version: 66.04
glider: 113
mission: 4
dive: 208
start: 10 22 108 15 40 14
data:
$ID,113
$MISSION,4
$DIVE,208
$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,-25810.119
$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,29
$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
$GPS1,153408,6641.541,-6026.378,28,1.0,28,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.7
$GPS2,153920,6641.495,-6026.306,8,1.5,8,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.128,-0.184
$KALMAN_X,22958.6,-354.6,28.0,-154621.5,115.2
$KALMAN_Y,2624.6,222.8,-1754.5,-25869.6,2826.2
$MHEAD_RNG_PITCHd_Wd,252.8,12265,-12.9,-7.021
$D_GRID,513
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,132,0.00,0.00,-114.05,0.000,2,0.000,0.000,162,2342,2811
$GC,135,-1.08,-146.0,3.5,-3.4,20,160,8.95,2.35,-6.80,0.000,4,0.272,0.076,2196,929,3020
$GC,223,-0.47,-146.0,24.0,-21.1,35,230,0.50,2.30,0.00,0.000,6,0.187,0.054,2328,2350,3022
$GC,568,-0.54,-146.0,56.1,-7.4,96,574,0.00,2.30,0.00,0.000,4,0.000,0.071,2328,3745,3024
$GC,704,-0.67,-146.0,66.5,-7.8,120,711,0.15,2.22,0.00,0.000,6,0.087,0.044,2274,2327,3024
$GC,1049,-0.61,-146.0,100.0,-9.6,181,1055,0.12,2.22,0.00,0.000,4,0.156,0.059,2308,935,3024
$GC,1083,-0.61,-146.0,103.3,-8.6,183,1087,0.00,2.25,0.00,0.000,6,0.000,0.054,2308,2341,3024
$GC,1405,-0.71,-146.0,127.3,-7.0,199,1409,0.10,2.33,0.00,0.000,4,0.107,0.071,2271,3753,3023
$GC,1434,-0.71,-146.0,129.6,-8.9,200,1438,0.00,2.22,0.00,0.000,6,0.000,0.044,2271,2330,3024
$GC,1754,-0.71,-146.0,156.7,-7.7,216,1758,0.00,2.22,0.00,0.000,4,0.000,0.060,2271,932,3023
$GC,1801,-0.66,-146.0,160.1,-7.5,218,1805,0.00,2.25,0.00,0.000,6,0.000,0.055,2272,2343,3024
$GC,2132,-0.66,-146.0,183.7,-7.3,234,2136,0.00,2.33,0.00,0.000,4,0.000,0.073,2272,3756,3023
$GC,2227,-0.72,-146.0,190.8,-7.5,238,2231,0.00,2.22,0.00,0.000,6,0.000,0.044,2271,2331,3023
$GC,2548,-0.72,-146.0,214.9,-7.7,254,2552,0.00,2.38,0.00,0.000,4,0.000,0.073,2272,3753,3023
$GC,2688,-0.80,-146.0,226.1,-7.9,260,2692,0.00,2.22,0.00,0.000,6,0.000,0.045,2272,2334,3023
$GC,3016,-0.85,-146.0,250.1,-7.6,276,3020,0.00,2.35,0.00,0.000,4,0.000,0.072,2272,3746,3023
$GC,3071,-0.96,-146.0,254.6,-7.5,278,3076,0.15,2.20,0.00,0.000,6,0.094,0.044,2218,2340,3022
$GC,3392,-0.84,-146.0,284.8,-9.5,294,3397,0.15,2.38,0.00,0.000,4,0.157,0.072,2258,3757,3022
$GC,3436,-0.90,-146.0,288.7,-8.5,296,3440,0.00,2.22,0.00,0.000,6,0.000,0.044,2258,2338,3022
$GC,3762,-0.90,-146.0,312.3,-7.0,312,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2338,3021
$GC,4072,-0.95,-146.0,334.6,-7.1,327,4077,0.12,2.25,0.00,0.000,4,0.100,0.058,2214,927,3022
$GC,4140,-0.80,-146.0,340.4,-9.1,330,4145,0.17,2.28,0.00,0.000,6,0.164,0.056,2259,2341,3021
$GC,4462,-0.86,-146.0,361.3,-6.5,346,4465,0.00,2.33,0.00,0.000,4,0.000,0.073,2259,3750,3022
$GC,4557,-0.96,-146.0,368.2,-7.0,350,4561,0.12,2.22,0.00,0.000,6,0.104,0.044,2217,2327,3021
$GC,4883,-0.88,-146.0,392.7,-7.2,366,4888,0.12,2.38,0.00,0.000,4,0.159,0.071,2249,3747,3021
$GC,4962,-0.94,-146.0,397.8,-6.1,369,4969,0.00,2.20,0.00,0.000,6,0.000,0.044,2248,2338,3021
$GC,5294,-0.94,-146.0,417.2,-5.9,379,5297,0.00,2.35,0.00,0.000,4,0.000,0.070,2249,3754,3022
$GC,5322,-0.99,-146.0,418.9,-5.6,379,5326,0.10,2.22,0.00,0.000,6,0.118,0.044,2214,2328,3022
$GC,5664,-0.92,-146.0,443.8,-7.2,388,5669,0.10,2.38,0.00,0.000,4,0.170,0.071,2240,3750,3022
$GC,5691,-0.92,-146.0,445.7,-6.5,388,5695,0.00,2.20,0.00,0.000,6,0.000,0.044,2240,2340,3022
$GC,6027,-0.92,-146.0,466.8,-6.2,397,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2340,3023
$GC,6353,-0.92,-146.0,487.3,-6.5,405,6357,0.00,2.35,0.00,0.000,4,0.000,0.071,2240,3757,3024
$GC,6380,-0.98,-146.0,489.1,-7.1,405,6384,0.00,2.22,0.00,0.000,6,0.000,0.043,2240,2330,3023
$GC,6722,-0.98,-146.0,511.0,-6.5,414,6726,0.00,2.22,0.00,0.000,4,0.000,0.057,2240,927,3024
$STATE,6752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6753,begin apogee
$GC,6760,-0.34,0.0,513.4,7.4,414,6893,0.38,0.00,129.73,1.232,6,0.151,0.000,2357,2528,2420
$STATE,6894,end apogee,CONTROL_FINISHED_OK
$STATE,6894,begin climb
$GC,6896,1.08,146.0,517.0,0.0,418,7039,1.08,2.70,133.32,1.142,4,0.116,0.068,2666,3919,1823
$GC,7051,1.01,146.0,507.5,7.7,421,7055,0.00,2.47,0.00,0.000,6,0.000,0.040,2666,2516,1823
$GC,7389,0.89,146.0,480.8,8.0,430,7393,0.15,2.35,0.00,0.000,4,0.146,0.056,2626,1103,1820
$GC,7432,0.97,155.9,477.7,6.7,431,7447,0.00,2.35,9.38,1.027,6,0.000,0.053,2626,2520,1784
$GC,7755,0.99,168.2,456.5,6.6,439,7775,0.10,2.42,12.10,1.088,4,0.088,0.070,2666,3930,1733
$GC,7825,0.79,168.2,450.0,10.2,440,7830,0.22,2.28,0.00,0.000,6,0.143,0.043,2601,2506,1733
$GC,8162,0.96,204.2,430.1,5.8,449,8196,0.15,0.00,30.77,1.160,6,0.076,0.000,2662,2505,1586
$GC,8528,0.96,204.2,400.6,8.3,458,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2505,1584
$GC,8836,0.96,204.2,374.2,8.7,472,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2505,1584
$GC,9145,0.96,204.2,347.5,8.3,487,9149,0.00,2.35,0.00,0.000,4,0.000,0.071,2663,3936,1583
$GC,9184,0.85,204.2,343.9,9.7,488,9191,0.17,2.22,0.00,0.000,6,0.141,0.043,2612,2505,1583
$GC,9499,1.13,204.2,322.3,7.2,504,9504,0.20,2.38,0.00,0.000,4,0.074,0.070,2694,3941,1583
$GC,9599,0.91,204.2,312.4,10.7,508,9606,0.22,2.22,0.00,0.000,6,0.142,0.043,2629,2512,1584
$GC,9916,1.04,216.4,291.3,6.6,524,9932,0.12,2.22,11.30,1.048,4,0.082,0.056,2678,1116,1537
$GC,9965,1.04,216.4,287.1,9.1,525,9969,0.00,2.28,0.00,0.000,6,0.000,0.051,2678,2520,1536
$GC,10287,1.04,216.4,260.4,7.9,541,10290,0.00,2.30,0.00,0.000,4,0.000,0.069,2679,3932,1536
$GC,10319,0.92,216.4,257.5,9.1,542,10324,0.15,2.20,0.00,0.000,6,0.144,0.043,2636,2520,1536
$GC,10640,1.12,281.7,241.2,4.8,558,10701,0.15,0.00,54.45,1.093,6,0.081,0.000,2694,2520,1270
$GC,11009,1.12,281.7,212.0,8.7,576,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2520,1265
$GC,11318,1.12,281.7,186.5,8.0,591,11322,0.00,2.25,0.00,0.000,4,0.000,0.058,2695,1112,1264
$GC,11357,1.17,281.7,183.2,7.9,592,11363,0.00,2.25,0.00,0.000,6,0.000,0.051,2695,2520,1263
$GC,11672,1.17,281.7,158.7,7.2,608,11676,0.00,2.25,0.00,0.000,4,0.000,0.058,2695,1119,1263
$GC,11699,1.25,294.4,156.9,6.6,609,11716,0.00,2.25,11.07,1.006,6,0.000,0.052,2695,2528,1218
$GC,12025,1.30,294.4,132.2,8.3,625,12027,0.08,0.00,0.00,0.000,6,0.105,0.000,2731,2528,1216
$GC,12333,1.30,294.4,103.7,9.1,640,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2528,1216
$GC,12665,1.30,294.4,74.5,8.6,691,12671,0.00,2.28,0.00,0.000,4,0.000,0.059,2731,1119,1215
$GC,12705,1.30,294.4,70.9,8.9,698,12711,0.00,2.25,0.00,0.000,6,0.000,0.054,2732,2528,1215
$GC,13049,1.30,294.4,40.5,8.2,759,13055,0.00,2.28,0.00,0.000,4,0.000,0.058,2731,1115,1215
$GC,13118,1.30,298.5,35.7,6.9,771,13130,0.00,2.25,4.57,0.782,6,0.000,0.054,2731,2522,1201
$GC,13468,1.43,345.8,14.6,5.4,833,13514,0.00,0.00,40.53,1.019,6,0.000,0.000,2731,2522,1009
$STATE,13674,end climb,SURFACE_DEPTH_REACHED
$STATE,13674,begin surface coast
$FINISH,0.8,1.013452
$STATE,13709,end surface coast,CONTROL_FINISHED_OK
$STATE,13709,begin surface
$SM_CCo,13785,0.00,0.000,0,0,1000,348.57
$SM_GC,1.69,7.32,0.00,0.00,0.075,0.000,0.000,159,2330,1000,-10.40,-0.28,348.57
$RAFOS_CLK,785
$RAFOS,4,1224693856,16.750000,16.737778,91,67,59,53,53,50,807,219,145,172,210,126
$RAFOS,3,1224693259,16.583334,16.571945,104,64,62,58,57,55,711,129,209,183,138,195
$RAFOS,2,1224692644,16.416666,16.401112,75,65,61,59,56,56,991,191,165,177,215,136
$RAFOS,1,1224692041,16.250000,16.233612,69,66,65,58,55,53,210,774,230,907,193,149
$RAFOS,0,1224691444,16.083334,16.067778,123,60,60,57,56,51,589,159,148,178,216,135
$RAFOS_FIX,6641.365723,-6021.663086,221008,161648,4,98,1.15
$IRIDIUM_FIX,6609.62,-5839.88,160198,111144
$TT8_MAMPS,0.026845
$HUMID,1887
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.3,42.071
$10V_AH,10.5,17.743
$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,21.375,124.275,437.225,0.000,0.000,32.986,48.411,120.111,0.000,0.000,0.000,10.045,1578.192,9920.014,567.641,1646.589,398.012,33.369,1484.972,0.000,1628.531,1800.000,0.534,0.000
$DEVICE_MAMPS,271.518,75.933,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.043,596.557,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31557,876
$CAP_FILE_SIZE,117003,0
$CFSIZE,260165632,235208704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.0
$GPS,221008,193137,6641.212,-6029.897,36,1.8,41,-38.0