version: 66.04
glider: 113
mission: 4
dive: 209
start: 10 22 108 19 37 27
data:
$ID,113
$MISSION,4
$DIVE,209
$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,-25820.109
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,193137,6641.212,-6029.897,36,1.8,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.7
$GPS2,193633,6641.214,-6029.976,7,1.8,7,-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,-0.200,0.101
$KALMAN_X,22767.2,-579.4,-344.3,-156494.2,932.0
$KALMAN_Y,1147.2,1446.0,672.6,-28562.7,-1154.5
$MHEAD_RNG_PITCHd_Wd,334.7,9651,-12.9,-7.021
$D_GRID,508
$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,12,begin dive
$GC,15,-1.08,-145.9,0.0,0.0,0,143,0.00,0.00,-125.07,0.000,2,0.000,0.000,160,2329,2769
$GC,146,-1.08,-146.0,3.2,-2.8,22,171,8.98,2.40,-8.70,0.000,4,0.272,0.084,2192,3746,3018
$GC,233,-0.50,-146.0,23.3,-21.6,37,241,0.50,2.25,0.00,0.000,6,0.189,0.048,2327,2338,3021
$GC,579,-0.55,-146.0,56.8,-8.1,98,585,0.00,2.25,0.00,0.000,4,0.000,0.060,2327,932,3022
$GC,784,-0.61,-146.0,72.0,-7.1,134,790,0.10,2.28,0.00,0.000,6,0.104,0.054,2289,2348,3022
$GC,1129,-0.61,-146.0,99.6,-8.7,195,1135,0.00,2.33,0.00,0.000,4,0.000,0.073,2289,3756,3023
$GC,1190,-0.61,-146.0,105.3,-9.1,198,1197,0.00,2.25,0.00,0.000,6,0.000,0.044,2289,2338,3023
$GC,1506,-0.61,-146.0,132.2,-8.5,214,1510,0.00,2.25,0.00,0.000,4,0.000,0.060,2289,925,3023
$GC,1611,-0.61,-146.0,141.7,-8.7,218,1618,0.00,2.28,0.00,0.000,6,0.000,0.055,2289,2342,3023
$GC,1927,-0.66,-146.0,166.5,-7.6,234,1931,0.00,2.33,0.00,0.000,4,0.000,0.073,2289,3754,3023
$GC,2022,-0.77,-146.0,173.5,-6.9,238,2026,0.00,2.22,0.00,0.000,6,0.000,0.045,2289,2329,3022
$GC,2348,-0.84,-146.0,194.8,-5.7,254,2353,0.12,2.22,0.00,0.000,4,0.110,0.060,2244,938,3022
$GC,2471,-0.73,-146.0,203.9,-7.2,259,2478,0.12,2.28,0.00,0.000,6,0.177,0.058,2274,2345,3022
$GC,2786,-0.73,-146.0,222.3,-6.2,275,2790,0.00,2.33,0.00,0.000,4,0.000,0.074,2274,3750,3022
$GC,2922,-0.82,-146.0,231.3,-6.8,281,2926,0.00,2.22,0.00,0.000,6,0.000,0.045,2274,2328,3022
$GC,3254,-0.88,-146.0,254.6,-7.1,297,3259,0.12,2.38,0.00,0.000,4,0.112,0.073,2231,3747,3021
$GC,3371,-0.84,-146.0,265.0,-8.6,302,3375,0.10,2.22,0.00,0.000,6,0.176,0.045,2255,2329,3021
$GC,3691,-0.84,-146.0,289.2,-7.0,318,3694,0.00,2.22,0.00,0.000,4,0.000,0.061,2255,932,3021
$GC,3746,-0.84,-146.0,293.8,-8.0,320,3750,0.00,2.28,0.00,0.000,6,0.000,0.055,2255,2349,3021
$GC,4068,-0.84,-146.0,316.0,-6.8,336,4072,0.00,2.33,0.00,0.000,4,0.000,0.074,2255,3753,3021
$GC,4117,-0.90,-146.0,319.6,-7.2,338,4121,0.00,2.22,0.00,0.000,6,0.000,0.044,2255,2330,3021
$GC,4438,-0.90,-146.0,341.4,-6.8,354,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2330,3021
$GC,4748,-0.90,-146.0,362.9,-7.0,369,4752,0.00,2.38,0.00,0.000,4,0.000,0.073,2255,3747,3021
$GC,4859,-0.98,-146.0,371.2,-7.3,374,4864,0.12,2.20,0.00,0.000,6,0.100,0.044,2212,2341,3021
$GC,5186,-0.89,-146.0,397.8,-8.1,390,5191,0.12,2.25,0.00,0.000,4,0.161,0.058,2244,932,3021
$GC,5286,-0.89,-146.0,405.7,-7.5,393,5290,0.00,2.30,0.00,0.000,6,0.000,0.054,2244,2366,3021
$GC,5599,-0.89,-146.0,427.3,-6.8,401,5603,0.00,2.28,0.00,0.000,4,0.000,0.071,2244,3747,3021
$GC,5791,-0.96,-146.0,440.5,-7.0,405,5795,0.00,2.20,0.00,0.000,6,0.000,0.044,2244,2341,3021
$GC,6110,-0.96,-146.0,460.8,-6.3,413,6113,0.00,2.22,0.00,0.000,4,0.000,0.058,2244,936,3022
$GC,6200,-0.96,-146.0,467.2,-7.6,415,6204,0.00,2.25,0.00,0.000,6,0.000,0.054,2244,2341,3022
$GC,6530,-1.00,-146.0,488.4,-6.4,423,6532,0.10,0.00,0.00,0.000,6,0.106,0.000,2207,2342,3022
$STATE,6811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6811,begin apogee
$GC,6817,-0.34,0.0,509.3,7.5,430,6949,0.52,0.00,129.57,1.232,6,0.150,0.000,2364,2521,2420
$STATE,6950,end apogee,CONTROL_FINISHED_OK
$STATE,6950,begin climb
$GC,6953,1.08,146.0,512.3,0.0,433,7095,1.05,2.72,133.38,1.141,4,0.114,0.069,2668,3927,1824
$GC,7351,0.83,146.0,478.7,9.5,442,7356,0.20,2.33,0.00,0.000,6,0.150,0.043,2616,2522,1821
$GC,7669,0.91,165.9,458.6,6.3,450,7693,0.00,2.38,17.73,1.124,4,0.000,0.057,2616,1112,1743
$GC,7814,1.03,177.9,449.2,6.6,453,7833,0.15,2.33,11.48,1.065,6,0.080,0.052,2673,2534,1694
$GC,8170,0.93,177.9,419.1,8.4,462,8174,0.15,2.30,0.00,0.000,4,0.137,0.067,2629,3931,1694
$GC,8214,0.88,177.9,415.5,7.8,463,8218,0.00,2.22,0.00,0.000,6,0.000,0.042,2629,2515,1694
$GC,8539,0.95,185.2,393.5,6.8,473,8553,0.00,2.38,7.82,1.008,4,0.000,0.069,2629,3919,1664
$GC,8564,0.97,197.2,391.6,6.6,474,8582,0.00,2.20,11.43,1.063,6,0.000,0.042,2629,2518,1616
$GC,8891,1.07,219.1,370.7,6.3,490,8916,0.15,2.42,19.55,1.117,4,0.079,0.070,2690,3942,1525
$GC,8927,0.93,219.1,367.6,8.2,491,8934,0.20,2.28,0.00,0.000,6,0.141,0.042,2633,2520,1525
$GC,9243,1.04,226.6,346.4,6.8,507,9258,0.10,2.33,7.50,0.979,4,0.097,0.056,2675,1109,1496
$GC,9459,1.04,226.6,327.8,8.7,516,9466,0.00,2.28,0.00,0.000,6,0.000,0.051,2675,2514,1495
$GC,9775,1.04,226.6,301.9,8.2,532,9779,0.00,2.25,0.00,0.000,4,0.000,0.057,2675,1115,1495
$GC,9972,1.04,226.6,286.4,7.9,540,9978,0.00,2.25,0.00,0.000,6,0.000,0.051,2675,2531,1495
$GC,10287,1.04,226.6,261.4,7.9,556,10291,0.00,2.28,0.00,0.000,4,0.000,0.071,2675,3927,1495
$GC,10297,1.04,226.6,260.3,8.1,556,10301,0.00,2.22,0.00,0.000,6,0.000,0.042,2675,2514,1496
$GC,10618,1.04,226.6,233.2,8.5,572,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2513,1496
$GC,10928,1.05,239.2,211.1,6.6,587,10949,0.00,2.42,11.90,1.045,4,0.000,0.071,2675,3933,1444
$GC,10960,1.07,247.3,208.8,6.7,588,10975,0.00,2.22,8.52,0.966,6,0.000,0.043,2675,2516,1410
$GC,11305,1.14,262.2,186.0,6.5,605,11323,0.00,0.00,13.43,1.036,6,0.000,0.000,2676,2516,1351
$GC,11633,1.21,267.9,164.4,6.8,621,11645,0.08,2.38,6.28,0.900,4,0.103,0.071,2709,3937,1327
$GC,11655,1.21,267.9,162.6,7.6,622,11660,0.00,2.28,0.00,0.000,6,0.000,0.044,2709,2515,1327
$GC,11982,1.21,267.9,135.3,8.3,638,11986,0.00,2.35,0.00,0.000,4,0.000,0.072,2710,3928,1327
$GC,12009,1.13,267.9,132.9,8.9,639,12014,0.12,2.22,0.00,0.000,6,0.146,0.045,2675,2512,1327
$GC,12330,1.26,288.7,111.6,6.3,655,12352,0.12,0.00,18.25,1.048,6,0.087,0.000,2723,2512,1243
$GC,12675,1.26,288.7,83.4,8.1,698,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2512,1241
$GC,13018,1.26,288.7,55.6,7.4,759,13025,0.00,2.25,0.00,0.000,4,0.000,0.061,2723,1110,1240
$GC,13030,1.26,288.7,54.6,7.3,761,13036,0.00,2.28,0.00,0.000,6,0.000,0.054,2723,2529,1240
$GC,13375,1.42,342.2,32.3,5.2,822,13429,0.08,2.40,45.33,1.025,4,0.109,0.060,2761,1116,1023
$GC,13485,1.48,384.6,25.2,5.6,841,13532,0.00,2.33,37.65,0.966,6,0.000,0.053,2761,2526,850
$STATE,13766,end climb,SURFACE_DEPTH_REACHED
$STATE,13767,begin surface coast
$FINISH,0.9,1.025224
$STATE,13790,end surface coast,CONTROL_FINISHED_OK
$STATE,13790,begin surface
$SM_CCo,13866,0.00,0.000,0,0,837,388.31
$SM_GC,1.71,7.32,0.00,0.00,0.066,0.000,0.000,166,2335,837,-10.37,-0.14,388.31
$RAFOS_CLK,786
$RAFOS,4,1224708250,20.750000,20.736111,97,70,62,59,51,50,851,230,202,165,155,145
$RAFOS,3,1224707647,20.583334,20.568611,98,66,61,60,60,55,784,221,211,187,171,153
$RAFOS,2,1224707042,20.416666,20.400555,67,63,60,59,57,55,1015,147,190,178,166,213
$RAFOS,1,1224706448,20.250000,20.235556,83,63,59,59,53,53,754,198,225,186,144,171
$RAFOS,0,1224705846,20.083334,20.068333,91,59,56,54,53,51,588,213,195,224,172,131
$RAFOS_FIX,6641.528320,-6026.603027,221008,202036,4,92,0.86
$IRIDIUM_FIX,6614.97,-6040.90,160198,151559
$TT8_MAMPS,0.027612
$HUMID,1885
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,21.3,42.232
$10V_AH,10.5,17.809
$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,20.650,124.450,479.800,0.000,0.000,23.251,36.408,120.762,0.250,0.000,0.000,9.361,1625.971,9627.410,615.696,1917.777,387.015,33.370,1652.703,0.000,1886.473,1800.000,0.533,0.000
$DEVICE_MAMPS,271.518,84.370,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.412,607.926,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31608,895
$CAP_FILE_SIZE,122635,0
$CFSIZE,260165632,235147264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.4
$GPS,221008,233008,6641.078,-6033.625,40,1.0,40,-38.0