version: 66.04
glider: 113
mission: 4
dive: 224
start: 10 25 108 6 34 4
data:
$ID,113
$MISSION,4
$DIVE,224
$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,-26119.053
$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
$GPS1,062638,6638.963,-6014.715,37,1.2,37,-37.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.8
$GPS2,063309,6638.876,-6014.550,9,1.5,9,-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,0.169,0.147
$KALMAN_X,17650.2,239.6,163.6,-141510.1,-172.1
$KALMAN_Y,-28518.7,-1203.5,-1491.1,1575.8,453.7
$MHEAD_RNG_PITCHd_Wd,86.9,20243,-12.9,-7.021
$D_GRID,543
$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,-146.0,0.0,0.0,0,145,0.00,0.00,-126.25,0.000,2,0.000,0.000,160,2338,2795
$GC,147,-1.08,-146.0,3.2,-3.0,22,173,9.10,2.40,-7.50,0.000,4,0.276,0.084,2192,3740,3020
$GC,325,-0.70,-146.0,40.5,-17.2,53,332,0.32,2.22,0.00,0.000,6,0.178,0.047,2281,2336,3022
$GC,670,-0.63,-146.0,73.2,-8.4,114,676,0.00,2.25,0.00,0.000,4,0.000,0.060,2281,925,3023
$GC,705,-0.56,-146.0,76.5,-9.3,120,712,0.12,2.28,0.00,0.000,6,0.167,0.055,2314,2343,3023
$GC,1053,-0.65,-146.0,101.7,-7.2,179,1056,0.00,2.28,0.00,0.000,4,0.000,0.060,2314,932,3023
$GC,1120,-0.69,-146.0,106.7,-7.3,182,1125,0.12,2.28,0.00,0.000,6,0.104,0.056,2271,2350,3023
$GC,1452,-0.69,-146.0,132.9,-7.7,198,1456,0.00,2.30,0.00,0.000,4,0.000,0.074,2270,3746,3023
$GC,1486,-0.69,-146.0,135.7,-8.0,199,1490,0.00,2.22,0.00,0.000,6,0.000,0.044,2270,2322,3023
$GC,1807,-0.69,-146.0,159.3,-7.6,215,1811,0.00,2.20,0.00,0.000,4,0.000,0.060,2270,930,3023
$GC,1867,-0.69,-146.0,164.5,-8.2,217,1874,0.00,2.28,0.00,0.000,6,0.000,0.056,2270,2350,3023
$GC,2182,-0.69,-146.0,188.7,-7.9,233,2186,0.00,2.28,0.00,0.000,4,0.000,0.061,2270,934,3022
$GC,2216,-0.69,-146.0,191.3,-7.8,234,2220,0.00,2.28,0.00,0.000,6,0.000,0.056,2270,2353,3022
$GC,2537,-0.69,-146.0,217.8,-8.0,250,2541,0.00,2.28,0.00,0.000,4,0.000,0.060,2270,939,3022
$GC,2571,-0.69,-146.0,220.6,-8.3,251,2575,0.00,2.25,0.00,0.000,6,0.000,0.056,2271,2340,3022
$GC,2892,-0.69,-146.0,244.4,-7.0,267,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2341,3022
$GC,3202,-0.74,-146.0,265.9,-6.5,282,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2341,3022
$GC,3512,-0.79,-146.0,286.3,-7.0,297,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2341,3022
$GC,3820,-0.86,-146.0,307.9,-7.3,312,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2341,3022
$GC,4130,-0.94,-146.0,329.8,-6.9,327,4135,0.12,2.28,0.00,0.000,4,0.100,0.060,2225,936,3021
$GC,4169,-0.83,-146.0,333.4,-9.8,328,4176,0.12,2.28,0.00,0.000,6,0.173,0.058,2256,2348,3021
$GC,4484,-0.83,-146.0,355.5,-6.9,344,4488,0.00,2.30,0.00,0.000,4,0.000,0.073,2256,3744,3021
$GC,4552,-0.92,-146.0,360.4,-7.2,347,4557,0.00,2.20,0.00,0.000,6,0.000,0.044,2256,2330,3021
$GC,4885,-0.97,-146.0,384.0,-7.2,363,4889,0.12,2.22,0.00,0.000,4,0.099,0.058,2210,933,3021
$GC,4923,-0.81,-146.0,387.5,-9.2,364,4930,0.17,2.25,0.00,0.000,6,0.166,0.054,2256,2343,3021
$GC,5257,-0.87,-146.0,411.7,-7.0,377,5261,0.00,2.33,0.00,0.000,4,0.000,0.071,2256,3753,3021
$GC,5323,-0.98,-146.0,416.5,-7.6,378,5328,0.12,2.20,0.00,0.000,6,0.098,0.043,2212,2338,3021
$GC,5671,-0.92,-146.0,443.5,-7.7,387,5676,0.10,2.22,0.00,0.000,4,0.170,0.057,2238,937,3021
$GC,5703,-0.92,-146.0,446.0,-7.1,387,5710,0.00,2.25,0.00,0.000,6,0.000,0.054,2238,2347,3021
$GC,6037,-0.92,-146.0,468.6,-6.7,396,6041,0.00,2.33,0.00,0.000,4,0.000,0.073,2238,3753,3022
$GC,6087,-0.92,-146.0,472.1,-6.4,397,6091,0.00,2.20,0.00,0.000,6,0.000,0.042,2238,2337,3022
$GC,6413,-0.92,-146.0,490.8,-5.5,405,6417,0.00,2.35,0.00,0.000,4,0.000,0.070,2238,3753,3022
$GC,6458,-0.97,-146.0,493.6,-6.2,406,6462,0.00,2.20,0.00,0.000,6,0.000,0.042,2238,2336,3022
$GC,6788,-0.97,-146.0,513.1,-5.9,414,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2336,3023
$GC,7113,-0.97,-146.0,532.4,-6.2,422,7117,0.00,2.35,0.00,0.000,4,0.000,0.070,2238,3752,3023
$GC,7152,-1.03,-146.0,535.2,-7.1,422,7159,0.10,2.20,0.00,0.000,6,0.110,0.042,2204,2334,3023
$STATE,7277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7277,begin apogee
$GC,7283,-0.34,0.0,543.9,6.9,426,7417,0.52,0.00,130.80,1.246,6,0.150,0.000,2361,2518,2420
$STATE,7418,end apogee,CONTROL_FINISHED_OK
$STATE,7418,begin climb
$GC,7420,1.08,146.0,547.1,0.0,429,7567,1.10,0.00,137.43,1.145,6,0.116,0.000,2674,2517,1824
$GC,7885,0.94,146.0,509.6,9.3,441,7890,0.15,2.45,0.00,0.000,4,0.145,0.069,2634,3943,1821
$GC,7980,0.85,146.0,501.1,9.2,443,7985,0.00,2.30,0.00,0.000,6,0.000,0.041,2634,2514,1821
$GC,8293,0.85,146.0,478.8,7.1,451,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2513,1820
$GC,8618,0.85,146.0,455.0,7.2,459,8622,0.00,2.35,0.00,0.000,4,0.000,0.069,2634,3935,1820
$GC,8684,0.76,146.0,449.5,8.3,460,8689,0.12,2.20,0.00,0.000,6,0.153,0.041,2600,2516,1819
$GC,9032,0.92,184.5,429.6,5.7,469,9074,0.12,2.35,32.12,1.172,4,0.081,0.054,2651,1120,1667
$GC,9124,0.92,184.5,422.6,7.9,471,9128,0.00,2.30,0.00,0.000,6,0.000,0.052,2651,2531,1667
$GC,9449,0.92,184.5,396.2,8.4,480,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2531,1666
$GC,9758,0.92,184.5,371.8,7.9,495,9762,0.00,2.28,0.00,0.000,4,0.000,0.054,2651,1109,1666
$GC,9813,0.97,184.5,367.8,7.0,497,9817,0.00,2.25,0.00,0.000,6,0.000,0.051,2651,2526,1666
$GC,10134,0.97,184.5,343.8,7.4,513,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2526,1666
$GC,10443,0.99,203.7,322.9,6.4,528,10466,0.00,2.35,16.85,1.095,4,0.000,0.054,2651,1115,1589
$GC,10494,1.08,212.4,319.6,6.7,530,10511,0.00,2.28,9.05,0.988,6,0.000,0.051,2651,2530,1553
$GC,10820,1.16,234.7,298.5,6.3,546,10842,0.12,0.00,19.48,1.081,6,0.082,0.000,2705,2530,1463
$GC,11149,1.07,234.7,270.7,8.6,562,11151,0.15,0.00,0.00,0.000,6,0.136,0.000,2661,2530,1461
$GC,11459,1.15,251.5,249.7,6.4,577,11479,0.10,0.00,15.48,1.054,6,0.091,0.000,2704,2531,1394
$GC,11788,1.10,251.5,222.5,8.6,593,11792,0.12,2.28,0.00,0.000,4,0.139,0.056,2668,1120,1392
$GC,11837,1.22,251.5,218.8,7.1,595,11841,0.12,2.25,0.00,0.000,6,0.081,0.052,2719,2530,1392
$GC,12158,1.14,251.5,187.6,10.1,611,12163,0.15,2.28,0.00,0.000,4,0.124,0.056,2673,1115,1391
$GC,12179,1.14,251.5,185.7,8.2,612,12183,0.00,2.25,0.00,0.000,6,0.000,0.052,2674,2528,1391
$GC,12507,1.22,251.5,160.5,7.4,628,12508,0.10,0.00,0.00,0.000,6,0.087,0.000,2718,2528,1391
$GC,12815,1.16,251.5,132.8,8.7,643,12817,0.12,0.00,0.00,0.000,6,0.133,0.000,2682,2529,1391
$GC,13125,1.26,275.9,113.2,6.2,658,13151,0.10,2.33,20.73,1.049,4,0.086,0.057,2725,1110,1294
$GC,13179,1.26,275.9,108.9,8.1,660,13185,0.00,2.30,0.00,0.000,6,0.000,0.054,2725,2528,1292
$GC,13513,1.26,275.9,81.3,7.7,706,13519,0.00,2.28,0.00,0.000,4,0.000,0.058,2725,1117,1291
$GC,13564,1.26,275.9,77.3,7.8,715,13571,0.00,2.25,0.00,0.000,6,0.000,0.053,2725,2523,1291
$GC,13908,1.26,275.9,50.5,8.1,776,13914,0.00,2.30,0.00,0.000,4,0.000,0.071,2725,3931,1290
$GC,13933,1.22,275.9,48.4,8.5,780,13940,0.12,2.20,0.00,0.000,6,0.150,0.044,2691,2523,1290
$GC,14278,1.50,275.9,24.5,7.5,841,14285,0.20,2.25,0.00,0.000,4,0.081,0.057,2771,1106,1289
$GC,14358,1.50,275.9,18.1,7.6,855,14365,0.00,2.28,0.00,0.000,6,0.000,0.054,2770,2530,1290
$STATE,14581,end climb,SURFACE_DEPTH_REACHED
$STATE,14582,begin surface coast
$FINISH,0.6,1.025422
$STATE,14605,end surface coast,CONTROL_FINISHED_OK
$STATE,14605,begin surface
$SM_CCo,14682,0.00,0.000,0,0,1288,277.68
$SM_GC,1.48,7.30,0.00,0.00,0.074,0.000,0.000,164,2337,1288,-10.38,-0.08,277.68
$RAFOS_CLK,849
$RAFOS,4,1224924245,8.750000,8.734722,72,61,57,54,53,51,833,147,196,208,174,218
$RAFOS,3,1224923681,8.583333,8.578055,64,56,55,51,51,50,199,209,162,175,234,148
$RAFOS,2,1224923067,8.416667,8.407500,88,64,56,52,51,48,819,213,183,145,233,223
$RAFOS,1,1224922476,8.250000,8.243333,69,67,57,57,56,54,209,544,170,196,153,223
$RAFOS,0,1224921869,8.083333,8.074722,74,56,55,52,52,52,209,426,190,157,230,128
$RAFOS_FIX,6241.143066,-6748.226074,251008,080836,3,78,86.77
$IRIDIUM_FIX,6609.62,-6014.64,190198,060608
$TT8_MAMPS,0.029146
$HUMID,1900
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,21.1,44.441
$10V_AH,10.5,18.723
$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,21.300,118.850,381.925,0.000,0.000,48.126,55.956,114.641,0.250,0.000,0.000,10.842,1658.121,10810.964,583.799,1623.806,436.364,33.370,1463.338,0.000,1614.799,1800.000,0.534,0.000
$DEVICE_MAMPS,276.120,83.603,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.195,613.509,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31492,899
$CAP_FILE_SIZE,117789,0
$CFSIZE,260165632,234291200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.3
$GPS,251008,104037,6640.540,-6010.933,29,1.0,29,-38.0