version: 66.04
glider: 113
mission: 4
dive: 210
start: 10 22 108 23 36 10
data:
$ID,113
$MISSION,4
$DIVE,210
$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,-25836.264
$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,23
$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
$GPS1,233008,6641.078,-6033.625,40,1.0,40,-38.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.4
$GPS2,233515,6641.021,-6033.614,14,1.2,14,-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,-0.162,0.155
$KALMAN_X,22482.7,-360.5,-21.7,-159394.8,732.2
$KALMAN_Y,-526.3,1039.9,938.6,-27106.8,-5425.7
$MHEAD_RNG_PITCHd_Wd,351.8,7111,-12.9,-7.021
$D_GRID,504
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,159,0.00,0.00,-140.93,0.000,2,0.000,0.000,166,2334,2853
$GC,162,-1.08,-146.0,3.5,-3.4,25,182,8.90,2.47,-5.40,0.000,4,0.271,0.086,2200,3758,3019
$GC,251,-0.54,-146.0,25.1,-21.3,40,258,0.43,2.28,0.00,0.000,6,0.179,0.048,2319,2332,3022
$GC,595,-0.54,-146.0,58.9,-8.1,101,602,0.00,2.25,0.00,0.000,4,0.000,0.060,2319,926,3023
$GC,809,-0.54,-146.0,78.0,-8.7,139,815,0.00,2.28,0.00,0.000,6,0.000,0.055,2319,2342,3023
$GC,1156,-0.64,-146.0,106.4,-7.8,190,1161,0.10,2.30,0.00,0.000,4,0.109,0.072,2284,3750,3024
$GC,1262,-0.64,-146.0,116.2,-9.3,194,1269,0.00,2.22,0.00,0.000,6,0.000,0.045,2284,2333,3023
$GC,1578,-0.64,-146.0,142.6,-8.1,210,1582,0.00,2.22,0.00,0.000,4,0.000,0.061,2284,926,3024
$GC,1689,-0.64,-146.0,152.3,-8.8,215,1693,0.00,2.28,0.00,0.000,6,0.000,0.055,2284,2346,3023
$GC,2015,-0.64,-146.0,176.2,-7.1,231,2019,0.00,2.33,0.00,0.000,4,0.000,0.074,2284,3759,3024
$GC,2163,-0.73,-146.0,186.2,-6.8,237,2169,0.00,2.22,0.00,0.000,6,0.000,0.046,2284,2340,3023
$GC,2478,-0.78,-146.0,206.1,-6.2,253,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2340,3023
$GC,2788,-0.85,-146.0,226.5,-6.7,268,2793,0.12,2.25,0.00,0.000,4,0.097,0.060,2237,932,3023
$GC,2849,-0.72,-146.0,231.9,-8.6,270,2856,0.17,2.28,0.00,0.000,6,0.170,0.057,2283,2348,3023
$GC,3166,-0.81,-146.0,253.2,-6.8,286,3168,0.10,0.00,0.00,0.000,6,0.104,0.000,2247,2348,3022
$GC,3475,-0.81,-146.0,278.8,-8.3,301,3479,0.00,2.30,0.00,0.000,4,0.000,0.061,2247,928,3022
$GC,3547,-0.73,-146.0,285.3,-9.1,304,3552,0.12,2.30,0.00,0.000,6,0.176,0.058,2278,2356,3022
$GC,3870,-0.82,-146.0,306.9,-6.6,320,3873,0.00,2.30,0.00,0.000,4,0.000,0.073,2278,3753,3022
$GC,4029,-0.96,-146.0,317.4,-6.4,327,4033,0.17,2.22,0.00,0.000,6,0.094,0.045,2217,2332,3022
$GC,4361,-0.86,-146.0,345.4,-8.1,343,4365,0.12,2.38,0.00,0.000,4,0.160,0.072,2248,3753,3021
$GC,4477,-0.86,-146.0,354.0,-7.3,348,4481,0.00,2.22,0.00,0.000,6,0.000,0.045,2248,2330,3021
$GC,4799,-0.86,-146.0,374.0,-5.6,364,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2330,3021
$GC,5108,-0.86,-146.0,390.8,-5.6,379,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2330,3021
$GC,5435,-0.86,-146.0,409.8,-5.7,391,5439,0.00,2.38,0.00,0.000,4,0.000,0.073,2248,3749,3021
$GC,5521,-0.93,-146.0,415.2,-6.5,392,5528,0.00,2.22,0.00,0.000,6,0.000,0.045,2248,2329,3021
$GC,5852,-0.97,-146.0,437.6,-7.0,401,5854,0.10,0.00,0.00,0.000,6,0.122,0.000,2212,2328,3022
$GC,6177,-0.90,-146.0,463.8,-8.2,409,6182,0.12,2.35,0.00,0.000,4,0.163,0.071,2245,3748,3022
$GC,6289,-0.96,-146.0,472.3,-7.5,411,6293,0.00,2.20,0.00,0.000,6,0.000,0.044,2244,2340,3022
$GC,6637,-1.01,-146.0,495.4,-6.4,420,6641,0.12,2.35,0.00,0.000,4,0.101,0.070,2199,3750,3022
$STATE,6751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6751,begin apogee
$GC,6759,-0.34,0.0,504.3,7.6,422,6892,0.52,0.00,129.90,1.233,6,0.160,0.000,2357,2513,2420
$STATE,6892,end apogee,CONTROL_FINISHED_OK
$STATE,6893,begin climb
$GC,6895,1.08,146.0,505.7,0.0,426,7038,1.02,2.80,133.10,1.143,4,0.091,0.069,2667,3932,1823
$GC,7230,0.85,146.0,479.8,10.0,433,7235,0.20,2.38,0.00,0.000,6,0.148,0.043,2615,2515,1821
$GC,7567,0.94,173.3,459.1,6.1,442,7597,0.10,2.50,23.83,1.140,4,0.092,0.070,2653,3943,1712
$GC,7619,0.82,173.3,454.9,9.0,443,7624,0.15,2.35,0.00,0.000,6,0.148,0.043,2613,2508,1712
$GC,7932,0.93,180.9,434.0,6.8,451,7947,0.10,2.45,7.85,1.002,4,0.091,0.071,2653,3931,1682
$GC,7969,0.82,180.9,431.0,8.5,451,7976,0.15,2.25,0.00,0.000,6,0.147,0.043,2612,2517,1681
$GC,8301,0.98,205.4,410.3,6.2,460,8325,0.12,0.00,21.50,1.138,6,0.083,0.000,2664,2516,1582
$GC,8651,1.10,205.4,381.3,8.4,473,8654,0.00,2.22,0.00,0.000,4,0.000,0.056,2665,1116,1580
$GC,8729,1.10,205.4,374.7,8.5,476,8733,0.00,2.25,0.00,0.000,6,0.000,0.051,2665,2522,1579
$GC,9049,1.10,205.4,346.7,8.8,492,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2522,1580
$GC,9358,1.10,205.4,320.8,8.2,507,9362,0.00,2.30,0.00,0.000,4,0.000,0.070,2665,3938,1580
$GC,9369,1.10,205.4,319.8,8.5,507,9373,0.00,2.22,0.00,0.000,6,0.000,0.043,2665,2506,1579
$GC,9690,1.10,205.4,295.0,7.2,523,9694,0.00,2.35,0.00,0.000,4,0.000,0.071,2665,3930,1579
$GC,9717,1.03,205.4,292.9,8.5,524,9721,0.00,2.20,0.00,0.000,6,0.000,0.043,2665,2512,1579
$GC,10044,1.03,206.6,270.5,7.0,540,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2512,1580
$GC,10353,1.03,211.6,248.7,6.8,555,10361,0.00,0.00,6.55,0.938,6,0.000,0.000,2665,2512,1557
$GC,10662,1.03,211.6,226.4,7.3,570,10666,0.00,2.35,0.00,0.000,4,0.000,0.071,2665,3927,1556
$GC,10672,1.03,211.6,225.4,7.3,570,10677,0.00,2.22,0.00,0.000,6,0.000,0.044,2665,2496,1556
$GC,10993,1.03,211.6,202.3,7.5,586,10997,0.00,2.38,0.00,0.000,4,0.000,0.072,2665,3926,1556
$GC,11025,0.98,211.6,199.5,8.2,587,11029,0.00,2.20,0.00,0.000,6,0.000,0.044,2665,2513,1556
$GC,11347,1.04,218.1,176.3,6.8,603,11361,0.00,2.42,7.28,0.961,4,0.000,0.073,2665,3937,1530
$GC,11372,1.04,218.1,174.4,7.1,604,11376,0.00,2.22,0.00,0.000,6,0.000,0.044,2665,2514,1529
$GC,11699,1.15,257.6,155.1,5.7,620,11739,0.00,0.00,33.53,1.084,6,0.000,0.000,2665,2514,1368
$GC,12049,1.30,289.3,135.0,5.9,637,12078,0.17,0.00,27.02,1.050,6,0.071,0.000,2735,2513,1240
$GC,12377,1.24,289.3,106.4,8.2,653,12382,0.12,2.40,0.00,0.000,4,0.138,0.073,2698,3936,1236
$GC,12404,1.24,289.3,104.1,8.0,654,12408,0.00,2.25,0.00,0.000,6,0.000,0.045,2698,2516,1236
$GC,12742,1.31,293.1,80.9,6.9,705,12756,0.10,2.30,4.25,0.747,4,0.092,0.061,2738,1114,1223
$GC,12762,1.31,293.1,79.1,7.3,708,12769,0.00,2.28,0.00,0.000,6,0.000,0.054,2738,2530,1223
$GC,13107,1.26,293.1,47.4,9.1,769,13114,0.12,2.30,0.00,0.000,4,0.143,0.060,2703,1115,1222
$GC,13182,1.39,293.1,41.3,7.9,782,13189,0.12,2.25,0.00,0.000,6,0.085,0.055,2750,2520,1222
$GC,13527,1.39,293.1,11.6,8.9,843,13533,0.00,2.30,0.00,0.000,4,0.000,0.070,2750,3930,1221
$GC,13556,1.34,293.1,9.2,7.9,848,13563,0.10,2.22,0.00,0.000,6,0.162,0.047,2724,2513,1221
$STATE,13651,end climb,SURFACE_DEPTH_REACHED
$STATE,13651,begin surface coast
$FINISH,0.7,1.011900
$STATE,13688,end surface coast,CONTROL_FINISHED_OK
$STATE,13688,begin surface
$SM_CCo,13764,0.00,0.000,0,0,1219,294.61
$SM_GC,1.57,7.28,0.00,0.00,0.083,0.000,0.000,165,2331,1219,-10.37,-0.25,294.61
$RAFOS_CLK,785
$RAFOS,4,1224722660,0.750000,0.738889,105,68,60,57,56,56,811,206,153,227,194,185
$RAFOS,3,1224722042,0.583333,0.567222,65,60,59,54,53,51,207,185,113,147,216,803
$RAFOS,2,1224721444,0.416667,0.401111,66,61,59,52,52,49,1018,219,201,185,127,107
$RAFOS,1,1224720860,0.250000,0.238889,86,65,61,57,53,53,696,162,219,173,124,184
$RAFOS,0,1224720246,0.083333,0.068333,75,67,60,56,55,52,599,214,133,193,172,225
$RAFOS_FIX,6641.294434,-6031.031738,231008,000028,3,89,0.68
$IRIDIUM_FIX,6614.97,-6033.50,160198,191907
$TT8_MAMPS,0.027612
$HUMID,1877
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.3,42.371
$10V_AH,10.5,17.870
$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,21.000,115.175,394.800,0.000,0.000,27.949,33.259,130.943,0.000,0.000,0.000,15.527,1599.364,9815.318,555.719,1716.483,393.771,33.374,1488.026,0.000,1691.900,1800.000,0.541,0.000
$DEVICE_MAMPS,270.751,85.904,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.812,593.198,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31592,871
$CAP_FILE_SIZE,116426,0
$CFSIZE,260165632,235089920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.1
$GPS,231008,032702,6638.941,-6036.923,35,2.0,35,-38.0