version: 66.04
glider: 113
mission: 4
dive: 133
start: 10 2 108 15 54 53
data:
$ID,113
$MISSION,4
$DIVE,133
$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,-24391.094
$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,31
$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
$GPS1,154826,6641.873,-6005.413,38,1.1,38,-38.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.5
$GPS2,155357,6641.805,-6005.457,12,1.2,12,-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,0.068,0.214
$KALMAN_X,13111.0,-14.7,-33.9,-94342.5,-676.7
$KALMAN_Y,-25241.5,943.4,1178.2,-916.5,-2943.3
$MHEAD_RNG_PITCHd_Wd,55.8,11841,-12.9,-7.021
$D_GRID,595
$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,-145.9,0.0,0.0,0,122,0.00,0.00,-102.97,0.000,2,0.000,0.000,165,2356,2743
$GC,124,-1.08,-146.0,3.1,-2.5,18,149,8.70,0.00,-9.77,0.000,6,0.265,0.000,2199,2356,3017
$GC,488,-0.76,-146.0,60.9,-13.2,82,494,0.22,2.33,0.00,0.000,4,0.175,0.058,2266,922,3022
$GC,540,-0.61,-146.0,67.3,-11.9,91,547,0.15,2.30,0.00,0.000,6,0.170,0.051,2307,2353,3022
$GC,884,-0.69,-146.0,95.2,-6.8,152,890,0.10,0.00,0.00,0.000,6,0.107,0.000,2272,2353,3023
$GC,1220,-0.69,-146.0,118.2,-6.4,177,1224,0.00,2.30,0.00,0.000,4,0.000,0.070,2272,3750,3024
$GC,1310,-0.69,-146.0,123.8,-6.1,181,1314,0.00,2.22,0.00,0.000,6,0.000,0.043,2272,2326,3023
$GC,1641,-0.69,-146.0,144.2,-6.1,197,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2326,3023
$GC,1950,-0.69,-146.0,163.4,-6.4,212,1954,0.00,2.38,0.00,0.000,4,0.000,0.074,2272,3749,3023
$GC,2012,-0.78,-146.0,167.7,-7.2,215,2017,0.00,2.20,0.00,0.000,6,0.000,0.044,2272,2333,3023
$GC,2344,-0.84,-146.0,191.9,-7.3,231,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2333,3023
$GC,2654,-0.91,-146.0,213.4,-6.8,246,2656,0.12,0.00,0.00,0.000,6,0.101,0.000,2227,2333,3022
$GC,2964,-0.85,-146.0,237.5,-7.4,261,2966,0.10,0.00,0.00,0.000,6,0.178,0.000,2252,2333,3022
$GC,3272,-0.85,-146.0,255.9,-5.8,276,3276,0.00,2.35,0.00,0.000,4,0.000,0.072,2251,3748,3022
$GC,3316,-0.91,-146.0,258.6,-6.1,278,3320,0.00,2.22,0.00,0.000,6,0.000,0.044,2251,2328,3022
$GC,3642,-0.91,-146.0,278.6,-6.4,294,3646,0.00,2.22,0.00,0.000,4,0.000,0.058,2251,927,3021
$GC,3696,-0.91,-146.0,282.6,-7.4,296,3701,0.00,2.30,0.00,0.000,6,0.000,0.053,2251,2348,3021
$GC,4019,-0.95,-146.0,304.8,-6.9,312,4021,0.10,0.00,0.00,0.000,6,0.119,0.000,2217,2348,3021
$GC,4327,-0.89,-146.0,329.3,-8.2,327,4332,0.10,2.28,0.00,0.000,4,0.167,0.058,2241,934,3020
$GC,4443,-0.89,-146.0,338.9,-8.5,332,4448,0.00,2.28,0.00,0.000,6,0.000,0.053,2242,2341,3020
$GC,4765,-0.89,-146.0,362.2,-6.8,348,4769,0.00,2.30,0.00,0.000,4,0.000,0.071,2242,3746,3020
$GC,4893,-0.97,-146.0,371.1,-6.5,353,4900,0.00,2.20,0.00,0.000,6,0.000,0.043,2241,2332,3020
$GC,5209,-1.02,-146.0,390.1,-5.9,369,5214,0.12,2.35,0.00,0.000,4,0.100,0.069,2193,3751,3020
$GC,5258,-0.93,-146.0,393.9,-8.3,371,5263,0.15,2.20,0.00,0.000,6,0.154,0.044,2232,2337,3020
$GC,5576,-0.93,-146.0,413.7,-6.3,382,5580,0.00,2.22,0.00,0.000,4,0.000,0.057,2233,926,3021
$GC,5648,-0.93,-146.0,419.0,-7.5,383,5652,0.00,2.28,0.00,0.000,6,0.000,0.052,2232,2343,3021
$GC,5990,-0.93,-146.0,442.0,-6.7,392,5994,0.00,2.30,0.00,0.000,4,0.000,0.068,2232,3755,3021
$GC,6084,-1.00,-146.0,448.5,-7.1,394,6088,0.00,2.22,0.00,0.000,6,0.000,0.042,2232,2341,3021
$GC,6408,-1.00,-146.0,470.2,-6.6,402,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2341,3022
$GC,6733,-1.00,-146.0,491.0,-6.2,410,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2341,3022
$GC,7058,-1.00,-146.0,510.8,-6.1,418,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2341,3022
$GC,7383,-1.00,-146.0,528.6,-5.1,426,7387,0.00,2.22,0.00,0.000,4,0.000,0.058,2232,937,3023
$GC,7428,-1.00,-146.0,531.2,-5.5,427,7432,0.00,2.25,0.00,0.000,6,0.000,0.052,2232,2353,3023
$GC,7758,-1.05,-146.0,551.6,-6.4,435,7762,0.10,2.25,0.00,0.000,4,0.116,0.066,2198,3754,3023
$GC,7818,-1.05,-146.0,556.8,-8.5,436,7822,0.00,2.22,0.00,0.000,6,0.000,0.041,2198,2340,3023
$GC,8166,-0.98,-146.0,580.3,-6.6,445,8168,0.10,0.00,0.00,0.000,6,0.169,0.000,2223,2339,3023
$STATE,8448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8448,begin apogee
$GC,8453,-0.34,0.0,597.1,6.0,452,8584,0.45,0.00,127.82,1.288,6,0.144,0.000,2363,2523,2420
$STATE,8585,end apogee,CONTROL_FINISHED_OK
$STATE,8585,begin climb
$GC,8587,1.08,146.0,599.3,0.0,455,8725,1.02,2.65,130.00,1.200,4,0.109,0.068,2666,3926,1824
$GC,8754,0.78,146.0,586.4,11.3,459,8760,0.25,2.42,0.00,0.000,6,0.143,0.041,2601,2524,1822
$GC,9078,0.79,156.4,563.8,6.7,467,9090,0.00,0.00,9.80,1.077,6,0.000,0.000,2601,2524,1782
$GC,9403,0.82,177.8,542.2,6.3,475,9424,0.00,0.00,19.42,1.179,6,0.000,0.000,2601,2524,1695
$GC,9728,0.89,181.7,520.0,6.9,483,9738,0.12,2.30,4.97,0.894,4,0.082,0.056,2651,1111,1679
$GC,9778,0.83,181.7,515.8,8.4,484,9782,0.15,2.30,0.00,0.000,6,0.143,0.051,2610,2526,1679
$GC,10095,0.84,188.5,493.3,6.8,492,10109,0.00,2.38,7.28,1.032,4,0.000,0.055,2610,1105,1651
$GC,10120,0.94,213.1,491.6,6.2,492,10148,0.12,2.30,21.73,1.179,6,0.085,0.049,2660,2531,1551
$GC,10461,0.85,213.1,458.9,9.9,501,10463,0.15,0.00,0.00,0.000,6,0.137,0.000,2617,2531,1549
$GC,10785,0.89,213.1,434.5,7.3,509,10789,0.00,2.30,0.00,0.000,4,0.000,0.054,2617,1101,1549
$GC,10807,0.98,213.1,432.8,7.0,509,10811,0.12,2.28,0.00,0.000,6,0.084,0.050,2664,2527,1549
$GC,11155,0.88,213.1,399.3,10.0,518,11160,0.15,2.30,0.00,0.000,4,0.133,0.067,2621,3940,1548
$GC,11176,0.82,213.1,397.3,9.2,519,11180,0.00,2.22,0.00,0.000,6,0.000,0.041,2622,2507,1548
$GC,11503,0.88,213.1,372.5,7.3,535,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2507,1548
$GC,11812,0.94,219.3,350.9,6.8,550,11823,0.00,2.20,6.45,0.973,4,0.000,0.055,2622,1118,1526
$GC,11845,1.08,248.7,348.6,6.0,551,11877,0.17,2.25,25.20,1.138,6,0.075,0.051,2691,2533,1406
$GC,12205,0.96,248.7,313.0,10.1,569,12207,0.17,0.00,0.00,0.000,6,0.130,0.000,2640,2534,1403
$GC,12512,1.01,248.7,288.9,7.5,584,12516,0.00,2.28,0.00,0.000,4,0.000,0.055,2640,1118,1403
$GC,12535,1.10,248.7,287.2,7.3,585,12540,0.12,2.22,0.00,0.000,6,0.084,0.049,2690,2518,1403
$GC,12861,0.99,248.7,256.1,9.4,601,12863,0.15,0.00,0.00,0.000,6,0.130,0.000,2647,2519,1402
$GC,13170,1.04,248.7,233.1,7.5,616,13174,0.00,2.25,0.00,0.000,4,0.000,0.056,2647,1114,1403
$GC,13193,1.12,250.3,231.4,7.0,617,13198,0.12,2.22,0.00,0.000,6,0.086,0.050,2695,2520,1403
$GC,13519,1.03,250.3,201.2,9.1,633,13521,0.15,0.00,0.00,0.000,6,0.133,0.000,2652,2520,1403
$GC,13829,1.09,250.3,177.5,7.7,648,13833,0.00,2.25,0.00,0.000,4,0.000,0.057,2652,1113,1403
$GC,13851,1.18,250.3,175.7,7.5,649,13856,0.15,2.22,0.00,0.000,6,0.085,0.050,2709,2531,1403
$GC,14182,1.06,250.3,142.3,10.1,665,14187,0.17,2.28,0.00,0.000,4,0.139,0.071,2657,3934,1402
$GC,14209,1.06,250.3,139.7,9.1,666,14213,0.00,2.20,0.00,0.000,6,0.000,0.043,2657,2515,1402
$GC,14535,1.12,250.3,113.2,8.0,682,14540,0.10,2.22,0.00,0.000,4,0.094,0.057,2700,1111,1402
$GC,14551,1.12,250.3,111.8,8.1,683,14555,0.00,2.25,0.00,0.000,6,0.000,0.051,2700,2533,1402
$GC,14882,1.12,250.3,84.8,7.7,723,14887,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2533,1402
$GC,15224,1.12,250.3,57.5,7.9,784,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2533,1401
$GC,15567,1.12,250.3,30.4,7.5,845,15573,0.00,2.28,0.00,0.000,4,0.000,0.070,2700,3936,1401
$GC,15595,1.06,250.3,28.1,7.9,850,15602,0.15,2.20,0.00,0.000,6,0.147,0.045,2659,2522,1401
$GC,15941,1.53,285.2,9.2,5.8,911,15978,0.30,2.40,29.52,1.034,4,0.083,0.072,2773,3927,1256
$STATE,16038,end climb,SURFACE_DEPTH_REACHED
$STATE,16038,begin surface coast
$FINISH,0.7,1.025029
$STATE,16056,end surface coast,CONTROL_FINISHED_OK
$STATE,16056,begin surface
$SM_CCo,16134,0.00,0.000,0,0,1252,286.51
$SM_GC,1.61,7.32,0.00,0.00,0.065,0.000,0.000,165,2337,1252,-10.37,-0.08,286.51
$RAFOS_CLK,917
$RAFOS,1,1222978446,20.250000,20.235001,90,63,60,58,56,51,676,217,198,144,162,228
$RAFOS,0,1222977846,20.083334,20.068333,96,60,57,56,55,52,528,164,176,198,125,225
$RAFOS,4,1222965853,16.750000,16.736944,163,60,59,55,51,48,769,216,138,202,157,227
$RAFOS,3,1222965255,16.583334,16.570833,122,57,53,51,51,46,686,200,119,221,151,231
$RAFOS,2,1222964656,16.416666,16.404444,147,57,56,53,53,51,861,199,209,148,137,222
$RAFOS,1,1222964050,16.250000,16.236111,89,59,55,54,52,51,662,225,144,128,188,202
$RAFOS,0,1222963443,16.083334,16.067499,82,63,59,56,54,54,542,174,213,135,152,195
$RAFOS_FIX,6642.843262,-6001.097656,021008,161627,5,121,1.91
$IRIDIUM_FIX,6609.62,-6004.54,271297,111119
$TT8_MAMPS,0.027612
$HUMID,1898
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,22.0,29.516
$10V_AH,10.6,11.506
$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,21.725,114.450,382.200,0.000,0.000,30.186,31.975,157.235,0.250,0.000,0.000,14.391,1709.498,12111.537,508.275,1751.177,406.203,33.366,1463.808,0.000,1729.352,2520.000,0.528,0.000
$DEVICE_MAMPS,264.615,75.166,1287.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.579,636.228,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34653,931
$CAP_FILE_SIZE,127674,0
$CFSIZE,260165632,241860608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.1
$GPS,021008,202558,6642.460,-6002.980,47,5.8,66,-38.0