version: 66.04
glider: 113
mission: 4
dive: 213
start: 10 23 108 10 54 37
data:
$ID,113
$MISSION,4
$DIVE,213
$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,-25893.25
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,104437,6640.956,-6042.856,40,0.9,52,-38.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.4
$GPS2,105340,6640.976,-6042.976,12,1.0,12,-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,0.067,0.214
$KALMAN_X,20157.3,56.6,-216.0,-164087.6,-539.3
$KALMAN_Y,-6546.2,-1490.4,1643.7,-19352.4,-2797.3
$MHEAD_RNG_PITCHd_Wd,55.4,36064,-12.9,-7.021
$D_GRID,479
$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,16,-1.08,-145.9,0.0,0.0,0,133,0.00,0.00,-114.25,0.000,2,0.000,0.000,166,2324,2798
$GC,136,-1.08,-146.0,3.4,-3.8,20,161,8.85,2.33,-7.78,0.000,4,0.267,0.076,2197,936,3019
$GC,229,-0.44,-146.0,22.6,-18.3,36,236,0.55,2.30,0.00,0.000,6,0.191,0.058,2341,2345,3022
$GC,574,-0.51,-146.0,57.8,-9.0,97,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2345,3023
$GC,916,-0.65,-146.0,83.5,-6.2,158,923,0.17,2.35,0.00,0.000,4,0.085,0.074,2274,3757,3023
$GC,991,-0.65,-146.0,90.1,-9.0,171,997,0.00,2.22,0.00,0.000,6,0.000,0.046,2275,2342,3023
$GC,1333,-0.61,-146.0,120.8,-8.8,202,1337,0.12,2.25,0.00,0.000,4,0.162,0.060,2308,935,3023
$GC,1445,-0.61,-146.0,129.9,-7.3,207,1449,0.00,2.28,0.00,0.000,6,0.000,0.058,2308,2347,3024
$GC,1777,-0.70,-146.0,152.9,-7.1,223,1782,0.10,2.33,0.00,0.000,4,0.107,0.073,2272,3752,3023
$GC,1832,-0.70,-146.0,157.7,-8.9,225,1838,0.00,2.25,0.00,0.000,6,0.000,0.045,2272,2316,3023
$GC,2148,-0.70,-146.0,185.3,-9.0,241,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2316,3023
$GC,2457,-0.70,-146.0,210.7,-7.9,256,2460,0.00,2.38,0.00,0.000,4,0.000,0.072,2272,3745,3023
$GC,2502,-0.75,-146.0,214.4,-7.8,258,2506,0.00,2.22,0.00,0.000,6,0.000,0.047,2272,2326,3023
$GC,2834,-0.75,-146.0,240.3,-7.7,274,2838,0.00,2.38,0.00,0.000,4,0.000,0.075,2272,3748,3023
$GC,2872,-0.82,-146.0,243.4,-7.7,275,2879,0.00,2.20,0.00,0.000,6,0.000,0.046,2272,2338,3023
$GC,3187,-0.82,-146.0,267.8,-7.9,291,3191,0.00,2.25,0.00,0.000,4,0.000,0.061,2272,926,3022
$GC,3220,-0.82,-146.0,270.5,-8.2,292,3224,0.00,2.30,0.00,0.000,6,0.000,0.055,2272,2343,3022
$GC,3542,-0.87,-146.0,294.3,-7.1,308,3544,0.10,0.00,0.00,0.000,6,0.107,0.000,2234,2344,3022
$GC,3851,-0.80,-146.0,320.7,-8.7,323,3856,0.12,2.33,0.00,0.000,4,0.176,0.073,2262,3754,3022
$GC,3986,-0.86,-146.0,331.3,-7.5,329,3990,0.00,2.22,0.00,0.000,6,0.000,0.046,2262,2334,3022
$GC,4318,-0.86,-146.0,355.9,-7.6,345,4322,0.00,2.38,0.00,0.000,4,0.000,0.074,2262,3757,3021
$GC,4425,-0.94,-146.0,363.7,-7.6,350,4429,0.12,2.22,0.00,0.000,6,0.114,0.046,2218,2336,3022
$GC,4751,-0.85,-146.0,388.4,-7.2,366,4753,0.12,0.00,0.00,0.000,6,0.161,0.000,2251,2336,3022
$GC,5058,-0.85,-146.0,408.3,-6.8,378,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2336,3022
$GC,5386,-0.85,-146.0,429.5,-7.0,386,5391,0.00,2.38,0.00,0.000,4,0.000,0.073,2252,3757,3022
$GC,5430,-0.92,-146.0,433.0,-7.5,387,5434,0.00,2.22,0.00,0.000,6,0.000,0.045,2251,2335,3021
$GC,5756,-0.92,-146.0,453.9,-6.6,395,5760,0.00,2.22,0.00,0.000,4,0.000,0.059,2251,938,3021
$GC,5834,-0.92,-146.0,459.7,-7.8,396,5838,0.00,2.28,0.00,0.000,6,0.000,0.058,2251,2348,3021
$STATE,6168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6168,begin apogee
$GC,6174,-0.34,0.0,480.8,6.3,405,6306,0.38,0.00,129.70,1.232,6,0.148,0.000,2364,2526,2420
$STATE,6307,end apogee,CONTROL_FINISHED_OK
$STATE,6307,begin climb
$GC,6309,1.08,146.0,484.0,0.0,408,6454,1.05,2.67,133.52,1.136,4,0.119,0.057,2665,1120,1824
$GC,6465,1.01,146.0,475.1,7.2,411,6469,0.00,2.55,0.00,0.000,6,0.000,0.052,2665,2520,1823
$GC,6801,0.93,146.0,449.1,7.7,420,6806,0.12,2.42,0.00,0.000,4,0.146,0.069,2631,3940,1820
$GC,6817,0.86,146.0,447.7,7.6,420,6821,0.00,2.33,0.00,0.000,6,0.000,0.044,2631,2513,1820
$GC,7159,0.90,179.6,427.2,5.9,429,7190,0.00,0.00,28.85,1.157,6,0.000,0.000,2631,2513,1687
$GC,7485,1.02,218.1,408.6,5.7,437,7527,0.10,2.38,33.00,1.148,4,0.097,0.058,2670,1122,1529
$GC,7533,1.04,229.6,405.4,6.6,438,7549,0.00,2.38,11.30,1.022,6,0.000,0.054,2670,2536,1483
$GC,7874,1.04,229.6,380.8,7.3,452,7878,0.00,2.33,0.00,0.000,4,0.000,0.058,2670,1116,1480
$GC,7896,1.04,229.6,379.2,7.1,453,7900,0.00,2.28,0.00,0.000,6,0.000,0.051,2670,2520,1480
$GC,8228,1.04,229.6,352.7,8.2,469,8232,0.00,2.28,0.00,0.000,4,0.000,0.058,2670,1112,1480
$GC,8250,1.04,229.6,351.0,7.7,470,8254,0.00,2.25,0.00,0.000,6,0.000,0.052,2670,2528,1480
$GC,8581,1.04,229.6,326.3,7.3,486,8585,0.00,2.28,0.00,0.000,4,0.000,0.070,2670,3926,1480
$GC,8608,0.99,229.6,324.1,8.5,487,8612,0.00,2.20,0.00,0.000,6,0.000,0.044,2670,2515,1480
$GC,8935,0.99,229.6,299.4,7.8,503,8938,0.00,2.35,0.00,0.000,4,0.000,0.071,2671,3937,1481
$GC,8961,0.99,229.6,296.9,9.4,504,8966,0.00,2.25,0.00,0.000,6,0.000,0.044,2670,2512,1481
$GC,9288,0.99,229.6,270.7,7.9,520,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2512,1481
$GC,9598,0.99,229.6,247.9,7.3,535,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2512,1480
$GC,9907,1.00,237.1,226.8,6.8,550,9916,0.00,0.00,7.32,0.979,6,0.000,0.000,2670,2512,1453
$GC,10217,1.10,265.1,207.3,6.1,565,10247,0.00,2.33,24.60,1.101,4,0.000,0.060,2670,1121,1338
$GC,10254,1.25,300.1,205.1,5.8,566,10290,0.12,2.30,30.52,1.061,6,0.084,0.054,2719,2521,1196
$GC,10612,1.25,300.1,176.5,8.0,584,10616,0.00,2.30,0.00,0.000,4,0.000,0.060,2719,1117,1189
$GC,10645,1.25,300.1,173.6,8.2,585,10649,0.00,2.28,0.00,0.000,6,0.000,0.054,2719,2523,1189
$GC,10966,1.25,300.1,147.0,8.3,601,10970,0.00,2.30,0.00,0.000,4,0.000,0.060,2719,1111,1188
$GC,11004,1.25,300.1,143.7,8.7,602,11011,0.00,2.30,0.00,0.000,6,0.000,0.053,2719,2526,1188
$GC,11320,1.25,300.1,115.9,9.0,618,11324,0.00,2.30,0.00,0.000,4,0.000,0.061,2720,1109,1187
$GC,11352,1.25,300.1,113.0,8.1,619,11357,0.00,2.30,0.00,0.000,6,0.000,0.054,2719,2522,1187
$GC,11683,1.25,300.1,85.2,8.1,658,11689,0.00,2.28,0.00,0.000,4,0.000,0.061,2719,1117,1186
$GC,11712,1.25,300.1,82.9,7.9,663,11719,0.00,2.25,0.00,0.000,6,0.000,0.055,2719,2523,1186
$GC,12056,1.25,300.1,54.9,7.5,724,12062,0.00,2.28,0.00,0.000,4,0.000,0.060,2719,1115,1186
$GC,12085,1.30,300.1,52.7,7.8,729,12092,0.00,2.25,0.00,0.000,6,0.000,0.055,2719,2522,1186
$GC,12430,1.42,307.7,27.8,6.8,790,12444,0.10,2.28,6.28,0.882,4,0.091,0.061,2762,1118,1165
$GC,12558,1.44,324.2,18.9,6.5,812,12582,0.00,2.28,15.45,0.998,6,0.000,0.057,2762,2527,1096
$STATE,12744,end climb,SURFACE_DEPTH_REACHED
$STATE,12744,begin surface coast
$FINISH,1.0,1.025498
$STATE,12760,end surface coast,CONTROL_FINISHED_OK
$STATE,12760,begin surface
$SM_CCo,12837,0.00,0.000,0,0,1091,326.25
$SM_GC,1.53,7.43,0.00,0.00,0.081,0.000,0.000,166,2345,1091,-10.38,0.14,326.25
$RAFOS_CLK,748
$RAFOS,4,1224765873,12.750000,12.742500,62,61,60,57,55,54,200,188,218,155,178,167
$RAFOS,3,1224765242,12.583333,12.567223,70,67,63,60,56,55,200,838,223,177,137,213
$RAFOS,2,1224764657,12.416667,12.404722,63,54,52,51,51,47,149,202,220,135,185,170
$RAFOS,1,1224764046,12.250000,12.235000,59,58,58,56,55,50,174,198,228,159,215,121
$RAFOS,0,1224763449,12.083333,12.069167,75,66,59,56,55,53,593,117,194,178,211,163
$RAFOS_FIX,37745.988281,-1756658.375000,231008,121212,2,72,361177.78
$IRIDIUM_FIX,6609.62,-6048.29,170198,101005
$TT8_MAMPS,0.027612
$HUMID,1890
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.2,42.823
$10V_AH,10.5,18.050
$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,19.575,115.775,420.550,0.000,0.000,56.031,65.662,239.487,0.000,0.000,0.000,13.925,1531.257,9205.503,550.408,1566.189,565.187,33.374,1418.018,0.000,1542.667,1800.000,0.544,0.000
$DEVICE_MAMPS,266.916,83.603,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.846,577.171,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31606,848
$CAP_FILE_SIZE,109326,0
$CFSIZE,260165632,234926080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1445.7
$GPS,231008,143037,6641.568,-6042.968,46,1.8,46,-38.1