141451
$TT8_MAMPS,0.027612
$HUMID,1901
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,22.0,28.796
$10V_AH,10.6,11.183
$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,20.700,105.800,400.375,0.000,0.000,23.200,32.547,133.221,0.250,0.000,0.000,15.104,1643.228,10712.230,535.488,1652.166,359.989,33.358,1435.359,0.000,1631.469,1800.000,0.529,0.000
$DEVICE_MAMPS,272.285,79.768,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.793,633.985,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34689,930
$CAP_FILE_SIZE,116843,0
$CFSIZE,260165632,242171904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$GPS,011008,221507,6640.015,-6017.048,39,1.0,39,-38.0