version: 66.04
glider: 113
mission: 4
dive: 220
start: 10 24 108 13 55 27
data:
$ID,113
$MISSION,4
$DIVE,220
$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,-26044.146
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,134910,6639.305,-6022.930,66,1.6,66,-38.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.0
$GPS2,135432,6639.293,-6022.846,9,1.3,9,-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,0.073,0.212
$KALMAN_X,16021.1,192.7,241.7,-145942.5,-835.4
$KALMAN_Y,-20510.1,-50.4,828.9,-9130.1,-2969.6
$MHEAD_RNG_PITCHd_Wd,57.0,24246,-12.9,-7.021
$D_GRID,522
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-108.30,0.000,2,0.000,0.000,165,2331,2807
$GC,130,-1.08,-146.0,3.4,-3.2,19,155,8.90,2.33,-6.97,0.000,4,0.268,0.075,2198,938,3020
$GC,223,-0.49,-146.0,24.8,-20.5,35,230,0.47,2.30,0.00,0.000,6,0.181,0.058,2329,2347,3022
$GC,568,-0.57,-146.0,59.7,-8.4,96,574,0.00,2.30,0.00,0.000,4,0.000,0.060,2329,925,3024
$GC,637,-0.61,-146.0,65.7,-8.6,108,644,0.12,2.30,0.00,0.000,6,0.104,0.056,2286,2354,3023
$GC,981,-0.61,-146.0,92.5,-7.3,169,987,0.00,2.30,0.00,0.000,4,0.000,0.072,2285,3750,3024
$GC,1083,-0.61,-146.0,100.3,-7.8,187,1087,0.00,2.22,0.00,0.000,6,0.000,0.045,2286,2327,3024
$GC,1403,-0.61,-146.0,123.5,-7.1,203,1407,0.00,2.38,0.00,0.000,4,0.000,0.074,2286,3747,3023
$GC,1475,-0.68,-146.0,129.1,-7.9,206,1480,0.00,2.20,0.00,0.000,6,0.000,0.044,2286,2340,3023
$GC,1802,-0.68,-146.0,154.5,-7.6,222,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2340,3023
$GC,2112,-0.74,-146.0,179.1,-7.9,237,2116,0.00,2.25,0.00,0.000,4,0.000,0.059,2286,925,3023
$GC,2240,-0.74,-146.0,190.3,-8.3,242,2247,0.00,2.28,0.00,0.000,6,0.000,0.055,2286,2348,3023
$GC,2556,-0.81,-146.0,213.7,-7.2,258,2561,0.10,2.33,0.00,0.000,4,0.103,0.072,2247,3755,3023
$GC,2644,-0.81,-146.0,221.4,-8.7,262,2649,0.00,2.22,0.00,0.000,6,0.000,0.044,2247,2330,3023
$GC,2971,-0.81,-146.0,248.0,-8.2,278,2975,0.00,2.22,0.00,0.000,4,0.000,0.061,2247,932,3022
$GC,3039,-0.73,-146.0,254.1,-9.6,281,3044,0.12,2.25,0.00,0.000,6,0.177,0.057,2278,2342,3022
$GC,3371,-0.81,-146.0,280.0,-7.6,297,3375,0.00,2.28,0.00,0.000,4,0.000,0.061,2278,932,3022
$GC,3431,-0.81,-146.0,284.8,-7.4,299,3438,0.00,2.28,0.00,0.000,6,0.000,0.056,2278,2348,3022
$GC,3748,-0.90,-146.0,305.9,-6.6,315,3753,0.15,2.33,0.00,0.000,4,0.098,0.073,2227,3749,3022
$GC,3826,-0.86,-146.0,312.5,-9.3,318,3832,0.10,2.20,0.00,0.000,6,0.180,0.045,2251,2340,3022
$GC,4141,-0.86,-146.0,336.7,-7.6,334,4145,0.00,2.35,0.00,0.000,4,0.000,0.073,2251,3749,3022
$GC,4219,-0.86,-146.0,342.7,-7.7,337,4223,0.00,2.20,0.00,0.000,6,0.000,0.044,2250,2334,3022
$GC,4540,-0.86,-146.0,365.9,-7.0,353,4544,0.00,2.35,0.00,0.000,4,0.000,0.074,2250,3745,3022
$GC,4579,-0.92,-146.0,368.8,-7.7,354,4585,0.00,2.20,0.00,0.000,6,0.000,0.044,2250,2339,3022
$GC,4894,-0.92,-146.0,389.5,-6.3,370,4898,0.00,2.35,0.00,0.000,4,0.000,0.072,2251,3750,3022
$GC,4985,-0.98,-146.0,395.1,-5.9,374,4989,0.10,2.22,0.00,0.000,6,0.117,0.044,2217,2325,3022
$GC,5314,-0.91,-146.0,417.6,-6.7,384,5317,0.00,2.38,0.00,0.000,4,0.000,0.072,2217,3749,3022
$GC,5368,-0.91,-146.0,421.7,-7.8,385,5373,0.00,2.22,0.00,0.000,6,0.000,0.044,2217,2345,3021
$GC,5688,-0.84,-146.0,443.3,-6.7,393,5693,0.15,2.35,0.00,0.000,4,0.160,0.071,2257,3746,3022
$GC,5761,-0.95,-146.0,447.6,-5.5,394,5765,0.12,2.20,0.00,0.000,6,0.098,0.044,2213,2338,3022
$GC,6103,-0.89,-146.0,470.9,-6.9,403,6104,0.12,0.00,0.00,0.000,6,0.162,0.000,2245,2338,3022
$GC,6427,-0.89,-146.0,490.0,-6.0,411,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2338,3023
$GC,6752,-0.89,-146.0,509.3,-5.9,419,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2339,3023
$STATE,6993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6993,begin apogee
$GC,6999,-0.34,0.0,523.9,6.0,425,7133,0.38,0.00,130.82,1.234,6,0.143,0.000,2361,2521,2420
$STATE,7133,end apogee,CONTROL_FINISHED_OK
$STATE,7133,begin climb
$GC,7136,1.08,146.0,526.6,0.0,428,7285,1.08,2.65,137.15,1.134,4,0.114,0.054,2667,1127,1824
$GC,7297,1.09,153.3,516.7,6.8,432,7311,0.00,2.55,8.12,0.934,6,0.000,0.051,2667,2528,1795
$GC,7643,0.98,153.3,487.4,8.5,441,7647,0.00,2.40,0.00,0.000,4,0.000,0.067,2668,3940,1792
$GC,7670,0.82,153.3,484.8,10.0,441,7675,0.20,2.30,0.00,0.000,6,0.148,0.042,2613,2522,1792
$GC,8013,0.94,191.3,464.0,5.7,450,8053,0.10,0.00,32.95,1.165,6,0.091,0.000,2653,2521,1639
$GC,8377,0.94,191.3,438.1,7.2,459,8380,0.00,2.28,0.00,0.000,4,0.000,0.057,2653,1110,1637
$GC,8392,0.94,191.3,436.9,7.2,459,8397,0.00,2.30,0.00,0.000,6,0.000,0.051,2653,2541,1636
$GC,8707,0.94,191.3,413.2,7.6,467,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,1636
$GC,9012,0.94,191.3,390.3,7.5,477,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,1636
$GC,9321,0.94,191.3,366.1,8.0,492,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2541,1636
$GC,9630,0.94,191.3,341.5,7.6,507,9634,0.00,2.25,0.00,0.000,4,0.000,0.069,2653,3926,1636
$GC,9680,0.86,191.3,337.3,8.5,509,9685,0.12,2.20,0.00,0.000,6,0.150,0.042,2618,2505,1637
$GC,10002,1.04,227.5,317.9,5.8,525,10035,0.15,0.00,30.73,1.126,6,0.080,0.000,2678,2505,1492
$GC,10330,1.04,227.5,292.2,7.7,541,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2505,1489
$GC,10639,1.05,239.1,270.9,6.6,556,10652,0.00,0.00,10.73,1.025,6,0.000,0.000,2678,2505,1445
$GC,10948,1.08,263.1,251.1,6.2,571,10974,0.00,2.28,21.12,1.081,4,0.000,0.058,2678,1114,1346
$GC,10987,1.16,276.7,248.7,6.6,573,11010,0.00,2.30,12.65,1.002,6,0.000,0.051,2678,2526,1292
$GC,11318,1.24,283.1,226.9,6.8,589,11332,0.10,2.38,6.47,0.903,4,0.090,0.058,2720,1108,1266
$GC,11377,1.24,283.1,221.8,8.7,591,11383,0.00,2.28,0.00,0.000,6,0.000,0.052,2720,2522,1265
$GC,11692,1.18,283.1,191.6,9.7,607,11697,0.12,2.28,0.00,0.000,4,0.135,0.058,2683,1119,1263
$GC,11754,1.29,283.1,186.6,7.7,610,11758,0.12,2.25,0.00,0.000,6,0.080,0.053,2732,2531,1263
$GC,12086,1.21,283.1,153.0,10.1,626,12090,0.12,2.28,0.00,0.000,4,0.137,0.058,2695,1120,1263
$GC,12118,1.28,283.1,149.9,8.0,627,12125,0.00,2.25,0.00,0.000,6,0.000,0.053,2695,2532,1263
$GC,12434,1.28,283.1,123.5,8.3,643,12438,0.00,2.25,0.00,0.000,4,0.000,0.058,2695,1119,1263
$GC,12460,1.37,283.1,121.4,7.8,644,12465,0.15,2.22,0.00,0.000,6,0.083,0.053,2755,2521,1262
$GC,12784,1.25,283.1,89.0,9.6,673,12791,0.17,2.28,0.00,0.000,4,0.143,0.059,2704,1110,1262
$GC,12798,1.15,283.1,87.9,9.3,675,12804,0.00,2.25,0.00,0.000,6,0.000,0.053,2704,2525,1263
$GC,13142,1.23,302.3,64.8,6.4,736,13166,0.00,2.30,17.35,1.025,4,0.000,0.058,2704,1112,1186
$GC,13189,1.36,329.6,61.8,6.1,744,13220,0.10,2.28,24.17,1.003,6,0.094,0.052,2744,2522,1076
$GC,13559,1.44,329.6,33.2,7.2,809,13566,0.00,2.30,0.00,0.000,4,0.000,0.060,2745,1112,1068
$GC,13663,1.53,329.6,25.6,7.4,827,13670,0.10,2.28,0.00,0.000,6,0.091,0.054,2785,2526,1068
$STATE,13937,end climb,SURFACE_DEPTH_REACHED
$STATE,13937,begin surface coast
$FINISH,0.7,1.025189
$STATE,13961,end surface coast,CONTROL_FINISHED_OK
$STATE,13961,begin surface
$SM_CCo,14037,0.00,0.000,0,0,1065,332.63
$SM_GC,1.56,7.35,0.00,0.00,0.073,0.000,0.000,156,2334,1065,-10.41,-0.17,332.63
$RAFOS_CLK,803
$RAFOS,4,1224866648,16.750000,16.735556,58,57,55,54,54,54,123,192,144,178,164,204
$RAFOS,3,1224866052,16.583334,16.570000,61,58,54,51,51,49,216,151,184,115,726,140
$RAFOS,2,1224865454,16.416666,16.403889,62,60,58,57,55,52,210,196,922,134,230,162
$RAFOS,1,1224864861,16.250000,16.239166,72,65,54,53,53,49,173,216,125,188,152,227
$RAFOS,0,1224864252,16.083334,16.070000,85,62,62,56,52,51,532,222,205,153,171,523
$RAFOS_FIX,46528.609375,585015.750000,241008,161640,2,78,22138.12
$IRIDIUM_FIX,6609.62,-6031.45,180198,101047
$TT8_MAMPS,0.027612
$HUMID,1872
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,21.2,43.861
$10V_AH,10.5,18.474
$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,20.850,119.725,432.275,0.000,0.000,22.797,31.789,157.378,0.500,0.000,0.000,11.047,1595.837,10170.649,617.958,1593.674,415.986,33.369,1480.872,0.000,1581.190,1800.000,0.533,0.000
$DEVICE_MAMPS,268.450,78.234,1234.103,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.292,599.781,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31516,880
$CAP_FILE_SIZE,115061,0
$CFSIZE,260165632,234524672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.6
$GPS,241008,175108,6639.172,-6021.154,26,1.3,26,-37.9