version: 66.04
glider: 113
mission: 4
dive: 204
start: 10 21 108 22 48 10
data:
$ID,113
$MISSION,4
$DIVE,204
$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,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,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,-25761.656
$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,32
$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
$GPS1,223437,6645.171,-6010.863,34,1.3,39,-38.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-63.0
$GPS2,224715,6645.236,-6010.735,14,1.1,14,-38.1
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.224,-0.011
$KALMAN_X,20706.0,-75.9,264.6,-141583.1,566.6
$KALMAN_Y,6662.1,1367.0,996.4,-26883.8,-4845.4
$MHEAD_RNG_PITCHd_Wd,305.4,24384,-12.9,-7.021
$D_GRID,561
$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,17,-1.08,-146.0,0.0,0.0,0,127,0.00,0.00,-107.95,0.000,2,0.000,0.000,162,2326,2749
$GC,130,-1.08,-146.0,3.3,-2.0,19,155,8.75,2.40,-9.57,0.000,4,0.262,0.083,2192,3746,3016
$GC,298,-0.69,-146.0,37.6,-18.3,48,305,0.32,2.22,0.00,0.000,6,0.166,0.044,2283,2340,3019
$GC,642,-0.63,-146.0,71.5,-9.4,109,648,0.00,2.25,0.00,0.000,4,0.000,0.058,2283,928,3021
$GC,727,-0.54,-146.0,79.9,-9.8,124,734,0.15,2.28,0.00,0.000,6,0.163,0.054,2324,2344,3021
$GC,1081,-0.66,-146.0,105.8,-7.0,176,1086,0.12,2.33,0.00,0.000,4,0.091,0.071,2275,3752,3021
$GC,1142,-0.66,-146.0,111.4,-10.1,179,1146,0.00,2.22,0.00,0.000,6,0.000,0.043,2275,2324,3021
$GC,1474,-0.66,-146.0,140.2,-8.0,195,1478,0.00,2.20,0.00,0.000,4,0.000,0.058,2275,932,3021
$GC,1586,-0.62,-146.0,149.3,-8.2,200,1591,0.12,2.28,0.00,0.000,6,0.168,0.054,2307,2350,3021
$GC,1913,-0.75,-146.0,170.4,-6.7,216,1917,0.12,2.33,0.00,0.000,4,0.099,0.072,2261,3754,3021
$GC,2029,-0.75,-146.0,179.9,-7.5,221,2033,0.00,2.25,0.00,0.000,6,0.000,0.044,2260,2341,3021
$GC,2350,-0.75,-146.0,205.4,-8.0,237,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2341,3021
$GC,2660,-0.75,-146.0,230.3,-8.1,252,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2341,3021
$GC,2969,-0.75,-146.0,253.8,-7.5,267,2972,0.00,2.25,0.00,0.000,4,0.000,0.061,2260,935,3020
$GC,3058,-0.75,-146.0,261.4,-8.4,271,3062,0.00,2.28,0.00,0.000,6,0.000,0.056,2260,2349,3020
$GC,3390,-0.75,-146.0,287.9,-7.8,287,3394,0.00,2.28,0.00,0.000,4,0.000,0.059,2260,937,3020
$GC,3496,-0.75,-146.0,296.7,-7.8,291,3502,0.00,2.28,0.00,0.000,6,0.000,0.056,2261,2350,3019
$GC,3812,-0.75,-146.0,317.6,-6.3,307,3816,0.00,2.33,0.00,0.000,4,0.000,0.074,2260,3754,3019
$GC,3953,-0.83,-146.0,325.8,-5.4,313,3957,0.00,2.22,0.00,0.000,6,0.000,0.044,2260,2333,3019
$GC,4275,-0.88,-146.0,341.9,-4.9,329,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2333,3018
$GC,4584,-0.95,-146.0,357.8,-5.2,344,4586,0.12,0.00,0.00,0.000,6,0.105,0.000,2215,2333,3018
$GC,4893,-0.86,-146.0,378.5,-6.6,359,4898,0.12,2.25,0.00,0.000,4,0.160,0.058,2247,927,3018
$GC,4957,-0.86,-146.0,382.4,-6.4,362,4961,0.00,2.28,0.00,0.000,6,0.000,0.054,2247,2350,3018
$GC,5309,-0.86,-146.0,403.3,-6.0,378,5312,0.00,2.30,0.00,0.000,4,0.000,0.071,2247,3748,3019
$GC,5393,-0.93,-146.0,408.5,-6.0,379,5399,0.00,2.20,0.00,0.000,6,0.000,0.043,2247,2337,3019
$GC,5724,-0.93,-146.0,427.3,-5.6,388,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2337,3019
$GC,6049,-0.93,-146.0,445.8,-5.9,396,6052,0.00,2.22,0.00,0.000,4,0.000,0.057,2247,935,3019
$GC,6104,-0.93,-146.0,449.4,-6.7,397,6108,0.00,2.28,0.00,0.000,6,0.000,0.055,2246,2353,3019
$GC,6423,-0.93,-146.0,468.7,-6.1,405,6427,0.00,2.28,0.00,0.000,4,0.000,0.056,2247,936,3020
$GC,6478,-0.93,-146.0,472.2,-6.2,406,6482,0.00,2.25,0.00,0.000,6,0.000,0.053,2247,2346,3020
$GC,6797,-0.93,-146.0,490.5,-5.8,414,6801,0.00,2.30,0.00,0.000,4,0.000,0.069,2247,3747,3020
$GC,6914,-1.02,-146.0,497.6,-6.2,416,6919,0.12,2.20,0.00,0.000,6,0.108,0.041,2204,2334,3020
$GC,7256,-0.92,-146.0,522.1,-7.2,425,7261,0.12,2.22,0.00,0.000,4,0.155,0.055,2238,936,3020
$GC,7311,-0.92,-146.0,526.0,-7.1,426,7315,0.00,2.25,0.00,0.000,6,0.000,0.054,2238,2341,3020
$GC,7623,-0.92,-146.0,546.7,-7.0,434,7627,0.00,2.33,0.00,0.000,4,0.000,0.069,2238,3756,3021
$GC,7740,-0.98,-146.0,554.5,-7.7,436,7744,0.00,2.20,0.00,0.000,6,0.000,0.041,2238,2340,3022
$STATE,7877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7877,begin apogee
$GC,7883,-0.34,0.0,562.3,5.8,440,8016,0.40,0.00,129.65,1.257,6,0.146,0.000,2361,2525,2420
$STATE,8017,end apogee,CONTROL_FINISHED_OK
$STATE,8017,begin climb
$GC,8019,1.08,146.0,566.5,0.0,443,8161,1.05,2.70,133.90,1.166,4,0.111,0.067,2666,3923,1824
$GC,8168,0.90,146.0,554.8,9.1,446,8173,0.15,2.47,0.00,0.000,6,0.146,0.040,2630,2528,1823
$GC,8504,0.94,178.8,532.0,5.9,455,8539,0.00,2.55,28.65,1.160,4,0.000,0.068,2630,3927,1691
$GC,8584,0.89,178.8,525.5,8.3,456,8591,0.00,2.38,0.00,0.000,6,0.000,0.041,2630,2503,1690
$GC,8915,0.89,178.8,501.0,7.5,465,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2503,1690
$GC,9240,0.89,178.8,477.7,7.1,473,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2503,1689
$GC,9565,0.89,178.8,454.1,7.2,481,9569,0.00,2.22,0.00,0.000,4,0.000,0.055,2630,1104,1689
$GC,9575,0.89,178.8,453.3,7.2,481,9579,0.00,2.28,0.00,0.000,6,0.000,0.050,2630,2536,1688
$GC,9894,0.90,183.2,431.2,6.9,489,9901,0.00,0.00,5.10,0.894,6,0.000,0.000,2630,2536,1673
$GC,10218,0.90,183.2,408.0,7.0,497,10222,0.00,2.30,0.00,0.000,4,0.000,0.054,2630,1104,1672
$GC,10230,0.96,185.5,407.2,6.9,497,10240,0.00,2.25,3.97,0.770,6,0.000,0.050,2630,2520,1663
$GC,10552,1.03,197.3,385.5,6.6,510,10566,0.10,0.00,11.40,1.088,6,0.091,0.000,2676,2520,1615
$GC,10861,0.96,197.3,361.1,7.8,525,10865,0.12,2.30,0.00,0.000,4,0.125,0.067,2640,3927,1614
$GC,10883,0.96,197.3,359.3,7.6,526,10887,0.00,2.20,0.00,0.000,6,0.000,0.041,2640,2515,1614
$GC,11215,1.00,225.9,338.8,6.0,542,11241,0.00,0.00,24.45,1.132,6,0.000,0.000,2640,2515,1499
$GC,11544,1.10,247.0,318.9,6.3,558,11570,0.12,2.33,18.52,1.104,4,0.081,0.056,2692,1116,1412
$GC,11576,1.05,247.0,316.6,7.5,559,11580,0.12,2.30,0.00,0.000,6,0.136,0.049,2657,2532,1412
$GC,11896,1.10,253.7,294.9,6.8,575,11910,0.00,2.35,7.07,0.947,4,0.000,0.054,2657,1114,1385
$GC,11922,1.19,253.7,293.1,7.1,576,11926,0.12,2.25,0.00,0.000,6,0.079,0.049,2705,2520,1385
$GC,12248,1.11,253.7,262.6,9.8,592,12253,0.12,2.28,0.00,0.000,4,0.137,0.054,2669,1110,1384
$GC,12293,1.19,253.7,258.9,7.7,594,12298,0.10,2.25,0.00,0.000,6,0.085,0.050,2709,2528,1384
$GC,12625,1.10,253.7,225.9,9.9,610,12627,0.12,0.00,0.00,0.000,6,0.137,0.000,2672,2528,1384
$GC,12934,1.10,253.7,199.5,8.6,625,12938,0.00,2.28,0.00,0.000,4,0.000,0.056,2672,1109,1384
$GC,12944,1.10,253.7,198.4,8.9,625,12948,0.00,2.28,0.00,0.000,6,0.000,0.051,2672,2524,1384
$GC,13266,1.16,253.7,172.1,8.0,641,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2523,1384
$GC,13575,1.23,253.7,149.0,7.2,656,13579,0.12,2.28,0.00,0.000,4,0.078,0.055,2722,1108,1384
$GC,13584,1.28,253.7,148.0,7.4,656,13588,0.00,2.25,0.00,0.000,6,0.000,0.050,2722,2526,1384
$GC,13906,1.21,253.7,116.1,9.9,672,13910,0.10,2.30,0.00,0.000,4,0.140,0.069,2694,3936,1384
$GC,13938,1.14,253.7,112.8,9.1,673,13942,0.00,2.20,0.00,0.000,6,0.000,0.043,2694,2517,1384
$GC,14269,1.14,253.7,85.8,7.8,712,14274,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2518,1384
$GC,14611,1.17,280.4,61.9,6.1,773,14641,0.00,2.40,22.62,1.040,4,0.000,0.071,2694,3937,1276
$GC,14670,1.19,289.5,58.1,6.7,783,14689,0.00,2.25,9.62,0.931,6,0.000,0.044,2694,2522,1237
$GC,15027,1.31,303.0,35.5,6.6,846,15046,0.10,2.30,12.05,0.973,4,0.088,0.059,2735,1105,1184
$GC,15052,1.38,303.0,33.5,7.3,850,15059,0.00,2.30,0.00,0.000,6,0.000,0.052,2735,2528,1183
$GC,15397,1.44,303.0,7.5,7.1,911,15403,0.00,2.30,0.00,0.000,4,0.000,0.072,2735,3926,1180
$GC,15426,1.44,303.0,5.2,7.2,916,15432,0.00,2.22,0.00,0.000,6,0.000,0.044,2735,2506,1180
$STATE,15470,end climb,SURFACE_DEPTH_REACHED
$STATE,15470,begin surface coast
$FINISH,1.1,1.025445
$STATE,15499,end surface coast,CONTROL_FINISHED_OK
$STATE,15499,begin surface
$SM_CCo,15576,0.00,0.000,0,0,1178,304.66
$SM_GC,1.92,7.28,0.00,0.00,0.077,0.000,0.000,165,2340,1178,-10.38,0.00,304.66
$RAFOS_CLK,903
$RAFOS,4,1224636259,0.750000,0.738611,64,60,58,54,54,51,217,166,177,188,137,764
$RAFOS,3,1224635669,0.583333,0.574722,63,59,56,56,53,52,161,624,206,151,216,181
$RAFOS,2,1224635052,0.416667,0.403333,81,65,63,58,58,57,899,212,144,125,167,180
$RAFOS,1,1224634452,0.250000,0.236667,66,58,57,57,56,56,661,219,169,210,118,134
$RAFOS,0,1224633850,0.083333,0.069444,90,57,57,57,56,55,507,209,224,177,160,192
$RAFOS_FIX,6645.431641,-6007.398438,221008,000000,2,86,0.46
$IRIDIUM_FIX,6620.33,-6040.32,150198,222229
$TT8_MAMPS,0.03068
$HUMID,1893
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,21.3,41.494
$10V_AH,10.5,17.496
$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,20.250,133.200,407.025,0.000,0.000,87.812,123.892,302.369,0.250,0.000,0.000,15.469,1727.983,11537.622,558.956,1793.482,742.198,33.363,1533.772,0.000,1771.876,1800.000,0.529,0.000
$DEVICE_MAMPS,261.547,82.836,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.999,634.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34663,929
$CAP_FILE_SIZE,132643,0
$CFSIZE,260165632,235425792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.9
$GPS,221008,030939,6642.609,-6014.298,35,1.5,43,-38.0