version: 66.04
glider: 113
mission: 4
dive: 219
start: 10 24 108 9 57 22
data:
$ID,113
$MISSION,4
$DIVE,219
$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,-26032.471
$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,30
$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
$GPS1,095114,6638.425,-6026.356,32,1.6,38,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.6
$GPS2,095627,6638.424,-6026.484,13,1.6,13,-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,0.170,0.146
$KALMAN_X,15891.9,533.7,-157.1,-148398.2,-721.1
$KALMAN_Y,-18536.4,-1529.4,840.8,-11242.0,-865.6
$MHEAD_RNG_PITCHd_Wd,87.2,27342,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,144,0.00,0.00,-125.57,0.000,2,0.000,0.000,166,2351,2835
$GC,147,-1.08,-146.0,3.7,-3.7,22,167,8.93,2.40,-5.82,0.000,4,0.272,0.081,2192,3750,3019
$GC,375,-0.70,-146.0,47.4,-13.2,62,382,0.32,2.25,0.00,0.000,6,0.174,0.047,2282,2327,3023
$GC,720,-0.65,-146.0,81.5,-9.1,123,726,0.00,2.22,0.00,0.000,4,0.000,0.060,2282,932,3023
$GC,761,-0.57,-146.0,85.4,-9.6,130,767,0.12,2.28,0.00,0.000,6,0.165,0.055,2314,2349,3024
$GC,1108,-0.66,-146.0,111.5,-7.7,173,1113,0.10,2.30,0.00,0.000,4,0.107,0.072,2277,3751,3023
$GC,1140,-0.66,-146.0,114.4,-8.9,174,1145,0.00,2.22,0.00,0.000,6,0.000,0.044,2276,2345,3023
$GC,1461,-0.66,-146.0,142.0,-8.6,190,1465,0.00,2.33,0.00,0.000,4,0.000,0.072,2277,3745,3024
$GC,1488,-0.66,-146.0,144.4,-8.6,191,1492,0.00,2.20,0.00,0.000,6,0.000,0.045,2277,2337,3023
$GC,1814,-0.66,-146.0,170.3,-7.9,207,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2337,3023
$GC,2124,-0.66,-146.0,193.3,-7.5,222,2128,0.00,2.22,0.00,0.000,4,0.000,0.061,2277,935,3023
$GC,2179,-0.66,-146.0,197.7,-7.5,224,2183,0.00,2.25,0.00,0.000,6,0.000,0.055,2277,2344,3023
$GC,2500,-0.66,-146.0,219.5,-6.9,240,2504,0.00,2.33,0.00,0.000,4,0.000,0.074,2277,3752,3023
$GC,2528,-0.72,-146.0,221.7,-7.7,241,2532,0.00,2.22,0.00,0.000,6,0.000,0.045,2277,2329,3023
$GC,2855,-0.77,-146.0,245.3,-7.5,257,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2329,3023
$GC,3164,-0.83,-146.0,269.0,-7.7,272,3168,0.08,2.35,0.00,0.000,4,0.125,0.073,2246,3745,3022
$GC,3252,-0.83,-146.0,276.6,-8.4,276,3256,0.00,2.20,0.00,0.000,6,0.000,0.046,2246,2339,3022
$GC,3579,-0.83,-146.0,300.7,-7.0,292,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2338,3022
$GC,3888,-0.83,-146.0,321.9,-6.9,307,3892,0.00,2.25,0.00,0.000,4,0.000,0.060,2246,926,3022
$GC,3982,-0.83,-146.0,329.2,-7.8,311,3986,0.00,2.28,0.00,0.000,6,0.000,0.055,2246,2345,3021
$GC,4309,-0.83,-146.0,353.1,-7.6,327,4313,0.00,2.33,0.00,0.000,4,0.000,0.074,2246,3752,3021
$GC,4335,-0.83,-146.0,355.3,-7.4,328,4340,0.00,2.25,0.00,0.000,6,0.000,0.044,2246,2335,3021
$GC,4662,-0.83,-146.0,379.0,-7.0,344,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2336,3021
$GC,4972,-0.83,-146.0,399.5,-6.3,359,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2336,3021
$GC,5276,-0.83,-146.0,419.8,-6.6,367,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2336,3021
$GC,5601,-0.83,-146.0,440.3,-6.3,375,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2336,3022
$GC,5926,-0.83,-146.0,459.9,-6.1,383,5930,0.00,2.35,0.00,0.000,4,0.000,0.071,2246,3749,3022
$GC,5972,-0.90,-146.0,462.9,-6.4,384,5976,0.00,2.20,0.00,0.000,6,0.000,0.044,2246,2337,3022
$GC,6302,-0.90,-146.0,483.1,-6.1,392,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2336,3023
$GC,6627,-0.95,-146.0,504.0,-6.5,400,6631,0.00,2.35,0.00,0.000,4,0.000,0.071,2246,3752,3023
$GC,6655,-1.02,-146.0,506.0,-7.0,400,6659,0.12,2.22,0.00,0.000,6,0.103,0.044,2202,2324,3023
$STATE,6709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6709,begin apogee
$GC,6715,-0.34,0.0,510.4,8.0,402,6848,0.52,0.00,130.55,1.231,6,0.147,0.000,2360,2522,2420
$STATE,6849,end apogee,CONTROL_FINISHED_OK
$STATE,6849,begin climb
$GC,6851,1.08,146.0,513.6,0.0,405,6994,1.05,2.75,134.23,1.138,4,0.114,0.070,2665,3930,1824
$GC,7029,0.86,146.0,501.5,9.7,409,7034,0.17,2.45,0.00,0.000,6,0.144,0.041,2622,2525,1822
$GC,7347,0.86,147.5,479.5,7.0,417,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2524,1820
$GC,7673,0.87,151.5,457.2,6.9,425,7683,0.00,2.38,5.75,0.917,4,0.000,0.071,2622,3930,1802
$GC,7716,0.87,151.5,453.8,8.2,426,7720,0.00,2.28,0.00,0.000,6,0.000,0.043,2622,2515,1802
$GC,8041,0.94,172.9,433.2,6.3,434,8062,0.00,0.00,19.35,1.143,6,0.000,0.000,2622,2515,1715
$GC,8366,1.06,200.1,413.1,6.1,442,8393,0.15,0.00,23.80,1.145,6,0.081,0.000,2679,2515,1604
$GC,8672,0.99,200.1,387.8,8.2,453,8674,0.12,0.00,0.00,0.000,6,0.136,0.000,2643,2515,1602
$GC,8982,1.06,218.4,367.2,6.4,468,9005,0.10,2.33,16.35,1.108,4,0.094,0.058,2682,1117,1529
$GC,9050,1.06,218.4,361.9,8.2,471,9055,0.00,2.28,0.00,0.000,6,0.000,0.052,2682,2525,1528
$GC,9377,1.00,218.4,334.6,8.5,487,9379,0.12,0.00,0.00,0.000,6,0.143,0.000,2647,2525,1527
$GC,9687,1.07,218.4,312.7,7.1,502,9690,0.00,2.28,0.00,0.000,4,0.000,0.057,2647,1108,1527
$GC,9737,1.17,218.4,309.1,7.2,504,9741,0.15,2.25,0.00,0.000,6,0.083,0.051,2705,2525,1527
$GC,10063,1.07,218.4,278.7,9.5,520,10068,0.15,2.30,0.00,0.000,4,0.137,0.068,2661,3937,1527
$GC,10118,1.02,218.4,273.7,9.0,522,10124,0.00,2.20,0.00,0.000,6,0.000,0.043,2661,2516,1528
$GC,10433,1.02,218.4,250.4,7.2,538,10437,0.00,2.22,0.00,0.000,4,0.000,0.057,2661,1109,1528
$GC,10462,1.12,221.0,248.5,6.9,539,10471,0.00,2.25,3.78,0.712,6,0.000,0.051,2661,2529,1519
$GC,10788,1.22,253.3,228.3,5.9,555,10818,0.15,0.00,27.83,1.095,6,0.075,0.000,2721,2530,1387
$GC,11118,1.14,253.3,197.6,9.6,571,11119,0.15,0.00,0.00,0.000,6,0.131,0.000,2678,2530,1383
$GC,11426,1.19,253.3,173.4,7.5,586,11430,0.00,2.28,0.00,0.000,4,0.000,0.058,2677,1116,1383
$GC,11449,1.28,254.3,171.9,7.0,587,11454,0.12,2.25,0.00,0.000,6,0.085,0.052,2725,2530,1384
$GC,11782,1.20,254.3,142.4,8.8,603,11787,0.12,2.28,0.00,0.000,4,0.137,0.058,2690,1119,1383
$GC,11809,1.25,254.3,140.2,7.3,604,11813,0.00,2.25,0.00,0.000,6,0.000,0.053,2690,2529,1383
$GC,12129,1.25,254.3,116.4,7.5,620,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2529,1383
$GC,12447,1.32,271.8,93.7,6.4,647,12466,0.12,0.00,16.17,1.029,6,0.081,0.000,2745,2529,1311
$GC,12804,1.23,271.8,63.4,8.5,710,12811,0.15,2.33,0.00,0.000,4,0.137,0.072,2701,3939,1308
$GC,12840,1.17,271.8,60.5,7.8,716,12846,0.00,2.22,0.00,0.000,6,0.000,0.045,2701,2518,1308
$GC,13183,1.38,271.8,37.0,7.4,777,13190,0.12,2.25,0.00,0.000,4,0.085,0.059,2750,1110,1308
$GC,13208,1.54,276.9,35.3,6.8,781,13220,0.00,2.28,5.18,0.818,6,0.000,0.054,2750,2532,1291
$GC,13557,1.54,276.9,10.0,7.3,843,13564,0.00,2.30,0.00,0.000,4,0.000,0.073,2750,3934,1289
$STATE,13652,end climb,SURFACE_DEPTH_REACHED
$STATE,13652,begin surface coast
$FINISH,0.7,1.016074
$STATE,13681,end surface coast,CONTROL_FINISHED_OK
$STATE,13681,begin surface
$SM_CCo,13760,0.00,0.000,0,0,1288,277.68
$SM_GC,1.50,7.10,0.00,0.00,0.064,0.000,0.000,165,2333,1288,-10.38,-0.20,277.68
$RAFOS_CLK,789
$RAFOS,4,1224852261,12.750000,12.739166,99,80,57,56,53,52,779,201,123,159,214,114
$RAFOS,3,1224851658,12.583333,12.571667,75,60,59,58,51,51,688,191,156,218,135,1813
$RAFOS,2,1224851056,12.416667,12.404445,70,61,59,58,57,53,211,128,903,161,221,240
$RAFOS,1,1224850443,12.250000,12.234167,67,60,59,55,51,50,173,214,118,191,757,224
$RAFOS,0,1224849871,12.083333,12.075277,63,55,53,53,52,52,213,182,148,167,158,223
$RAFOS_FIX,6332.147949,-5243.861328,241008,121254,3,81,53.80
$IRIDIUM_FIX,6609.62,-6028.78,180198,060659
$TT8_MAMPS,0.028379
$HUMID,1889
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,21.2,43.709
$10V_AH,10.5,18.412
$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,20.275,101.250,382.975,0.000,0.000,30.280,35.306,126.558,0.250,0.000,0.000,15.124,1570.399,10088.664,525.050,1532.976,394.441,33.368,1361.647,0.000,1516.552,1800.000,0.536,0.000
$DEVICE_MAMPS,271.518,81.302,1231.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.915,590.426,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31557,865
$CAP_FILE_SIZE,109017,0
$CFSIZE,260165632,234586112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.9
$GPS,241008,134910,6639.305,-6022.930,66,1.6,66,-38.0