version: 66.04
glider: 113
mission: 4
dive: 216
start: 10 23 108 22 16 16
data:
$ID,113
$MISSION,4
$DIVE,216
$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,-25963.709
$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,36
$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
$GPS1,220632,6641.562,-6037.704,68,1.1,68,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.6
$GPS2,221521,6641.542,-6037.880,12,1.7,12,-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,0.201,0.099
$KALMAN_X,17209.0,-236.1,-295.8,-157072.5,-129.9
$KALMAN_Y,-12487.5,1499.0,1415.2,-15121.5,-4975.5
$MHEAD_RNG_PITCHd_Wd,101.7,32203,-12.9,-7.021
$D_GRID,499
$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,-146.0,0.0,0.0,0,131,0.00,0.00,-111.53,0.000,2,0.000,0.000,164,2324,2764
$GC,134,-1.08,-146.0,3.5,-3.5,20,158,8.95,0.00,-8.43,0.000,6,0.271,0.000,2195,2324,3018
$GC,496,-0.73,-146.0,65.6,-12.8,84,503,0.25,2.40,0.00,0.000,4,0.183,0.073,2270,3749,3022
$GC,532,-0.57,-146.0,69.3,-10.5,90,539,0.15,2.22,0.00,0.000,6,0.156,0.045,2313,2339,3023
$GC,876,-0.62,-146.0,91.9,-6.5,151,882,0.00,2.25,0.00,0.000,4,0.000,0.061,2312,932,3023
$GC,944,-0.62,-146.0,96.6,-7.1,163,951,0.00,2.28,0.00,0.000,6,0.000,0.056,2312,2347,3023
$GC,1265,-0.71,-146.0,119.4,-7.5,185,1266,0.12,0.00,0.00,0.000,6,0.098,0.000,2267,2347,3023
$GC,1573,-0.71,-146.0,148.8,-9.5,200,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2347,3023
$GC,1882,-0.71,-146.0,176.0,-8.2,215,1886,0.00,2.33,0.00,0.000,4,0.000,0.074,2267,3755,3022
$GC,1921,-0.71,-146.0,179.3,-8.5,216,1927,0.00,2.22,0.00,0.000,6,0.000,0.045,2267,2329,3023
$GC,2236,-0.71,-146.0,204.4,-7.9,232,2240,0.00,2.38,0.00,0.000,4,0.000,0.073,2266,3756,3022
$GC,2285,-0.71,-146.0,208.5,-7.9,234,2289,0.00,2.25,0.00,0.000,6,0.000,0.045,2266,2340,3022
$GC,2606,-0.71,-146.0,235.5,-8.4,250,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2340,3022
$GC,2915,-0.71,-146.0,260.1,-7.6,265,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2340,3022
$GC,3224,-0.71,-146.0,283.3,-7.3,280,3228,0.00,2.35,0.00,0.000,4,0.000,0.074,2267,3748,3022
$GC,3240,-0.71,-146.0,284.7,-7.6,280,3246,0.00,2.25,0.00,0.000,6,0.000,0.046,2266,2336,3022
$GC,3556,-0.71,-146.0,307.5,-6.9,296,3560,0.00,2.35,0.00,0.000,4,0.000,0.073,2266,3745,3022
$GC,3611,-0.77,-146.0,311.6,-7.1,298,3615,0.00,2.22,0.00,0.000,6,0.000,0.047,2266,2326,3022
$GC,3933,-0.82,-146.0,333.6,-6.9,314,3937,0.00,2.22,0.00,0.000,4,0.000,0.061,2266,934,3021
$GC,4017,-0.82,-146.0,340.0,-7.5,317,4023,0.00,2.28,0.00,0.000,6,0.000,0.057,2266,2347,3021
$GC,4333,-0.87,-146.0,361.1,-6.6,333,4337,0.00,2.33,0.00,0.000,4,0.000,0.076,2266,3752,3021
$GC,4360,-0.96,-146.0,363.1,-7.6,334,4365,0.15,2.22,0.00,0.000,6,0.100,0.044,2215,2330,3021
$GC,4680,-0.86,-146.0,388.9,-8.5,350,4685,0.12,2.22,0.00,0.000,4,0.166,0.060,2247,939,3021
$GC,4712,-0.86,-146.0,392.0,-9.1,351,4719,0.00,2.28,0.00,0.000,6,0.000,0.054,2247,2358,3021
$GC,5025,-0.86,-146.0,416.2,-7.7,362,5029,0.00,2.30,0.00,0.000,4,0.000,0.061,2247,936,3021
$GC,5057,-0.86,-146.0,418.7,-7.7,362,5062,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2344,3021
$GC,5394,-0.86,-146.0,443.3,-7.4,371,5398,0.00,2.33,0.00,0.000,4,0.000,0.074,2247,3748,3021
$GC,5478,-0.93,-146.0,449.6,-7.6,372,5484,0.00,2.20,0.00,0.000,6,0.000,0.044,2247,2340,3021
$GC,5809,-0.93,-146.0,471.4,-6.8,381,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2340,3021
$GC,6134,-0.98,-146.0,492.9,-6.4,389,6136,0.10,0.00,0.00,0.000,6,0.125,0.000,2213,2340,3021
$STATE,6253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6253,begin apogee
$GC,6259,-0.34,0.0,502.3,7.5,392,6392,0.50,0.00,129.77,1.235,6,0.153,0.000,2362,2521,2420
$STATE,6392,end apogee,CONTROL_FINISHED_OK
$STATE,6392,begin climb
$GC,6395,1.08,146.0,506.0,0.0,395,6534,1.05,0.00,134.95,1.144,6,0.117,0.000,2664,2521,1824
$GC,6841,0.98,146.0,474.9,7.7,406,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2521,1820
$GC,7166,0.89,146.0,449.1,7.7,414,7171,0.12,2.38,0.00,0.000,4,0.150,0.071,2629,3940,1820
$GC,7210,0.83,146.0,445.8,7.1,415,7214,0.00,2.25,0.00,0.000,6,0.000,0.044,2629,2522,1820
$GC,7534,0.85,163.0,425.1,6.4,423,7551,0.00,0.00,15.02,1.124,6,0.000,0.000,2629,2521,1755
$GC,7859,0.88,184.9,404.4,6.3,431,7884,0.00,2.42,19.52,1.133,4,0.000,0.071,2629,3939,1665
$GC,7907,0.88,184.9,401.0,7.8,432,7911,0.00,2.28,0.00,0.000,6,0.000,0.043,2629,2517,1665
$GC,8236,1.00,214.5,379.6,6.0,447,8268,0.10,2.30,25.60,1.137,4,0.092,0.057,2669,1112,1544
$GC,8325,1.00,214.5,373.2,7.7,451,8329,0.00,2.33,0.00,0.000,6,0.000,0.051,2669,2538,1543
$GC,8656,1.00,214.5,346.4,8.1,467,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2539,1543
$GC,8966,1.00,214.5,322.3,7.8,482,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2539,1542
$GC,9275,1.00,214.5,298.5,7.7,497,9279,0.00,2.30,0.00,0.000,4,0.000,0.058,2669,1109,1542
$GC,9314,1.06,214.5,295.5,8.2,498,9320,0.00,2.25,0.00,0.000,6,0.000,0.051,2669,2526,1542
$GC,9629,1.06,214.5,271.5,7.5,514,9633,0.00,2.30,0.00,0.000,4,0.000,0.071,2669,3937,1542
$GC,9664,1.00,214.5,268.7,8.7,515,9668,0.00,2.22,0.00,0.000,6,0.000,0.043,2669,2505,1542
$GC,9984,1.00,214.5,244.6,7.4,531,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2505,1542
$GC,10294,1.01,224.1,222.9,6.7,546,10308,0.00,2.22,9.18,1.016,4,0.000,0.060,2668,1116,1506
$GC,10338,1.14,247.7,220.0,6.2,548,10363,0.00,2.25,20.70,1.081,6,0.000,0.052,2668,2522,1410
$GC,10686,1.25,262.8,197.2,6.5,565,10709,0.12,2.35,13.65,1.042,4,0.081,0.060,2719,1122,1348
$GC,10732,1.25,262.8,193.5,8.2,567,10736,0.00,2.28,0.00,0.000,6,0.000,0.053,2719,2523,1347
$GC,11064,1.18,262.8,165.6,8.4,583,11069,0.12,2.33,0.00,0.000,4,0.135,0.071,2683,3938,1345
$GC,11097,1.18,262.8,162.7,8.6,584,11101,0.00,2.25,0.00,0.000,6,0.000,0.044,2682,2500,1346
$GC,11419,1.27,281.4,142.3,6.4,600,11442,0.12,2.25,16.17,1.048,4,0.083,0.060,2732,1116,1273
$GC,11498,1.27,281.4,135.5,8.4,603,11502,0.00,2.30,0.00,0.000,6,0.000,0.054,2732,2517,1271
$GC,11820,1.21,281.4,105.4,9.3,619,11821,0.15,0.00,0.00,0.000,6,0.134,0.000,2688,2518,1270
$GC,12148,1.36,325.9,85.2,5.5,667,12190,0.15,0.00,38.08,1.047,6,0.081,0.000,2747,2518,1091
$GC,12527,1.36,325.9,52.3,8.8,734,12533,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2518,1084
$GC,12870,1.36,325.9,22.5,9.1,795,12876,0.00,2.30,0.00,0.000,4,0.000,0.061,2747,1106,1082
$GC,12973,1.44,325.9,14.6,8.5,813,12979,0.00,2.28,0.00,0.000,6,0.000,0.055,2747,2520,1082
$STATE,13134,end climb,SURFACE_DEPTH_REACHED
$STATE,13134,begin surface coast
$FINISH,0.7,1.025417
$STATE,13158,end surface coast,CONTROL_FINISHED_OK
$STATE,13158,begin surface
$SM_CCo,13234,0.00,0.000,0,0,1078,328.95
$SM_GC,1.62,7.12,0.00,0.00,0.067,0.000,0.000,164,2337,1078,-10.38,-0.08,328.95
$RAFOS_CLK,774
$RAFOS,4,1224809057,0.750000,0.738056,74,66,56,54,50,49,217,199,140,173,184,126
$RAFOS,3,1224808441,0.583333,0.566944,62,61,60,59,51,51,137,181,219,115,195,237
$RAFOS,2,1224807870,0.416667,0.408333,60,59,52,51,50,50,158,214,170,134,190,119
$RAFOS,1,1224807258,0.250000,0.238333,70,63,56,52,51,50,217,152,194,171,669,138
$RAFOS,0,1224806650,0.083333,0.069444,75,62,56,55,54,51,561,215,137,202,152,183
$RAFOS_FIX,5454.719727,-2947.647705,241008,000002,3,73,311.23
$IRIDIUM_FIX,6614.97,-6030.83,170198,222200
$TT8_MAMPS,0.027612
$HUMID,1885
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,21.2,43.267
$10V_AH,10.5,18.230
$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,19.425,96.600,422.650,0.000,0.000,52.597,72.163,213.113,0.250,0.000,0.000,14.280,1516.694,9684.860,561.907,1502.153,539.292,33.367,1382.606,0.000,1477.436,1800.000,0.541,0.000
$DEVICE_MAMPS,270.751,79.001,1234.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.050,576.168,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31554,846
$CAP_FILE_SIZE,106642,0
$CFSIZE,260165632,234762240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.9
$GPS,241008,015902,6640.192,-6033.935,49,1.2,49,-38.0