version: 66.04
glider: 113
mission: 4
dive: 440
start: 12 17 108 2 22 50
data:
$ID,113
$MISSION,4
$DIVE,440
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$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,225
$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,-40799.996
$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,41
$R_STBD_OVSHOOT,30
$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
$GPS1,021455,6702.996,-5653.479,42,1.7,42,-37.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-57.6
$GPS2,022156,6703.030,-5653.503,36,1.4,45,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_MID
$TGT_LATLONG,6656.000,-5805.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.222,0.030
$KALMAN_X,-128223.5,834.1,839.4,149085.2,-250.8
$KALMAN_Y,-9100.5,247.0,-283.9,24229.5,-1477.3
$MHEAD_RNG_PITCHd_Wd,315.4,53488,-12.9,-7.021
$D_GRID,577
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,139,0.00,0.00,-119.97,0.000,3,0.000,0.000,162,2324,3016
$GC,143,-1.08,-146.0,3.1,-2.1,21,157,8.60,2.38,0.00,0.000,4,0.255,0.062,2199,3747,3020
$GC,331,-0.67,-146.0,34.9,-16.2,53,338,0.32,2.17,0.00,0.000,6,0.161,0.037,2294,2338,3022
$GC,676,-0.67,-146.0,71.2,-8.9,114,682,0.00,2.22,0.00,0.000,4,0.000,0.050,2293,929,3022
$GC,791,-0.62,-146.0,82.2,-9.8,134,797,0.00,2.25,0.00,0.000,6,0.000,0.047,2293,2341,3022
$GC,1128,-0.69,-146.0,111.6,-7.4,175,1132,0.00,2.25,0.00,0.000,4,0.000,0.048,2293,929,3022
$GC,1207,-0.69,-146.0,117.6,-6.7,178,1211,0.00,2.25,0.00,0.000,6,0.000,0.046,2293,2340,3022
$GC,1529,-0.77,-146.0,138.6,-6.9,194,1534,0.10,2.33,0.00,0.000,4,0.103,0.061,2256,3750,3022
$GC,1646,-0.77,-146.0,148.9,-8.8,199,1650,0.00,2.20,0.00,0.000,6,0.000,0.036,2256,2333,3022
$GC,1968,-0.77,-146.0,176.2,-8.3,215,1972,0.00,2.20,0.00,0.000,4,0.000,0.049,2256,940,3022
$GC,2042,-0.72,-146.0,182.6,-8.6,218,2046,0.10,2.25,0.00,0.000,6,0.176,0.045,2280,2352,3022
$GC,2369,-0.82,-146.0,206.3,-7.3,234,2372,0.00,2.30,0.00,0.000,4,0.000,0.063,2280,3744,3020
$GC,2487,-0.96,-146.0,215.5,-8.0,239,2492,0.17,2.20,0.00,0.000,6,0.084,0.037,2217,2327,3021
$GC,2814,-0.86,-146.0,244.7,-8.7,255,2819,0.12,2.22,0.00,0.000,4,0.152,0.048,2251,932,3020
$GC,2969,-0.86,-146.0,255.9,-6.8,261,2975,0.00,2.25,0.00,0.000,6,0.000,0.045,2251,2345,3021
$GC,3285,-0.86,-146.0,275.9,-5.7,277,3289,0.00,2.30,0.00,0.000,4,0.000,0.060,2251,3745,3021
$GC,3377,-0.92,-146.0,281.4,-6.6,281,3381,0.00,2.20,0.00,0.000,6,0.000,0.036,2251,2325,3021
$GC,3710,-0.92,-146.0,302.2,-6.5,297,3714,0.00,2.20,0.00,0.000,4,0.000,0.048,2251,930,3020
$GC,3811,-0.92,-146.0,309.3,-7.1,301,3814,0.00,2.25,0.00,0.000,6,0.000,0.044,2251,2344,3021
$GC,4133,-0.92,-146.0,329.7,-6.5,317,4137,0.00,2.30,0.00,0.000,4,0.000,0.061,2251,3742,3021
$GC,4252,-1.00,-146.0,337.8,-7.2,322,4257,0.12,2.17,0.00,0.000,6,0.095,0.035,2207,2334,3021
$GC,4580,-0.90,-146.0,363.9,-7.8,338,4584,0.12,2.38,0.00,0.000,4,0.155,0.060,2241,3753,3022
$GC,4652,-0.96,-146.0,369.4,-7.3,341,4656,0.00,2.17,0.00,0.000,6,0.000,0.034,2241,2340,3022
$GC,4974,-0.96,-146.0,391.1,-6.6,357,4978,0.00,2.20,0.00,0.000,4,0.000,0.046,2241,937,3023
$GC,5052,-0.96,-146.0,397.0,-7.7,360,5056,0.00,2.25,0.00,0.000,6,0.000,0.046,2241,2345,3023
$GC,5390,-0.96,-146.0,419.5,-6.7,370,5394,0.00,2.30,0.00,0.000,4,0.000,0.060,2241,3748,3024
$GC,5487,-1.03,-146.0,425.8,-6.0,372,5491,0.12,2.17,0.00,0.000,6,0.091,0.035,2195,2337,3024
$GC,5812,-0.91,-146.0,450.1,-7.6,380,5814,0.15,0.00,0.00,0.000,6,0.148,0.000,2237,2334,3024
$GC,6136,-0.91,-146.0,471.1,-6.7,388,6140,0.00,2.35,0.00,0.000,4,0.000,0.061,2236,3748,3025
$GC,6226,-0.97,-146.0,477.4,-7.2,390,6230,0.00,2.17,0.00,0.000,6,0.000,0.035,2237,2330,3025
$GC,6550,-0.97,-146.0,500.3,-7.4,398,6554,0.00,2.17,0.00,0.000,4,0.000,0.046,2237,942,3026
$GC,6622,-0.97,-146.0,505.8,-7.4,399,6626,0.00,2.22,0.00,0.000,6,0.000,0.044,2237,2345,3026
$GC,6966,-0.97,-146.0,529.4,-6.6,408,6970,0.00,2.33,0.00,0.000,4,0.000,0.061,2236,3754,3026
$GC,7090,-1.03,-146.0,538.3,-8.2,410,7094,0.10,2.20,0.00,0.000,6,0.108,0.035,2201,2327,3026
$GC,7427,-0.95,-146.0,563.7,-7.6,419,7432,0.12,2.38,0.00,0.000,4,0.153,0.059,2234,3747,3026
$STATE,7579,end dive,NO_VERTICAL_VELOCITY
$STATE,7579,begin apogee
$GC,7587,-0.34,0.0,564.3,0.0,422,7719,0.38,0.00,128.73,1.178,6,0.100,0.000,2366,2514,2420
$STATE,7720,end apogee,CONTROL_FINISHED_OK
$STATE,7720,begin climb
$GC,7723,1.08,146.0,564.2,0.0,425,7865,1.02,0.00,138.43,1.091,6,0.104,0.000,2668,2514,1824
$GC,8171,0.94,146.0,529.4,8.2,436,8175,0.12,2.33,0.00,0.000,4,0.146,0.060,2634,3927,1824
$GC,8226,0.82,146.0,524.7,8.0,437,8230,0.00,2.20,0.00,0.000,6,0.000,0.037,2634,2500,1824
$GC,8541,0.83,148.4,503.1,6.9,445,8550,0.00,2.38,3.38,0.619,4,0.000,0.061,2634,3927,1814
$GC,8586,0.71,148.4,499.4,8.9,446,8591,0.17,2.17,0.00,0.000,6,0.136,0.038,2584,2510,1816
$GC,8911,1.00,165.9,479.9,6.4,454,8932,0.20,2.22,15.90,1.088,4,0.069,0.048,2665,1110,1743
$GC,9067,0.92,165.9,467.0,9.6,457,9071,0.12,2.22,0.00,0.000,6,0.138,0.046,2630,2526,1744
$GC,9409,0.93,170.7,443.2,6.9,466,9419,0.00,2.28,5.30,0.848,4,0.000,0.061,2630,3930,1723
$GC,9426,0.93,170.7,442.0,7.1,466,9430,0.00,2.17,0.00,0.000,6,0.000,0.037,2630,2515,1724
$GC,9774,0.93,170.7,417.1,7.2,475,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2515,1725
$GC,10079,0.93,171.6,395.7,7.0,483,10083,0.00,2.33,0.00,0.000,4,0.000,0.061,2630,3929,1724
$GC,10090,0.93,171.6,394.9,7.1,483,10094,0.00,2.17,0.00,0.000,6,0.000,0.036,2630,2516,1725
$GC,10412,0.94,181.3,372.5,6.7,499,10424,0.00,0.00,10.30,0.981,6,0.000,0.000,2630,2515,1680
$GC,10720,0.95,184.3,350.9,6.9,514,10726,0.00,0.00,4.10,0.693,6,0.000,0.000,2630,2515,1668
$GC,11030,1.01,192.6,330.2,6.7,529,11041,0.10,0.00,8.73,0.919,6,0.087,0.000,2675,2515,1634
$GC,11338,0.92,192.6,303.8,8.8,544,11343,0.15,2.33,0.00,0.000,4,0.123,0.060,2629,3926,1636
$GC,11351,0.86,192.6,302.8,8.7,544,11357,0.00,2.17,0.00,0.000,6,0.000,0.036,2630,2510,1636
$GC,11668,0.94,201.3,282.5,6.7,560,11679,0.00,0.00,8.68,0.891,6,0.000,0.000,2629,2510,1599
$GC,11977,1.07,236.1,262.5,5.8,575,12008,0.12,0.00,29.23,0.988,6,0.076,0.000,2682,2509,1457
$GC,12306,1.02,236.1,236.3,7.8,591,12311,0.10,2.17,0.00,0.000,4,0.131,0.047,2654,1120,1457
$GC,12319,1.02,236.1,235.2,7.8,591,12323,0.00,2.20,0.00,0.000,6,0.000,0.044,2653,2522,1457
$GC,12640,1.06,264.7,215.6,6.0,607,12670,0.00,2.30,24.20,0.950,4,0.000,0.048,2653,1121,1340
$GC,12701,1.20,286.3,211.8,6.3,609,12729,0.15,2.22,18.60,0.913,6,0.071,0.044,2718,2534,1252
$GC,13041,1.11,286.3,181.1,8.9,626,13045,0.15,2.25,0.00,0.000,4,0.124,0.048,2671,1115,1253
$GC,13074,1.21,287.4,178.5,7.0,627,13079,0.10,2.20,0.00,0.000,6,0.088,0.043,2716,2522,1253
$GC,13396,1.14,287.4,151.3,8.5,643,13400,0.12,2.25,0.00,0.000,4,0.124,0.048,2679,1110,1253
$GC,13419,1.14,292.1,149.6,6.9,644,13430,0.00,2.22,6.22,0.766,6,0.000,0.043,2678,2530,1229
$GC,13747,1.27,330.0,128.7,5.7,660,13789,0.12,2.35,32.17,0.933,4,0.073,0.048,2734,1119,1072
$GC,13835,1.27,330.0,121.6,8.3,664,13839,0.00,2.22,0.00,0.000,6,0.000,0.044,2733,2532,1072
$GC,14158,1.21,330.0,95.1,8.0,686,14165,0.12,2.25,0.00,0.000,4,0.131,0.048,2696,1118,1069
$GC,14217,1.37,370.3,91.6,5.6,696,14259,0.12,2.20,33.50,0.929,6,0.077,0.044,2746,2517,910
$GC,14601,1.32,370.3,56.8,8.9,763,14607,0.10,2.25,0.00,0.000,4,0.136,0.050,2719,1110,904
$GC,14682,1.40,370.3,49.3,9.2,777,14688,0.00,2.22,0.00,0.000,6,0.000,0.045,2719,2521,903
$GC,15027,1.46,370.3,21.7,7.2,838,15034,0.12,2.25,0.00,0.000,4,0.074,0.049,2774,1118,902
$GC,15098,1.36,370.3,15.0,10.4,850,15105,0.17,2.22,0.00,0.000,6,0.133,0.045,2724,2523,901
$STATE,15238,end climb,SURFACE_DEPTH_REACHED
$STATE,15238,begin surface coast
$FINISH,0.8,1.015188
$STATE,15262,end surface coast,CONTROL_FINISHED_OK
$STATE,15262,begin surface
$SM_CCo,15342,0.00,0.000,0,0,899,373.10
$SM_GC,1.58,7.03,0.00,0.00,0.054,0.000,0.000,157,2330,899,-10.40,-0.28,373.10
$RAFOS_CLK,796
$RAFOS,4,1229489066,4.750000,4.740556,68,59,58,56,55,55,193,178,119,150,208,220
$RAFOS,3,1229488452,4.583333,4.570000,58,57,56,53,52,51,143,152,183,122,214,166
$RAFOS,2,1229487871,4.416667,4.408611,75,58,58,57,48,48,494,201,164,184,222,122
$RAFOS,1,1229487248,4.250000,4.235556,99,59,58,55,55,54,851,207,222,178,144,194
$RAFOS,0,1229486662,4.083333,4.072778,59,57,56,55,55,52,208,182,125,150,163,137
$RAFOS_FIX,6705.856445,-5701.021973,171208,040420,2,87,1.05
$IRIDIUM_FIX,6636.54,-5655.33,120398,212125
$TT8_MAMPS,0.027612
$HUMID,1914
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,20.4,80.774
$10V_AH,10.5,36.321
$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,21.000,139.175,467.450,0.000,0.000,24.722,31.545,185.304,0.000,0.000,0.000,46.929,1677.190,11028.570,617.143,1870.071,570.893,33.376,1609.640,0.000,1810.122,1800.000,0.529,0.000
$DEVICE_MAMPS,255.411,62.894,1178.112,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.742,596.747,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31559,879
$CAP_FILE_SIZE,131543,0
$CFSIZE,260165632,218382336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.7
$GPS,171208,064015,6703.982,-5657.644,36,1.4,49,-37.6