version: 66.04
glider: 113
mission: 4
dive: 221
start: 10 24 108 17 57 23
data:
$ID,113
$MISSION,4
$DIVE,221
$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,-26075.789
$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,31
$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
$GPS1,175108,6639.172,-6021.154,26,1.3,26,-37.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.1
$GPS2,175629,6639.084,-6021.068,9,2.3,28,-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,0.183,0.129
$KALMAN_X,16484.4,-122.6,305.5,-144863.7,-686.5
$KALMAN_Y,-23116.0,1437.4,-1591.6,-5972.5,-281.9
$MHEAD_RNG_PITCHd_Wd,92.7,23449,-12.9,-7.021
$D_GRID,526
$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,-146.0,0.0,0.0,0,142,0.00,0.00,-124.07,0.000,2,0.000,0.000,156,2331,2798
$GC,145,-1.08,-146.0,3.1,-2.3,22,170,8.98,2.33,-7.65,0.000,4,0.272,0.074,2198,936,3019
$GC,307,-0.59,-146.0,36.0,-18.5,50,314,0.38,2.30,0.00,0.000,6,0.183,0.058,2302,2353,3022
$GC,652,-0.59,-146.0,67.8,-8.4,111,658,0.00,2.30,0.00,0.000,4,0.000,0.059,2302,926,3023
$GC,827,-0.59,-146.0,82.0,-7.5,142,833,0.00,2.28,0.00,0.000,6,0.000,0.056,2302,2343,3023
$GC,1174,-0.65,-146.0,105.5,-6.6,193,1178,0.00,2.30,0.00,0.000,4,0.000,0.071,2302,3746,3023
$GC,1213,-0.75,-146.0,108.3,-7.0,194,1220,0.12,2.20,0.00,0.000,6,0.103,0.043,2258,2336,3023
$GC,1529,-0.68,-146.0,136.9,-9.7,210,1534,0.12,2.35,0.00,0.000,4,0.167,0.071,2289,3750,3023
$GC,1573,-0.75,-146.0,140.8,-9.0,212,1576,0.00,2.20,0.00,0.000,6,0.000,0.044,2289,2335,3023
$GC,1899,-0.80,-146.0,167.6,-8.2,228,1904,0.10,2.22,0.00,0.000,4,0.119,0.058,2249,936,3023
$GC,1961,-0.69,-146.0,173.6,-10.2,231,1966,0.15,2.25,0.00,0.000,6,0.176,0.056,2287,2351,3023
$GC,2293,-0.76,-146.0,198.0,-6.7,247,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2350,3023
$GC,2603,-0.84,-146.0,218.0,-6.5,262,2608,0.12,2.30,0.00,0.000,4,0.110,0.059,2244,929,3022
$GC,2680,-0.74,-146.0,224.5,-8.5,265,2687,0.12,2.28,0.00,0.000,6,0.179,0.057,2274,2343,3022
$GC,2996,-0.78,-146.0,246.1,-6.9,281,3000,0.00,2.33,0.00,0.000,4,0.000,0.074,2274,3749,3022
$GC,3036,-0.87,-146.0,248.8,-7.0,282,3042,0.12,2.22,0.00,0.000,6,0.110,0.045,2231,2327,3022
$GC,3351,-0.79,-146.0,274.4,-8.0,298,3353,0.12,0.00,0.00,0.000,6,0.167,0.000,2263,2327,3022
$GC,3661,-0.79,-146.0,293.6,-6.0,313,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2327,3022
$GC,3969,-0.79,-146.0,312.0,-5.9,328,3973,0.00,2.22,0.00,0.000,4,0.000,0.061,2263,931,3021
$GC,4030,-0.79,-146.0,316.0,-6.1,330,4037,0.00,2.28,0.00,0.000,6,0.000,0.055,2263,2352,3021
$GC,4347,-0.85,-146.0,334.2,-5.6,346,4351,0.00,2.30,0.00,0.000,4,0.000,0.072,2263,3749,3021
$GC,4370,-0.93,-146.0,335.5,-5.5,347,4374,0.12,2.20,0.00,0.000,6,0.104,0.044,2221,2339,3021
$GC,4702,-0.86,-146.0,358.6,-6.7,363,4707,0.12,2.35,0.00,0.000,4,0.164,0.071,2254,3754,3021
$GC,4724,-0.86,-146.0,360.1,-6.3,364,4728,0.00,2.22,0.00,0.000,6,0.000,0.044,2254,2330,3021
$GC,5050,-0.86,-146.0,379.0,-6.0,380,5054,0.00,2.38,0.00,0.000,4,0.000,0.073,2254,3755,3021
$GC,5146,-0.94,-146.0,385.2,-6.6,384,5149,0.00,2.22,0.00,0.000,6,0.000,0.044,2254,2330,3020
$GC,5472,-0.99,-146.0,405.5,-6.3,398,5474,0.12,0.00,0.00,0.000,6,0.104,0.000,2210,2330,3021
$GC,5796,-0.90,-146.0,431.4,-7.9,406,5798,0.12,0.00,0.00,0.000,6,0.161,0.000,2242,2330,3021
$GC,6121,-0.90,-146.0,453.3,-6.7,414,6124,0.00,2.38,0.00,0.000,4,0.000,0.071,2242,3757,3022
$GC,6160,-0.96,-146.0,456.0,-6.9,414,6166,0.00,2.22,0.00,0.000,6,0.000,0.043,2243,2330,3023
$GC,6491,-0.96,-146.0,476.5,-6.1,423,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2330,3022
$GC,6816,-1.01,-146.0,497.2,-6.4,431,6821,0.12,2.38,0.00,0.000,4,0.102,0.071,2193,3754,3023
$GC,6934,-0.91,-146.0,506.7,-7.4,433,6938,0.17,2.20,0.00,0.000,6,0.156,0.042,2240,2340,3023
$STATE,7262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7262,begin apogee
$GC,7268,-0.34,0.0,528.3,6.3,441,7401,0.40,0.00,130.65,1.236,6,0.145,0.000,2363,2521,2420
$STATE,7402,end apogee,CONTROL_FINISHED_OK
$STATE,7402,begin climb
$GC,7405,1.08,146.0,530.8,0.0,444,7551,1.08,0.00,136.95,1.137,6,0.110,0.000,2674,2520,1824
$GC,7871,0.95,146.0,494.7,8.2,456,7875,0.12,2.42,0.00,0.000,4,0.150,0.068,2641,3942,1820
$GC,7988,0.82,146.0,484.6,8.3,458,7993,0.10,2.30,0.00,0.000,6,0.163,0.042,2615,2513,1820
$GC,8324,0.94,188.4,465.1,5.6,467,8366,0.10,2.40,35.75,1.170,4,0.091,0.056,2653,1110,1652
$GC,8383,0.96,199.6,461.2,6.6,468,8399,0.00,2.35,11.15,1.040,6,0.000,0.051,2653,2524,1606
$GC,8730,0.96,199.6,435.2,7.6,477,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2524,1604
$GC,9054,0.96,199.6,410.2,7.8,485,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2524,1604
$GC,9361,0.96,199.6,387.2,7.2,496,9365,0.00,2.28,0.00,0.000,4,0.000,0.056,2653,1105,1604
$GC,9401,0.96,199.6,384.4,7.5,497,9408,0.00,2.25,0.00,0.000,6,0.000,0.051,2653,2522,1603
$GC,9716,0.96,199.6,359.7,8.0,513,9720,0.00,2.28,0.00,0.000,4,0.000,0.069,2654,3927,1603
$GC,9777,0.88,199.6,354.0,9.2,515,9784,0.10,2.20,0.00,0.000,6,0.161,0.043,2627,2507,1603
$GC,10093,1.00,210.3,332.8,6.7,531,10109,0.10,2.22,10.27,1.050,4,0.093,0.056,2666,1111,1561
$GC,10147,1.00,210.3,328.1,8.8,532,10154,0.00,2.25,0.00,0.000,6,0.000,0.051,2667,2525,1561
$GC,10463,1.00,210.3,302.2,7.9,548,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2525,1560
$GC,10772,1.00,210.3,278.2,7.6,563,10776,0.00,2.25,0.00,0.000,4,0.000,0.056,2667,1117,1560
$GC,10795,1.00,210.3,276.6,7.3,564,10798,0.00,2.22,0.00,0.000,6,0.000,0.051,2667,2524,1560
$GC,11126,1.00,210.3,252.5,7.1,580,11130,0.00,2.28,0.00,0.000,4,0.000,0.068,2667,3929,1560
$GC,11187,0.95,210.3,247.6,8.3,582,11194,0.10,2.20,0.00,0.000,6,0.162,0.042,2640,2508,1560
$GC,11503,1.12,263.4,230.3,5.2,598,11554,0.12,2.35,44.00,1.093,4,0.084,0.057,2691,1116,1345
$GC,11604,1.12,263.4,222.7,8.0,602,11610,0.00,2.30,0.00,0.000,6,0.000,0.051,2691,2521,1343
$GC,11919,1.12,263.4,196.1,8.6,618,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2520,1342
$GC,12228,1.12,263.4,170.2,8.1,633,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2520,1342
$GC,12538,1.12,263.4,146.6,7.6,648,12539,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2520,1341
$GC,12847,1.12,263.4,124.0,7.2,663,12851,0.00,2.25,0.00,0.000,4,0.000,0.058,2691,1119,1340
$GC,12892,1.20,263.4,120.7,7.5,665,12896,0.00,2.22,0.00,0.000,6,0.000,0.051,2691,2523,1340
$GC,13213,1.26,263.4,96.1,7.4,687,13219,0.00,2.25,0.00,0.000,4,0.000,0.058,2691,1119,1340
$GC,13242,1.34,263.4,94.0,7.1,692,13249,0.12,2.22,0.00,0.000,6,0.089,0.052,2742,2521,1340
$GC,13587,1.26,263.4,61.7,9.7,753,13593,0.12,0.00,0.00,0.000,6,0.144,0.000,2708,2521,1340
$GC,13932,1.36,290.0,37.3,6.1,814,13961,0.10,0.00,22.27,1.025,6,0.088,0.000,2748,2521,1236
$GC,14299,1.36,290.0,10.0,7.7,879,14304,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2521,1232
$STATE,14420,end climb,SURFACE_DEPTH_REACHED
$STATE,14420,begin surface coast
$FINISH,0.6,1.011441
$STATE,14449,end surface coast,CONTROL_FINISHED_OK
$STATE,14451,begin surface
$SM_CCo,14527,0.00,0.000,0,0,1230,291.91
$SM_GC,1.48,7.22,0.00,0.00,0.071,0.000,0.000,156,2347,1230,-10.40,0.17,291.91
$RAFOS_CLK,834
$RAFOS,4,1224881050,20.750000,20.736111,65,56,56,55,54,53,811,202,135,119,155,219
$RAFOS,3,1224880441,20.583334,20.566944,80,67,54,53,50,49,772,203,168,222,109,155
$RAFOS,2,1224879852,20.416666,20.403334,113,68,59,58,54,45,913,219,167,185,153,129
$RAFOS,1,1224879243,20.250000,20.234167,68,59,58,55,54,53,208,171,157,134,114,218
$RAFOS,0,1224878667,20.083334,20.074167,75,65,61,57,55,54,435,235,162,213,128,144
$RAFOS_FIX,6640.699707,-6008.913574,241008,202006,3,89,1.07
$IRIDIUM_FIX,6609.62,-6019.34,180198,141436
$TT8_MAMPS,0.027612
$HUMID,1906
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,21.2,43.999
$10V_AH,10.5,18.535
$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,20.950,105.275,391.050,0.000,0.000,30.217,29.391,128.751,0.000,0.000,0.000,31.016,1594.759,10655.867,574.452,1653.189,381.835,33.371,1448.749,0.000,1608.947,1800.000,0.534,0.000
$DEVICE_MAMPS,271.518,78.234,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.743,617.686,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31641,906
$CAP_FILE_SIZE,114952,0
$CFSIZE,260165632,234463232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.0
$GPS,241008,220102,6640.122,-6017.058,36,2.0,36,-38.0