version: 66.04
glider: 113
mission: 4
dive: 223
start: 10 25 108 2 25 42
data:
$ID,113
$MISSION,4
$DIVE,223
$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,-26107.582
$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,23
$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
$GPS1,021608,6640.391,-6018.552,31,0.8,31,-38.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.6
$GPS2,022445,6640.358,-6018.430,12,1.8,12,-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,0.146,0.170
$KALMAN_X,17302.4,91.0,56.3,-143722.9,459.7
$KALMAN_Y,-27017.8,-0.1,1123.2,-1001.1,-6140.1
$MHEAD_RNG_PITCHd_Wd,78.6,20481,-12.9,-7.021
$D_GRID,532
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.08,-146.0,0.0,0.0,0,138,0.00,0.00,-120.85,0.000,2,0.000,0.000,162,2330,2804
$GC,141,-1.08,-146.0,3.6,-3.7,21,167,9.07,2.42,-6.95,0.000,4,0.275,0.084,2192,3746,3020
$GC,420,-0.75,-146.0,55.1,-14.2,70,427,0.30,2.22,0.00,0.000,6,0.176,0.046,2273,2336,3023
$GC,764,-0.70,-146.0,88.7,-9.2,131,771,0.00,2.35,0.00,0.000,4,0.000,0.071,2273,3748,3024
$GC,911,-0.70,-146.0,102.2,-9.1,154,915,0.00,2.22,0.00,0.000,6,0.000,0.044,2273,2324,3023
$GC,1232,-0.70,-146.0,129.2,-7.8,170,1235,0.00,2.38,0.00,0.000,4,0.000,0.073,2273,3750,3023
$GC,1264,-0.70,-146.0,131.8,-7.9,171,1269,0.00,2.22,0.00,0.000,6,0.000,0.045,2273,2330,3023
$GC,1585,-0.70,-146.0,155.1,-6.8,187,1589,0.00,2.38,0.00,0.000,4,0.000,0.073,2273,3757,3023
$GC,1619,-0.75,-146.0,157.5,-6.9,188,1623,0.00,2.22,0.00,0.000,6,0.000,0.044,2273,2333,3023
$GC,1940,-0.75,-146.0,178.8,-6.5,204,1944,0.00,2.22,0.00,0.000,4,0.000,0.061,2273,928,3023
$GC,1991,-0.75,-146.0,182.5,-7.5,206,1995,0.00,2.28,0.00,0.000,6,0.000,0.056,2273,2344,3023
$GC,2317,-0.75,-146.0,206.2,-7.7,222,2321,0.00,2.28,0.00,0.000,4,0.000,0.060,2273,929,3023
$GC,2351,-0.75,-146.0,209.1,-8.8,223,2355,0.00,2.28,0.00,0.000,6,0.000,0.057,2273,2344,3023
$GC,2672,-0.75,-146.0,237.0,-8.7,239,2676,0.00,2.28,0.00,0.000,4,0.000,0.060,2273,932,3023
$GC,2727,-0.75,-146.0,242.1,-9.5,241,2731,0.00,2.28,0.00,0.000,6,0.000,0.055,2273,2351,3023
$GC,3048,-0.81,-146.0,268.3,-8.1,257,3052,0.00,2.30,0.00,0.000,4,0.000,0.074,2273,3743,3022
$GC,3087,-0.92,-146.0,271.5,-8.3,258,3094,0.15,2.20,0.00,0.000,6,0.107,0.044,2222,2334,3022
$GC,3403,-0.82,-146.0,300.4,-9.0,274,3404,0.12,0.00,0.00,0.000,6,0.165,0.000,2255,2334,3022
$GC,3712,-0.82,-146.0,322.5,-6.8,289,3716,0.00,2.22,0.00,0.000,4,0.000,0.061,2255,938,3022
$GC,3780,-0.82,-146.0,327.6,-8.0,292,3784,0.00,2.28,0.00,0.000,6,0.000,0.058,2255,2348,3022
$GC,4111,-0.82,-146.0,352.1,-7.9,308,4115,0.00,2.33,0.00,0.000,4,0.000,0.075,2255,3746,3022
$GC,4197,-0.90,-146.0,357.9,-6.8,311,4203,0.00,2.20,0.00,0.000,6,0.000,0.044,2255,2338,3022
$GC,4513,-0.90,-146.0,376.6,-5.5,327,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2338,3021
$GC,4822,-0.95,-146.0,393.6,-5.4,342,4826,0.10,2.33,0.00,0.000,4,0.110,0.071,2220,3745,3021
$GC,4889,-0.95,-146.0,397.9,-6.3,345,4893,0.00,2.20,0.00,0.000,6,0.000,0.045,2219,2340,3021
$GC,5212,-0.89,-146.0,416.8,-5.8,354,5214,0.10,0.00,0.00,0.000,6,0.177,0.000,2244,2340,3021
$GC,5536,-0.89,-146.0,436.5,-6.2,362,5541,0.00,2.35,0.00,0.000,4,0.000,0.072,2244,3752,3022
$GC,5615,-0.94,-146.0,441.7,-6.5,363,5619,0.00,2.20,0.00,0.000,6,0.000,0.043,2244,2340,3022
$GC,5952,-0.94,-146.0,463.2,-6.3,372,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2340,3022
$GC,6277,-0.94,-146.0,482.6,-5.8,380,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2340,3023
$GC,6601,-0.94,-146.0,501.8,-6.0,388,6605,0.00,2.22,0.00,0.000,4,0.000,0.058,2244,936,3023
$GC,6679,-0.94,-146.0,507.2,-7.1,389,6683,0.00,2.28,0.00,0.000,6,0.000,0.055,2244,2354,3023
$GC,7016,-1.00,-146.0,527.3,-5.6,398,7021,0.10,2.30,0.00,0.000,4,0.108,0.071,2208,3753,3023
$GC,7038,-1.00,-146.0,528.7,-6.1,398,7042,0.00,2.20,0.00,0.000,6,0.000,0.042,2208,2337,3023
$STATE,7100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7101,begin apogee
$GC,7107,-0.34,0.0,533.0,7.1,400,7241,0.52,0.00,131.05,1.241,6,0.148,0.000,2366,2523,2420
$STATE,7241,end apogee,CONTROL_FINISHED_OK
$STATE,7241,begin climb
$GC,7244,1.08,146.0,535.0,0.0,403,7386,1.02,2.70,134.62,1.151,4,0.110,0.070,2665,3922,1823
$GC,7478,0.88,146.0,515.1,10.6,408,7483,0.17,2.40,0.00,0.000,6,0.145,0.042,2620,2516,1822
$GC,7819,0.91,173.8,494.0,6.1,417,7846,0.00,0.00,24.60,1.144,6,0.000,0.000,2620,2515,1711
$GC,8145,1.00,193.3,473.7,6.4,425,8170,0.12,2.38,17.67,1.127,4,0.084,0.057,2668,1111,1631
$GC,8209,1.00,193.3,468.8,8.2,426,8213,0.00,2.33,0.00,0.000,6,0.000,0.051,2668,2524,1631
$GC,8557,0.95,193.3,440.3,8.4,435,8559,0.12,0.00,0.00,0.000,6,0.149,0.000,2634,2525,1629
$GC,8882,1.00,193.3,416.4,7.3,443,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2525,1629
$GC,9188,1.07,205.2,395.4,6.6,452,9204,0.12,2.30,11.15,1.076,4,0.091,0.056,2683,1102,1583
$GC,9221,1.01,205.2,392.6,8.6,452,9228,0.12,2.28,0.00,0.000,6,0.142,0.051,2650,2521,1582
$GC,9536,1.01,205.2,370.3,7.0,468,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2521,1581
$GC,9845,1.01,205.2,348.3,7.2,483,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2521,1581
$GC,10154,1.01,205.2,325.2,7.5,498,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2521,1581
$GC,10465,1.07,208.4,303.1,6.9,513,10471,0.00,0.00,4.30,0.783,6,0.000,0.000,2650,2521,1570
$GC,10773,1.16,231.9,283.1,6.2,528,10797,0.12,0.00,21.02,1.095,6,0.084,0.000,2703,2521,1474
$GC,11103,1.09,231.9,256.0,8.2,544,11107,0.12,2.30,0.00,0.000,4,0.136,0.057,2667,1105,1472
$GC,11148,1.19,243.1,252.8,6.6,546,11165,0.10,2.28,10.80,1.014,6,0.090,0.052,2706,2526,1428
$GC,11475,1.14,243.1,224.1,9.0,561,11477,0.10,0.00,0.00,0.000,6,0.141,0.000,2679,2526,1427
$GC,11783,1.14,243.1,197.8,8.8,576,11787,0.00,2.28,0.00,0.000,4,0.000,0.057,2679,1106,1426
$GC,11844,1.23,243.1,192.6,8.2,578,11851,0.10,2.25,0.00,0.000,6,0.091,0.052,2719,2520,1426
$GC,12160,1.16,243.1,162.9,9.0,594,12164,0.12,2.30,0.00,0.000,4,0.133,0.069,2682,3931,1426
$GC,12192,1.16,243.1,159.9,8.4,595,12196,0.00,2.20,0.00,0.000,6,0.000,0.044,2682,2516,1426
$GC,12513,1.18,261.9,138.7,6.4,611,12536,0.00,2.33,16.50,1.042,4,0.000,0.058,2682,1110,1351
$GC,12587,1.29,265.2,134.0,6.9,614,12596,0.12,2.28,4.55,0.765,6,0.081,0.052,2731,2531,1338
$GC,12912,1.22,265.2,106.6,8.5,630,12914,0.12,0.00,0.00,0.000,6,0.140,0.000,2695,2532,1336
$GC,13240,1.29,280.5,84.1,6.5,675,13259,0.00,2.38,13.73,1.006,4,0.000,0.058,2695,1111,1275
$GC,13294,1.42,301.4,80.6,6.3,684,13319,0.17,2.28,18.90,0.999,6,0.074,0.053,2762,2520,1191
$GC,13656,1.31,301.4,44.9,10.2,748,13662,0.15,0.00,0.00,0.000,6,0.142,0.000,2720,2520,1186
$GC,14000,1.47,332.8,23.3,6.0,809,14036,0.12,2.38,26.58,1.006,4,0.078,0.061,2773,1118,1062
$GC,14099,1.47,336.3,15.9,6.9,826,14113,0.00,2.30,4.38,0.708,6,0.000,0.054,2773,2531,1048
$STATE,14274,end climb,SURFACE_DEPTH_REACHED
$STATE,14274,begin surface coast
$FINISH,0.5,1.005549
$STATE,14298,end surface coast,CONTROL_FINISHED_OK
$STATE,14298,begin surface
$SM_CCo,14374,0.00,0.000,0,0,1043,337.78
$SM_GC,1.61,7.38,0.00,0.00,0.074,0.000,0.000,160,2340,1043,-10.40,0.00,337.78
$RAFOS_CLK,831
$RAFOS,4,1224909852,4.750000,4.736667,62,59,59,55,54,51,194,166,205,147,221,112
$RAFOS,3,1224909278,4.583333,4.577222,68,60,59,58,55,50,204,221,177,568,145,130
$RAFOS,2,1224908641,4.416667,4.400278,62,58,54,54,53,50,191,173,133,224,144,202
$RAFOS,1,1224908059,4.250000,4.238611,63,61,59,59,59,52,174,120,203,216,668,149
$RAFOS,0,1224907450,4.083333,4.069445,65,62,57,53,53,53,209,196,149,183,132,120
$RAFOS_FIX,6639.964844,-6011.689453,251008,000020,2,90,0.45
$IRIDIUM_FIX,6614.97,-6013.96,190198,020243
$TT8_MAMPS,0.027612
$HUMID,1890
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.10
$XPDR_PINGS,3
$24V_AH,21.1,44.304
$10V_AH,10.5,18.661
$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,20.925,106.125,439.850,0.000,0.000,57.665,63.981,177.846,0.750,0.000,0.000,14.362,1554.400,10648.875,565.574,1576.686,549.227,33.372,1443.701,0.000,1564.698,1800.000,0.529,0.000
$DEVICE_MAMPS,274.586,83.603,1241.006,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.723,587.105,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31558,861
$CAP_FILE_SIZE,114826,0
$CFSIZE,260165632,234348544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.3
$GPS,251008,062638,6638.963,-6014.715,37,1.2,37,-37.9