version: 66.04
glider: 113
mission: 4
dive: 126
start: 10 1 108 10 3 4
data:
$ID,113
$MISSION,4
$DIVE,126
$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,-24263.25
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,095707,6640.771,-6025.104,31,1.0,31,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.6
$GPS2,100209,6640.773,-6025.045,14,1.0,14,-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,0.191,-0.118
$KALMAN_X,16783.2,39.3,249.5,-112572.7,-603.5
$KALMAN_Y,-15149.9,-261.0,-2210.3,-8333.2,2959.3
$MHEAD_RNG_PITCHd_Wd,159.6,24138,-12.9,-7.021
$D_GRID,520
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-112.93,0.000,2,0.000,0.000,164,2341,2724
$GC,135,-1.08,-146.0,3.1,-2.3,20,161,8.82,2.30,-10.20,0.000,4,0.272,0.071,2201,927,3018
$GC,402,-0.70,-146.0,50.5,-14.0,67,409,0.30,2.28,0.00,0.000,6,0.171,0.053,2285,2339,3022
$GC,747,-0.70,-146.0,79.1,-7.7,128,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2339,3023
$GC,1081,-0.70,-146.0,106.6,-7.7,177,1085,0.00,2.33,0.00,0.000,4,0.000,0.073,2285,3748,3024
$GC,1176,-0.80,-146.0,112.7,-5.9,181,1181,0.10,2.22,0.00,0.000,6,0.100,0.043,2248,2322,3024
$GC,1503,-0.75,-146.0,138.6,-8.6,197,1508,0.10,2.38,0.00,0.000,4,0.180,0.074,2271,3742,3023
$GC,1529,-0.75,-146.0,140.9,-8.2,198,1534,0.00,2.22,0.00,0.000,6,0.000,0.044,2271,2341,3023
$GC,1851,-0.80,-146.0,164.3,-6.4,214,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2341,3023
$GC,2161,-0.86,-146.0,182.2,-6.0,229,2166,0.10,2.35,0.00,0.000,4,0.105,0.074,2234,3753,3023
$GC,2171,-0.91,-146.0,182.9,-6.1,229,2175,0.00,2.22,0.00,0.000,6,0.000,0.043,2234,2328,3023
$GC,2492,-0.85,-146.0,207.4,-7.4,245,2496,0.00,2.35,0.00,0.000,4,0.000,0.074,2234,3742,3022
$GC,2524,-0.85,-146.0,210.0,-7.8,246,2528,0.00,2.22,0.00,0.000,6,0.000,0.044,2234,2341,3022
$GC,2845,-0.80,-146.0,233.6,-7.5,262,2850,0.12,2.33,0.00,0.000,4,0.179,0.071,2267,3751,3022
$GC,2855,-0.80,-146.0,234.3,-7.3,262,2862,0.00,2.22,0.00,0.000,6,0.000,0.044,2267,2341,3023
$GC,3171,-0.87,-146.0,255.1,-6.8,278,3175,0.00,2.33,0.00,0.000,4,0.000,0.071,2267,3743,3023
$GC,3204,-0.97,-146.0,257.4,-7.3,279,3209,0.15,2.20,0.00,0.000,6,0.100,0.044,2217,2332,3022
$GC,3525,-0.88,-146.0,286.0,-9.1,295,3527,0.12,0.00,0.00,0.000,6,0.165,0.000,2249,2332,3022
$GC,3834,-0.88,-146.0,309.4,-7.3,310,3838,0.00,2.20,0.00,0.000,4,0.000,0.059,2249,932,3022
$GC,3844,-0.88,-146.0,310.2,-7.3,310,3848,0.00,2.28,0.00,0.000,6,0.000,0.053,2249,2344,3022
$GC,4165,-0.88,-146.0,331.2,-6.1,326,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2344,3022
$GC,4475,-0.88,-146.0,347.7,-5.3,341,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2343,3022
$GC,4784,-0.93,-146.0,364.5,-5.7,356,4788,0.00,2.30,0.00,0.000,4,0.000,0.073,2249,3743,3021
$GC,4807,-1.00,-146.0,365.7,-5.8,357,4812,0.12,2.20,0.00,0.000,6,0.107,0.043,2206,2327,3021
$GC,5140,-0.92,-146.0,391.3,-7.8,373,5144,0.12,2.38,0.00,0.000,4,0.165,0.073,2237,3753,3021
$GC,5149,-0.86,-146.0,392.2,-7.8,373,5156,0.00,2.20,0.00,0.000,6,0.000,0.044,2237,2338,3021
$GC,5482,-0.86,-146.0,414.7,-6.6,385,5486,0.00,2.33,0.00,0.000,4,0.000,0.072,2237,3749,3021
$GC,5497,-0.86,-146.0,415.8,-6.4,385,5501,0.00,2.20,0.00,0.000,6,0.000,0.043,2237,2334,3021
$GC,5810,-0.86,-146.0,434.9,-6.0,393,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2333,3021
$GC,6135,-0.86,-146.0,453.6,-5.9,401,6139,0.00,2.22,0.00,0.000,4,0.000,0.058,2237,927,3021
$GC,6145,-0.86,-146.0,454.5,-5.8,401,6149,0.00,2.25,0.00,0.000,6,0.000,0.053,2237,2341,3021
$GC,6465,-0.91,-146.0,475.0,-6.5,409,6469,0.00,2.30,0.00,0.000,4,0.000,0.070,2237,3754,3021
$GC,6481,-0.97,-146.0,476.1,-6.1,409,6485,0.00,2.20,0.00,0.000,6,0.000,0.042,2237,2333,3021
$GC,6794,-1.03,-146.0,494.9,-6.0,417,6799,0.10,2.33,0.00,0.000,4,0.116,0.072,2202,3747,3022
$GC,6805,-1.03,-146.0,495.5,-5.9,417,6808,0.00,2.20,0.00,0.000,6,0.000,0.041,2201,2327,3022
$GC,7117,-0.98,-146.0,517.7,-7.0,425,7119,0.10,0.00,0.00,0.000,6,0.172,0.000,2227,2327,3022
$STATE,7155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7156,begin apogee
$GC,7160,-0.34,0.0,520.5,6.9,426,7290,0.45,0.00,126.55,1.252,6,0.146,0.000,2365,2525,2420
$STATE,7291,end apogee,CONTROL_FINISHED_OK
$STATE,7291,begin climb
$GC,7293,1.08,146.0,522.3,0.0,429,7430,1.02,2.67,129.07,1.160,4,0.111,0.069,2667,3923,1823
$GC,7505,0.77,146.0,505.9,10.6,434,7510,0.25,2.40,0.00,0.000,6,0.149,0.042,2602,2515,1821
$GC,7828,0.79,160.3,484.7,6.5,442,7848,0.00,2.40,13.05,1.093,4,0.000,0.055,2602,1115,1766
$GC,7904,0.90,181.6,479.8,6.3,443,7930,0.12,2.38,19.60,1.122,6,0.084,0.051,2649,2535,1679
$GC,8246,0.82,181.6,450.3,8.7,452,8250,0.15,2.35,0.00,0.000,4,0.141,0.067,2609,3927,1677
$GC,8290,0.77,181.6,446.4,8.0,453,8294,0.00,2.28,0.00,0.000,6,0.000,0.041,2609,2505,1677
$GC,8619,0.83,186.4,423.7,6.9,461,8629,0.00,2.25,5.55,0.919,4,0.000,0.055,2609,1114,1659
$GC,8697,0.94,197.4,418.6,6.6,462,8713,0.12,2.28,10.57,1.077,6,0.087,0.051,2656,2520,1615
$GC,9027,0.86,197.4,389.9,8.7,473,9032,0.12,2.33,0.00,0.000,4,0.143,0.067,2623,3930,1613
$GC,9099,0.81,197.4,383.7,8.1,476,9103,0.00,2.22,0.00,0.000,6,0.000,0.041,2622,2518,1613
$GC,9420,0.83,215.8,362.8,6.4,492,9442,0.00,2.28,16.25,1.121,4,0.000,0.054,2622,1116,1540
$GC,9498,0.96,232.9,357.7,6.4,495,9519,0.10,2.28,15.43,1.091,6,0.090,0.049,2663,2532,1470
$GC,9840,0.96,232.9,329.7,8.2,512,9844,0.00,2.30,0.00,0.000,4,0.000,0.069,2663,3926,1468
$GC,9878,0.83,232.9,326.0,9.9,513,9885,0.17,2.25,0.00,0.000,6,0.144,0.041,2613,2519,1468
$GC,10194,1.01,266.2,307.7,5.9,529,10229,0.15,2.35,28.20,1.124,4,0.078,0.055,2675,1119,1335
$GC,10319,1.01,266.2,297.0,8.7,534,10326,0.00,2.30,0.00,0.000,6,0.000,0.051,2675,2529,1332
$GC,10634,1.01,266.2,269.5,8.6,550,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2529,1331
$GC,10943,1.01,266.2,242.8,8.7,565,10947,0.00,2.28,0.00,0.000,4,0.000,0.056,2675,1116,1330
$GC,11003,1.01,266.2,237.7,7.9,567,11010,0.00,2.28,0.00,0.000,6,0.000,0.051,2675,2522,1331
$GC,11319,1.01,266.2,211.8,8.3,583,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2522,1331
$GC,11628,1.01,266.2,185.1,9.1,598,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2522,1330
$GC,11937,1.01,266.2,157.3,8.5,613,11941,0.00,2.25,0.00,0.000,4,0.000,0.058,2675,1117,1330
$GC,11987,1.01,266.2,153.4,7.4,615,11991,0.00,2.25,0.00,0.000,6,0.000,0.051,2675,2535,1330
$GC,12313,1.01,266.2,128.8,7.4,631,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2535,1330
$GC,12622,1.01,266.2,106.0,7.4,646,12626,0.00,2.28,0.00,0.000,4,0.000,0.058,2675,1114,1329
$GC,12672,1.06,266.4,102.3,7.0,648,12676,0.00,2.25,0.00,0.000,6,0.000,0.051,2675,2532,1329
$GC,13013,1.06,266.4,76.9,7.0,704,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2532,1329
$GC,13358,1.13,272.6,54.3,6.8,765,13370,0.00,2.28,6.05,0.900,4,0.000,0.058,2675,1114,1308
$GC,13422,1.24,272.6,49.6,7.4,776,13429,0.12,2.25,0.00,0.000,6,0.089,0.053,2722,2524,1308
$GC,13767,1.16,275.3,19.3,6.9,837,13774,0.12,0.00,3.78,0.706,6,0.140,0.000,2687,2524,1297
$STATE,14087,end climb,SURFACE_DEPTH_REACHED
$STATE,14087,begin surface coast
$FINISH,0.8,1.013707
$STATE,14129,end surface coast,CONTROL_FINISHED_OK
$STATE,14129,begin surface
$SM_CCo,14204,0.00,0.000,0,0,1294,276.21
$SM_GC,1.58,7.07,0.00,0.00,0.077,0.000,0.000,166,2324,1294,-10.37,-0.45,276.21
$RAFOS_CLK,811
$RAFOS,4,1222865056,12.750000,12.737778,71,67,64,60,59,58,787,175,199,211,122,228
$RAFOS,3,1222864442,12.583333,12.567223,91,56,56,55,53,50,784,214,190,171,154,118
$RAFOS,2,1222863879,12.416667,12.410833,66,60,60,59,58,52,786,224,196,141,213,171
$RAFOS,1,1222863242,12.250000,12.233889,83,68,59,52,51,49,750,202,178,166,157,213
$RAFOS,0,1222862660,12.083333,12.072222,61,59,57,56,55,54,194,147,207,217,171,137
$RAFOS_FIX,6641.353027,-6016.564453,011008,121221,3,82,0.70
$IRIDIUM_FIX,6614.97,-6030.83,261297,050546
$TT8_MAMPS,0.027612
$HUMID,1920
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.0,28.512
$10V_AH,10.6,11.062
$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,20.275,119.550,374.100,0.000,0.000,27.909,31.915,134.042,0.000,0.000,0.000,16.208,1641.285,10312.894,503.372,1696.589,366.452,33.357,1438.076,0.000,1671.042,1800.000,0.538,0.000
$DEVICE_MAMPS,272.285,77.467,1251.744,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.953,615.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31521,901
$CAP_FILE_SIZE,121052,0
$CFSIZE,260165632,242286592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$GPS,011008,140108,6641.263,-6023.076,27,2.0,27,-38.0