version: 66.04
glider: 113
mission: 4
dive: 129
start: 10 1 108 22 21 15
data:
$ID,113
$MISSION,4
$DIVE,129
$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,-24330.803
$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,25
$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
$GPS1,221507,6640.015,-6017.048,39,1.0,39,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.8
$GPS2,222020,6640.021,-6016.940,8,1.0,13,-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,0.219,0.048
$KALMAN_X,14058.8,-255.9,379.5,-103796.1,-859.5
$KALMAN_Y,-17739.2,31.5,-2212.2,-7421.0,1394.2
$MHEAD_RNG_PITCHd_Wd,115.7,20020,-12.9,-7.021
$D_GRID,538
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-106.43,0.000,2,0.000,0.000,159,2335,2728
$GC,129,-1.08,-146.0,3.2,-2.4,19,154,8.90,2.30,-9.95,0.000,4,0.273,0.072,2197,928,3018
$GC,222,-0.45,-146.0,24.2,-22.6,35,229,0.50,2.30,0.00,0.000,6,0.173,0.053,2335,2344,3021
$GC,567,-0.57,-146.0,49.7,-7.3,96,574,0.10,2.33,0.00,0.000,4,0.105,0.069,2300,3750,3023
$GC,591,-0.65,-146.0,51.7,-7.8,100,597,0.00,2.22,0.00,0.000,6,0.000,0.043,2301,2337,3023
$GC,934,-0.71,-146.0,79.9,-7.6,161,941,0.00,2.35,0.00,0.000,4,0.000,0.071,2301,3750,3025
$GC,997,-0.81,-146.0,84.6,-7.7,172,1004,0.15,2.22,0.00,0.000,6,0.089,0.044,2245,2334,3024
$GC,1342,-0.74,-146.0,117.4,-9.4,209,1344,0.12,0.00,0.00,0.000,6,0.166,0.000,2276,2334,3024
$GC,1651,-0.74,-146.0,141.7,-7.5,224,1655,0.00,2.35,0.00,0.000,4,0.000,0.074,2276,3743,3024
$GC,1694,-0.84,-146.0,145.1,-7.6,226,1699,0.10,2.20,0.00,0.000,6,0.109,0.044,2243,2340,3024
$GC,2021,-0.84,-146.0,172.5,-8.2,242,2024,0.00,2.35,0.00,0.000,4,0.000,0.072,2243,3753,3024
$GC,2092,-0.84,-146.0,178.6,-8.8,245,2097,0.00,2.25,0.00,0.000,6,0.000,0.044,2243,2337,3023
$GC,2419,-0.84,-146.0,202.9,-7.2,261,2423,0.00,2.35,0.00,0.000,4,0.000,0.072,2243,3752,3023
$GC,2429,-0.84,-146.0,203.6,-7.0,261,2433,0.00,2.25,0.00,0.000,6,0.000,0.044,2243,2334,3023
$GC,2750,-0.84,-146.0,226.3,-7.4,277,2754,0.00,2.35,0.00,0.000,4,0.000,0.071,2243,3753,3023
$GC,2776,-0.84,-146.0,228.4,-7.8,278,2781,0.00,2.25,0.00,0.000,6,0.000,0.044,2243,2336,3023
$GC,3104,-0.84,-146.0,253.7,-7.9,294,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2335,3023
$GC,3412,-0.84,-146.0,278.4,-7.8,309,3416,0.00,2.35,0.00,0.000,4,0.000,0.072,2243,3746,3023
$GC,3461,-0.84,-146.0,282.5,-8.1,311,3466,0.00,2.22,0.00,0.000,6,0.000,0.044,2243,2343,3023
$GC,3789,-0.84,-146.0,308.4,-7.6,327,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2343,3023
$GC,4097,-0.84,-146.0,331.5,-7.1,342,4101,0.00,2.35,0.00,0.000,4,0.000,0.073,2243,3755,3023
$GC,4107,-0.84,-146.0,332.2,-6.8,342,4112,0.00,2.25,0.00,0.000,6,0.000,0.044,2243,2314,3022
$GC,4429,-0.84,-146.0,351.8,-5.6,358,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2314,3022
$GC,4738,-0.84,-146.0,368.1,-5.0,373,4742,0.00,2.17,0.00,0.000,4,0.000,0.058,2243,931,3022
$GC,4748,-0.84,-146.0,368.6,-5.0,373,4752,0.00,2.25,0.00,0.000,6,0.000,0.052,2243,2345,3021
$GC,5069,-0.84,-146.0,383.9,-4.9,389,5073,0.00,2.30,0.00,0.000,4,0.000,0.071,2243,3750,3021
$GC,5108,-0.91,-146.0,386.0,-5.2,390,5114,0.00,2.20,0.00,0.000,6,0.000,0.044,2243,2336,3021
$GC,5424,-0.96,-146.0,402.5,-5.2,405,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2336,3021
$GC,5748,-1.02,-146.0,419.3,-5.1,413,5753,0.12,2.33,0.00,0.000,4,0.101,0.068,2194,3746,3021
$GC,5775,-0.96,-146.0,421.2,-6.9,413,5779,0.12,2.20,0.00,0.000,6,0.160,0.043,2226,2330,3022
$GC,6111,-0.96,-146.0,441.1,-6.0,422,6115,0.00,2.35,0.00,0.000,4,0.000,0.071,2226,3749,3022
$GC,6138,-0.96,-146.0,442.9,-6.9,422,6142,0.00,2.20,0.00,0.000,6,0.000,0.042,2226,2335,3022
$GC,6480,-0.96,-146.0,462.9,-5.7,431,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2336,3022
$GC,6806,-0.96,-146.0,481.1,-5.5,439,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2336,3023
$GC,7130,-0.96,-146.0,499.3,-5.8,447,7134,0.00,2.35,0.00,0.000,4,0.000,0.071,2227,3757,3023
$GC,7139,-0.96,-146.0,500.0,-5.8,447,7143,0.00,2.20,0.00,0.000,6,0.000,0.041,2226,2335,3023
$GC,7452,-0.96,-146.0,518.6,-5.9,455,7456,0.00,2.35,0.00,0.000,4,0.000,0.071,2227,3753,3023
$GC,7492,-1.02,-146.0,521.2,-6.7,456,7496,0.00,2.20,0.00,0.000,6,0.000,0.041,2226,2334,3023
$STATE,7819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7819,begin apogee
$GC,7825,-0.34,0.0,540.4,5.8,464,7955,0.45,0.00,126.97,1.255,6,0.143,0.000,2365,2517,2420
$STATE,7955,end apogee,CONTROL_FINISHED_OK
$STATE,7955,begin climb
$GC,7957,1.08,146.0,542.6,0.0,467,8102,1.05,0.00,132.23,1.153,6,0.107,0.000,2674,2516,1824
$GC,8426,0.87,146.0,500.7,9.9,479,8431,0.20,2.45,0.00,0.000,4,0.146,0.068,2620,3933,1820
$GC,8526,0.75,146.0,491.7,8.3,481,8531,0.10,2.30,0.00,0.000,6,0.155,0.041,2596,2515,1820
$GC,8839,0.83,161.2,471.5,6.5,489,8854,0.00,0.00,13.62,1.124,6,0.000,0.000,2596,2515,1762
$GC,9164,0.94,190.3,451.2,6.0,497,9192,0.15,0.00,25.10,1.169,6,0.078,0.000,2652,2514,1644
$GC,9488,0.86,190.3,424.0,8.4,505,9493,0.12,2.40,0.00,0.000,4,0.146,0.069,2618,3941,1643
$GC,9527,0.80,190.3,420.7,8.9,506,9531,0.00,2.25,0.00,0.000,6,0.000,0.042,2618,2519,1642
$GC,9857,0.81,200.8,398.9,6.7,514,9869,0.00,0.00,10.02,1.071,6,0.000,0.000,2618,2518,1601
$GC,10166,0.86,200.8,377.2,7.1,529,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2518,1599
$GC,10476,0.94,223.6,357.3,6.2,544,10498,0.10,0.00,19.95,1.131,6,0.100,0.000,2658,2518,1508
$GC,10804,0.89,223.6,331.3,8.1,560,10806,0.12,0.00,0.00,0.000,6,0.143,0.000,2624,2518,1506
$GC,11114,0.97,223.6,310.3,7.1,575,11118,0.08,2.25,0.00,0.000,4,0.110,0.054,2658,1107,1506
$GC,11158,0.97,223.6,306.6,8.6,577,11162,0.00,2.28,0.00,0.000,6,0.000,0.051,2658,2532,1506
$GC,11489,0.97,223.6,278.9,8.1,593,11493,0.00,2.28,0.00,0.000,4,0.000,0.068,2658,3929,1506
$GC,11521,0.85,223.6,275.7,9.7,594,11526,0.15,2.20,0.00,0.000,6,0.153,0.041,2615,2518,1506
$GC,11843,0.98,233.7,254.2,6.7,610,11858,0.12,2.25,9.52,1.024,4,0.083,0.056,2665,1112,1467
$GC,11919,0.98,233.7,247.6,9.5,613,11923,0.00,2.25,0.00,0.000,6,0.000,0.050,2665,2520,1466
$GC,12240,0.98,233.7,220.4,8.4,629,12241,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2520,1465
$GC,12549,0.98,233.7,193.1,8.8,644,12552,0.00,2.25,0.00,0.000,4,0.000,0.057,2665,1118,1465
$GC,12586,0.98,233.7,189.8,8.8,645,12593,0.00,2.25,0.00,0.000,6,0.000,0.050,2665,2514,1466
$GC,12902,0.98,233.7,162.7,8.3,661,12906,0.00,2.30,0.00,0.000,4,0.000,0.069,2665,3926,1465
$GC,12957,0.89,233.7,157.5,9.8,663,12961,0.15,2.20,0.00,0.000,6,0.144,0.043,2623,2514,1465
$GC,13278,1.21,237.3,136.7,6.9,679,13288,0.20,2.22,4.53,0.804,4,0.077,0.057,2705,1116,1452
$GC,13408,1.12,237.3,126.8,7.7,684,13415,0.10,2.25,0.00,0.000,6,0.146,0.052,2680,2525,1451
$GC,13723,1.12,237.3,104.0,7.2,700,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2525,1451
$GC,14054,1.13,243.8,81.2,6.8,751,14067,0.00,2.33,7.32,0.950,4,0.000,0.057,2680,1118,1424
$GC,14107,1.19,243.8,77.4,7.1,760,14113,0.00,2.25,0.00,0.000,6,0.000,0.052,2679,2520,1424
$GC,14450,1.21,259.1,53.6,6.5,821,14469,0.00,2.40,13.75,1.020,4,0.000,0.071,2680,3931,1363
$GC,14503,1.21,259.1,49.6,7.8,830,14509,0.00,2.25,0.00,0.000,6,0.000,0.044,2679,2516,1361
$GC,14848,1.30,275.7,24.7,6.5,891,14868,0.15,2.35,14.62,1.006,4,0.080,0.059,2735,1111,1295
$GC,15008,1.32,289.0,13.9,6.6,919,15028,0.00,2.30,12.35,0.972,6,0.000,0.054,2735,2524,1241
$STATE,15188,end climb,SURFACE_DEPTH_REACHED
$STATE,15188,begin surface coast
$FINISH,0.8,1.023660
$STATE,15218,end surface coast,CONTROL_FINISHED_OK
$STATE,15218,begin surface
$SM_CCo,15293,0.00,0.000,0,0,1237,290.44
$SM_GC,1.71,7.20,0.00,0.00,0.067,0.000,0.000,159,2336,1237,-10.39,-0.11,290.44
$RAFOS_CLK,871
$RAFOS,4,1222908268,0.750000,0.741111,60,59,59,56,55,54,201,223,718,191,160,142
$RAFOS,3,1222907655,0.583333,0.570833,68,61,56,55,52,52,173,199,187,227,120,138
$RAFOS,2,1222907044,0.416667,0.401111,83,64,59,58,57,56,949,217,206,181,190,148
$RAFOS,1,1222906478,0.250000,0.243889,75,62,60,58,57,56,539,207,197,167,119,134
$RAFOS,0,1222905868,0.083333,0.074444,61,59,59,59,56,55,212,191,431,442,133,165
$RAFOS_FIX,6637.417969,-6006.172852,021008,000020,2,79,1.28
$IRIDIUM_FIX,6614.97,-6026.10,261297,181847
$TT8_MAMPS,0.027612
$HUMID,1910
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.0,28.935
$10V_AH,10.6,11.247
$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,20.575,119.200,390.000,0.000,0.000,28.026,44.123,132.534,0.000,0.000,0.000,15.294,1709.812,11288.655,578.133,1659.335,380.111,33.372,1463.824,0.000,1645.970,1800.000,0.530,0.000
$DEVICE_MAMPS,273.052,76.700,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.356,652.355,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34732,956
$CAP_FILE_SIZE,121496,0
$CFSIZE,260165632,242110464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.1
$GPS,021008,023737,6640.223,-6012.904,39,1.2,39,-38.0