version: 66.04
glider: 113
mission: 4
dive: 218
start: 10 24 108 6 3 51
data:
$ID,113
$MISSION,4
$DIVE,218
$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,-26016.719
$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,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
$GPS1,055733,6638.159,-6030.135,38,2.0,39,-37.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-59.9
$GPS2,060257,6638.012,-6030.134,34,1.3,34,-37.9
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.219,0.049
$KALMAN_X,15934.0,540.0,259.5,-151510.5,-1528.6
$KALMAN_Y,-16246.9,-1491.8,-1542.1,-11949.5,365.6
$MHEAD_RNG_PITCHd_Wd,115.2,29968,-12.9,-7.021
$D_GRID,501
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-120.38,0.000,2,0.000,0.000,166,2334,2802
$GC,142,-1.08,-146.0,3.1,-2.5,21,167,8.85,2.33,-8.05,0.000,4,0.268,0.073,2198,932,3019
$GC,330,-0.59,-146.0,39.7,-13.8,54,337,0.40,2.30,0.00,0.000,6,0.179,0.058,2310,2347,3022
$GC,675,-0.59,-146.0,70.2,-8.3,115,681,0.00,2.30,0.00,0.000,4,0.000,0.061,2311,926,3023
$GC,917,-0.59,-146.0,90.0,-7.7,158,923,0.00,2.28,0.00,0.000,6,0.000,0.056,2311,2341,3023
$GC,1246,-0.67,-146.0,113.9,-7.5,192,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2341,3023
$GC,1554,-0.77,-146.0,137.1,-7.6,207,1558,0.15,2.33,0.00,0.000,4,0.091,0.073,2256,3748,3023
$GC,1575,-0.77,-146.0,139.1,-8.8,208,1579,0.00,2.22,0.00,0.000,6,0.000,0.045,2256,2324,3023
$GC,1902,-0.71,-146.0,169.6,-9.1,224,1907,0.10,2.38,0.00,0.000,4,0.179,0.072,2281,3756,3023
$GC,1928,-0.71,-146.0,172.1,-8.4,225,1933,0.00,2.22,0.00,0.000,6,0.000,0.046,2281,2341,3023
$GC,2251,-0.75,-146.0,196.3,-7.1,241,2254,0.00,2.25,0.00,0.000,4,0.000,0.061,2281,929,3023
$GC,2261,-0.75,-146.0,197.1,-6.9,241,2265,0.00,2.28,0.00,0.000,6,0.000,0.056,2281,2345,3022
$GC,2582,-0.81,-146.0,218.6,-6.7,257,2586,0.00,2.28,0.00,0.000,4,0.000,0.060,2281,934,3022
$GC,2666,-0.81,-146.0,224.7,-7.2,260,2672,0.00,2.28,0.00,0.000,6,0.000,0.056,2281,2350,3022
$GC,2982,-0.87,-146.0,244.9,-6.3,276,2984,0.12,0.00,0.00,0.000,6,0.100,0.000,2236,2350,3022
$GC,3291,-0.80,-146.0,271.1,-8.8,291,3295,0.10,2.30,0.00,0.000,4,0.173,0.061,2259,926,3021
$GC,3329,-0.80,-146.0,274.7,-8.8,292,3335,0.00,2.28,0.00,0.000,6,0.000,0.056,2259,2343,3022
$GC,3644,-0.80,-146.0,297.8,-6.9,308,3648,0.00,2.28,0.00,0.000,4,0.000,0.062,2259,935,3021
$GC,3705,-0.80,-146.0,302.2,-6.6,310,3712,0.00,2.28,0.00,0.000,6,0.000,0.057,2259,2351,3021
$GC,4021,-0.80,-146.0,322.2,-6.2,326,4025,0.00,2.33,0.00,0.000,4,0.000,0.074,2259,3756,3021
$GC,4044,-0.85,-146.0,323.6,-6.0,327,4048,0.00,2.22,0.00,0.000,6,0.000,0.044,2260,2331,3021
$GC,4377,-0.90,-146.0,344.9,-6.5,343,4381,0.00,2.38,0.00,0.000,4,0.000,0.074,2259,3756,3021
$GC,4410,-0.97,-146.0,347.1,-7.2,344,4414,0.12,2.22,0.00,0.000,6,0.109,0.045,2217,2333,3021
$GC,4730,-0.89,-146.0,371.6,-7.7,360,4735,0.10,2.35,0.00,0.000,4,0.164,0.074,2242,3746,3021
$GC,4774,-0.89,-146.0,374.8,-7.1,362,4778,0.00,2.20,0.00,0.000,6,0.000,0.044,2242,2337,3021
$GC,5100,-0.89,-146.0,396.3,-6.5,378,5104,0.00,2.35,0.00,0.000,4,0.000,0.073,2242,3748,3021
$GC,5139,-0.89,-146.0,399.0,-6.9,379,5145,0.00,2.20,0.00,0.000,6,0.000,0.044,2242,2338,3021
$GC,5451,-0.89,-146.0,419.7,-6.8,388,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2339,3021
$GC,5775,-0.89,-146.0,443.5,-7.5,396,5778,0.00,2.35,0.00,0.000,4,0.000,0.071,2242,3748,3022
$GC,5836,-0.95,-146.0,448.2,-7.7,397,5839,0.00,2.20,0.00,0.000,6,0.000,0.044,2242,2337,3022
$GC,6149,-0.99,-146.0,470.8,-7.1,405,6153,0.00,2.35,0.00,0.000,4,0.000,0.071,2242,3753,3022
$GC,6165,-1.04,-146.0,472.0,-7.0,405,6170,0.12,2.22,0.00,0.000,6,0.098,0.043,2199,2324,3022
$GC,6478,-0.94,-146.0,497.8,-8.0,413,6482,0.12,2.40,0.00,0.000,4,0.163,0.071,2231,3758,3022
$GC,6510,-0.94,-146.0,500.1,-6.3,413,6516,0.00,2.22,0.00,0.000,6,0.000,0.043,2231,2327,3022
$STATE,6555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6555,begin apogee
$GC,6561,-0.34,0.0,503.3,6.9,415,6694,0.43,0.00,130.20,1.232,6,0.144,0.000,2363,2526,2420
$STATE,6695,end apogee,CONTROL_FINISHED_OK
$STATE,6695,begin climb
$GC,6697,1.08,146.0,506.8,0.0,418,6842,1.05,0.00,135.77,1.128,6,0.115,0.000,2666,2526,1824
$GC,7146,0.97,146.0,473.5,7.4,429,7150,0.00,2.42,0.00,0.000,4,0.000,0.071,2666,3936,1820
$GC,7207,0.75,146.0,468.0,9.7,430,7213,0.25,2.28,0.00,0.000,6,0.141,0.043,2597,2526,1820
$GC,7521,0.95,206.3,452.4,5.0,438,7577,0.15,2.38,50.70,1.168,4,0.076,0.055,2654,1110,1578
$GC,7624,0.96,216.0,445.6,6.7,440,7638,0.00,2.40,9.73,1.002,6,0.000,0.051,2654,2528,1539
$GC,7975,0.96,216.0,420.1,7.3,449,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2528,1537
$GC,8280,0.96,216.0,396.7,7.6,457,8284,0.00,2.28,0.00,0.000,4,0.000,0.056,2654,1113,1537
$GC,8326,1.02,216.0,393.4,7.8,459,8330,0.00,2.25,0.00,0.000,6,0.000,0.051,2654,2522,1537
$GC,8658,1.03,221.3,369.4,6.8,475,8665,0.00,0.00,5.97,0.927,6,0.000,0.000,2654,2522,1517
$GC,8968,1.04,228.1,348.1,6.8,490,8977,0.00,0.00,7.30,0.978,6,0.000,0.000,2654,2522,1490
$GC,9276,1.07,249.0,328.3,6.3,505,9301,0.00,2.35,18.62,1.106,4,0.000,0.056,2654,1116,1405
$GC,9335,1.20,266.1,324.4,6.4,507,9357,0.15,2.28,16.00,1.062,6,0.080,0.051,2713,2523,1334
$GC,9670,1.11,266.1,292.6,10.1,523,9675,0.15,2.30,0.00,0.000,4,0.136,0.056,2669,1105,1332
$GC,9731,1.21,266.1,287.2,7.4,526,9736,0.12,2.28,0.00,0.000,6,0.084,0.051,2718,2528,1332
$GC,10058,1.13,266.1,257.1,8.9,542,10063,0.15,2.30,0.00,0.000,4,0.130,0.068,2674,3940,1332
$GC,10085,1.13,266.1,254.7,8.3,543,10089,0.00,2.22,0.00,0.000,6,0.000,0.043,2673,2508,1331
$GC,10406,1.20,266.1,231.2,7.6,559,10411,0.08,2.20,0.00,0.000,4,0.103,0.057,2709,1115,1331
$GC,10501,1.20,266.1,223.0,8.3,563,10505,0.00,2.25,0.00,0.000,6,0.000,0.052,2709,2535,1331
$GC,10827,1.20,266.1,193.8,9.2,579,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2535,1331
$GC,11137,1.20,266.1,165.1,9.1,594,11141,0.00,2.28,0.00,0.000,4,0.000,0.058,2708,1105,1330
$GC,11175,1.20,266.1,161.7,8.3,595,11182,0.00,2.28,0.00,0.000,6,0.000,0.052,2708,2541,1330
$GC,11491,1.20,266.1,137.1,7.4,611,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2541,1330
$GC,11801,1.20,266.1,114.2,7.3,626,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2541,1330
$GC,12119,1.20,266.1,90.4,7.6,656,12125,0.00,2.30,0.00,0.000,4,0.000,0.059,2708,1109,1329
$GC,12204,1.25,266.1,83.9,7.6,671,12211,0.00,2.25,0.00,0.000,6,0.000,0.054,2708,2523,1330
$GC,12548,1.25,266.1,58.4,7.7,732,12554,0.00,2.28,0.00,0.000,4,0.000,0.060,2708,1108,1329
$GC,12600,1.34,266.1,54.6,7.1,741,12606,0.00,2.25,0.00,0.000,6,0.000,0.054,2708,2521,1329
$GC,12944,1.45,282.2,33.1,6.5,802,12964,0.15,2.38,13.93,1.004,4,0.078,0.071,2772,3930,1268
$GC,13056,1.27,282.2,24.1,9.2,821,13063,0.22,2.22,0.00,0.000,6,0.146,0.046,2708,2522,1266
$GC,13401,1.45,333.2,5.6,5.3,882,13454,0.15,2.40,43.30,1.002,4,0.078,0.059,2771,1109,1059
$STATE,13458,end climb,SURFACE_DEPTH_REACHED
$STATE,13458,begin surface coast
$FINISH,0.7,1.016038
$STATE,13482,end surface coast,CONTROL_FINISHED_OK
$STATE,13482,begin surface
$SM_CCo,13561,0.00,0.000,0,0,1053,335.33
$SM_GC,1.59,7.53,0.00,0.00,0.074,0.000,0.000,166,2344,1053,-10.37,0.14,335.33
$RAFOS_CLK,777
$RAFOS,4,1224837854,8.750000,8.737223,65,63,58,55,54,53,820,208,218,114,127,184
$RAFOS,3,1224837257,8.583333,8.571389,75,62,60,59,58,53,698,190,215,204,145,118
$RAFOS,2,1224836659,8.416667,8.405278,65,61,58,58,53,51,211,187,156,174,118,139
$RAFOS,1,1224836041,8.250000,8.233611,55,54,49,48,48,47,219,195,767,182,1913,141
$RAFOS,0,1224835442,8.083333,8.067223,63,62,59,59,58,58,217,203,114,165,148,191
$RAFOS_FIX,5454.719727,-2947.647705,241008,000002,3,73,311.23
$IRIDIUM_FIX,6614.97,-6033.50,180198,020230
$TT8_MAMPS,0.027612
$HUMID,1893
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,21.2,43.574
$10V_AH,10.5,18.353
$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,20.775,123.750,431.525,0.000,0.000,23.176,31.255,134.131,0.000,0.000,0.000,36.440,1584.457,9682.732,575.782,1644.937,398.900,33.368,1482.972,0.000,1604.845,1800.000,0.527,0.000
$DEVICE_MAMPS,267.683,75.933,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.144,609.939,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31561,896
$CAP_FILE_SIZE,115899,0
$CFSIZE,260165632,234635264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.4
$GPS,241008,095114,6638.425,-6026.356,32,1.6,38,-37.9