version: 66.04
glider: 113
mission: 4
dive: 131
start: 10 2 108 7 5 28
data:
$ID,113
$MISSION,4
$DIVE,131
$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,-24362.396
$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
$GPS1,065901,6640.630,-6009.432,36,1.4,41,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.4
$GPS2,070433,6640.597,-6009.600,10,1.1,10,-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,-0.010,0.224
$KALMAN_X,13244.7,499.5,-262.0,-97768.6,-90.4
$KALMAN_Y,-21944.0,-1035.0,1138.5,-4428.1,-3909.5
$MHEAD_RNG_PITCHd_Wd,35.3,15466,-12.9,-7.021
$D_GRID,564
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.08,-145.9,0.0,0.0,0,130,0.00,0.00,-109.55,0.000,2,0.000,0.000,159,2341,2770
$GC,132,-1.08,-146.0,3.4,-2.6,19,157,8.88,2.40,-8.40,0.000,4,0.272,0.086,2199,3746,3019
$GC,388,-0.77,-146.0,46.7,-11.4,64,395,0.25,2.25,0.00,0.000,6,0.170,0.044,2269,2326,3023
$GC,733,-0.70,-146.0,74.6,-8.2,125,739,0.00,2.22,0.00,0.000,4,0.000,0.059,2270,934,3024
$GC,812,-0.61,-146.0,81.7,-9.2,139,819,0.12,2.28,0.00,0.000,6,0.170,0.053,2302,2354,3024
$GC,1155,-0.71,-146.0,105.7,-6.8,189,1158,0.00,2.30,0.00,0.000,4,0.000,0.070,2302,3753,3025
$GC,1223,-0.86,-146.0,110.3,-6.4,192,1227,0.17,2.22,0.00,0.000,6,0.091,0.043,2241,2333,3025
$GC,1554,-0.78,-146.0,139.9,-8.7,208,1558,0.10,2.35,0.00,0.000,4,0.184,0.073,2265,3742,3025
$GC,1648,-0.83,-146.0,148.1,-8.6,212,1652,0.00,2.20,0.00,0.000,6,0.000,0.044,2265,2337,3025
$GC,1974,-0.83,-146.0,174.8,-8.2,228,1978,0.00,2.22,0.00,0.000,4,0.000,0.059,2265,935,3024
$GC,2064,-0.83,-146.0,182.3,-8.8,232,2067,0.00,2.25,0.00,0.000,6,0.000,0.054,2265,2344,3024
$GC,2395,-0.83,-146.0,208.1,-7.5,248,2399,0.00,2.30,0.00,0.000,4,0.000,0.072,2265,3743,3024
$GC,2490,-0.91,-146.0,215.2,-7.7,252,2494,0.10,2.20,0.00,0.000,6,0.116,0.044,2231,2337,3023
$GC,2816,-0.86,-146.0,242.1,-8.4,268,2820,0.00,2.22,0.00,0.000,4,0.000,0.059,2231,935,3023
$GC,2884,-0.77,-146.0,248.2,-9.6,271,2888,0.15,2.25,0.00,0.000,6,0.169,0.054,2270,2344,3023
$GC,3216,-0.86,-146.0,271.3,-6.6,287,3219,0.00,2.30,0.00,0.000,4,0.000,0.073,2270,3743,3023
$GC,3373,-1.00,-146.0,282.4,-7.2,294,3378,0.17,2.20,0.00,0.000,6,0.091,0.044,2208,2335,3023
$GC,3704,-0.90,-146.0,311.5,-9.1,310,3706,0.12,0.00,0.00,0.000,6,0.161,0.000,2241,2334,3022
$GC,4014,-0.90,-146.0,333.1,-6.8,325,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2334,3023
$GC,4323,-0.90,-146.0,354.2,-6.7,340,4327,0.00,2.35,0.00,0.000,4,0.000,0.073,2240,3746,3022
$GC,4384,-0.97,-146.0,358.5,-7.2,343,4389,0.00,2.20,0.00,0.000,6,0.000,0.044,2241,2329,3022
$GC,4720,-0.97,-146.0,379.2,-5.8,359,4724,0.00,2.35,0.00,0.000,4,0.000,0.071,2241,3747,3022
$GC,4797,-1.04,-146.0,384.0,-6.0,362,4804,0.12,2.20,0.00,0.000,6,0.100,0.043,2197,2333,3022
$GC,5133,-0.94,-146.0,406.1,-6.7,377,5135,0.12,0.00,0.00,0.000,6,0.163,0.000,2230,2332,3022
$GC,5457,-0.94,-146.0,424.4,-5.7,385,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2332,3022
$GC,5782,-0.94,-146.0,442.3,-5.5,393,5786,0.00,2.35,0.00,0.000,4,0.000,0.071,2230,3752,3022
$GC,5873,-0.99,-146.0,447.5,-5.6,395,5876,0.00,2.20,0.00,0.000,6,0.000,0.042,2230,2337,3022
$GC,6202,-0.99,-146.0,466.7,-6.0,403,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2337,3023
$GC,6527,-0.99,-146.0,488.5,-6.9,411,6531,0.00,2.33,0.00,0.000,4,0.000,0.071,2230,3742,3023
$GC,6617,-1.05,-146.0,494.7,-6.9,413,6621,0.10,2.17,0.00,0.000,6,0.107,0.042,2194,2341,3023
$GC,6945,-0.97,-146.0,519.4,-7.3,421,6950,0.12,2.22,0.00,0.000,4,0.156,0.055,2227,934,3023
$GC,7056,-0.97,-146.0,526.9,-7.1,423,7061,0.00,2.25,0.00,0.000,6,0.000,0.051,2228,2335,3023
$GC,7405,-0.97,-146.0,548.0,-6.1,432,7409,0.00,2.33,0.00,0.000,4,0.000,0.071,2227,3754,3024
$GC,7522,-1.04,-146.0,555.8,-6.6,434,7526,0.00,2.20,0.00,0.000,6,0.000,0.042,2228,2336,3024
$STATE,7659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7659,begin apogee
$GC,7664,-0.34,0.0,564.7,6.4,438,7795,0.45,0.00,127.65,1.266,6,0.143,0.000,2366,2520,2420
$STATE,7795,end apogee,CONTROL_FINISHED_OK
$STATE,7796,begin climb
$GC,7797,1.08,146.0,566.7,0.0,441,7944,1.05,2.67,132.27,1.167,4,0.107,0.069,2674,3936,1823
$GC,7966,0.77,146.0,553.4,11.4,445,7971,0.28,2.45,0.00,0.000,6,0.146,0.041,2603,2526,1822
$GC,8314,0.79,159.4,530.2,6.6,454,8333,0.00,2.53,12.25,1.099,4,0.000,0.070,2603,3930,1770
$GC,8366,0.74,159.4,526.0,8.4,455,8371,0.00,2.33,0.00,0.000,6,0.000,0.041,2603,2516,1769
$GC,8685,0.75,166.0,504.4,6.8,463,8699,0.00,2.47,7.20,1.012,4,0.000,0.069,2603,3934,1743
$GC,8721,0.75,166.0,501.6,8.2,463,8728,0.00,2.30,0.00,0.000,6,0.000,0.041,2603,2522,1743
$GC,9052,0.76,173.9,479.1,6.8,472,9062,0.00,0.00,8.35,1.058,6,0.000,0.000,2603,2522,1711
$GC,9378,0.84,192.6,458.1,6.4,480,9401,0.00,2.35,16.67,1.158,4,0.000,0.055,2603,1116,1634
$GC,9407,0.97,225.1,456.2,5.9,480,9443,0.15,2.30,28.15,1.160,6,0.081,0.049,2661,2525,1502
$GC,9785,0.90,225.1,421.9,9.2,490,9787,0.12,0.00,0.00,0.000,6,0.139,0.000,2627,2525,1499
$GC,10110,0.90,225.1,397.0,7.5,498,10113,0.00,2.28,0.00,0.000,4,0.000,0.055,2627,1115,1499
$GC,10126,0.96,225.1,396.0,7.3,498,10132,0.00,2.25,0.00,0.000,6,0.000,0.048,2626,2524,1499
$GC,10440,0.96,225.1,371.7,7.7,514,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2524,1499
$GC,10751,1.00,225.1,349.3,7.0,529,10752,0.10,0.00,0.00,0.000,6,0.091,0.000,2667,2524,1499
$GC,11060,0.93,225.1,321.2,9.5,544,11065,0.12,2.30,0.00,0.000,4,0.140,0.067,2631,3937,1499
$GC,11092,0.93,225.1,318.1,9.1,545,11099,0.00,2.22,0.00,0.000,6,0.000,0.042,2631,2505,1499
$GC,11408,0.98,225.1,294.9,7.4,561,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2505,1499
$GC,11717,1.04,225.1,271.7,7.3,576,11719,0.12,0.00,0.00,0.000,6,0.091,0.000,2680,2505,1499
$GC,12026,0.95,225.1,244.5,8.8,591,12031,0.15,2.20,0.00,0.000,4,0.135,0.056,2637,1118,1499
$GC,12036,0.90,225.1,243.7,8.4,591,12041,0.00,2.22,0.00,0.000,6,0.000,0.050,2637,2523,1499
$GC,12358,0.98,235.0,222.3,6.7,607,12373,0.00,2.30,9.10,1.017,4,0.000,0.056,2637,1119,1461
$GC,12379,1.07,235.0,220.7,7.3,608,12383,0.12,2.22,0.00,0.000,6,0.085,0.049,2689,2519,1461
$GC,12711,0.97,235.0,189.5,9.9,624,12712,0.15,0.00,0.00,0.000,6,0.130,0.000,2645,2520,1460
$GC,13019,1.04,235.0,164.9,7.6,639,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2520,1460
$GC,13329,1.12,237.9,143.0,6.9,654,13339,0.12,2.28,3.78,0.714,4,0.087,0.058,2693,1123,1450
$GC,13344,1.12,237.9,141.8,7.2,654,13350,0.00,2.22,0.00,0.000,6,0.000,0.051,2693,2525,1450
$GC,13659,1.05,237.9,114.6,8.3,670,13661,0.12,0.00,0.00,0.000,6,0.147,0.000,2658,2525,1449
$GC,13972,1.19,288.8,96.7,5.3,691,14019,0.12,0.00,42.17,1.059,6,0.087,0.000,2706,2525,1242
$GC,14356,1.19,288.8,66.9,9.0,759,14363,0.00,2.30,0.00,0.000,4,0.000,0.058,2706,1119,1237
$GC,14391,1.19,288.8,63.8,9.0,765,14397,0.00,2.28,0.00,0.000,6,0.000,0.051,2706,2528,1237
$GC,14735,1.19,288.8,33.2,8.4,826,14741,0.00,2.30,0.00,0.000,4,0.000,0.058,2706,1111,1236
$GC,14758,1.19,288.8,31.4,8.3,830,14764,0.00,2.28,0.00,0.000,6,0.000,0.051,2706,2528,1236
$GC,15102,1.31,300.5,9.4,6.6,891,15120,0.00,2.33,9.98,0.968,4,0.000,0.058,2706,1123,1194
$GC,15149,1.49,322.7,6.7,6.3,899,15175,0.17,2.28,19.60,0.992,6,0.074,0.054,2775,2525,1103
$STATE,15201,end climb,SURFACE_DEPTH_REACHED
$STATE,15201,begin surface coast
$FINISH,0.8,1.025022
$STATE,15219,end surface coast,CONTROL_FINISHED_OK
$STATE,15219,begin surface
$SM_CCo,15296,0.00,0.000,0,0,1096,324.53
$SM_GC,1.69,7.50,0.00,0.00,0.078,0.000,0.000,167,2338,1096,-10.37,-0.06,324.53
$RAFOS_CLK,871
$RAFOS,4,1222937043,8.750000,8.734167,67,67,55,54,51,48,199,845,116,213,155,187
$RAFOS,3,1222936461,8.583333,8.572500,91,65,58,56,53,53,648,228,205,174,192,126
$RAFOS,2,1222935842,8.416667,8.400556,123,64,59,59,56,50,950,218,171,203,116,144
$RAFOS,1,1222935242,8.250000,8.233889,123,65,64,61,56,54,721,224,203,159,126,191
$RAFOS,0,1222934644,8.083333,8.067778,83,68,59,55,54,53,560,191,205,165,176,122
$RAFOS_FIX,6641.003906,-6004.603516,021008,080820,4,105,0.81
$IRIDIUM_FIX,6609.62,-6016.65,271297,020218
$TT8_MAMPS,0.027612
$HUMID,1905
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.0,29.234
$10V_AH,10.6,11.376
$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,21.425,119.575,417.175,0.000,0.000,26.342,34.526,162.550,0.000,0.000,0.000,12.277,1670.440,11265.921,579.945,1730.466,394.010,33.367,1518.986,0.000,1714.781,1800.000,0.528,0.000
$DEVICE_MAMPS,271.518,85.904,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.532,620.696,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31612,911
$CAP_FILE_SIZE,124192,0
$CFSIZE,260165632,241991680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.3
$GPS,021008,112156,6640.569,-6009.488,38,1.3,38,-38.0