version: 66.04
glider: 113
mission: 4
dive: 225
start: 10 25 108 10 46 34
data:
$ID,113
$MISSION,4
$DIVE,225
$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,-26132.764
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,104037,6640.540,-6010.933,29,1.0,29,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.5
$GPS2,104539,6640.554,-6011.024,11,1.5,11,-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,0.122,0.188
$KALMAN_X,18031.5,139.6,-173.5,-138893.8,341.0
$KALMAN_Y,-30169.7,-932.8,724.9,3851.4,-485.7
$MHEAD_RNG_PITCHd_Wd,71.1,16212,-12.9,-7.021
$D_GRID,559
$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,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,126,0.00,0.00,-108.30,0.000,2,0.000,0.000,163,2333,2759
$GC,129,-1.08,-146.0,3.0,-2.6,19,154,8.93,2.38,-9.12,0.000,4,0.270,0.083,2192,3745,3017
$GC,403,-0.75,-146.0,52.9,-13.5,67,410,0.30,2.22,0.00,0.000,6,0.173,0.045,2274,2336,3021
$GC,748,-0.67,-146.0,83.8,-8.7,128,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2336,3022
$GC,1089,-0.67,-146.0,111.4,-7.7,170,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2337,3022
$GC,1399,-0.67,-146.0,136.3,-8.1,185,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2336,3022
$GC,1707,-0.67,-146.0,163.5,-9.4,200,1711,0.00,2.22,0.00,0.000,4,0.000,0.061,2274,932,3021
$GC,1734,-0.67,-146.0,166.2,-10.3,201,1738,0.00,2.30,0.00,0.000,6,0.000,0.056,2274,2363,3021
$GC,2061,-0.67,-146.0,194.3,-7.9,217,2065,0.00,2.28,0.00,0.000,4,0.000,0.072,2274,3746,3021
$GC,2139,-0.75,-146.0,200.2,-7.1,220,2143,0.00,2.20,0.00,0.000,6,0.000,0.044,2274,2336,3021
$GC,2460,-0.75,-146.0,220.8,-6.1,236,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2336,3020
$GC,2770,-0.80,-146.0,239.9,-6.1,251,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2335,3021
$GC,3079,-0.86,-146.0,260.0,-6.5,266,3084,0.10,2.38,0.00,0.000,4,0.123,0.072,2240,3757,3021
$GC,3128,-0.86,-146.0,264.1,-7.9,268,3132,0.00,2.22,0.00,0.000,6,0.000,0.044,2240,2335,3020
$GC,3449,-0.86,-146.0,291.1,-8.7,284,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2334,3021
$GC,3758,-0.86,-146.0,318.6,-8.4,299,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2334,3020
$GC,4067,-0.86,-146.0,344.1,-8.1,314,4071,0.00,2.22,0.00,0.000,4,0.000,0.060,2240,929,3020
$GC,4140,-0.80,-146.0,350.4,-9.0,317,4144,0.00,2.28,0.00,0.000,6,0.000,0.057,2240,2344,3020
$GC,4466,-0.80,-146.0,376.0,-7.8,333,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2344,3020
$GC,4775,-0.80,-146.0,398.8,-7.2,348,4778,0.00,2.33,0.00,0.000,4,0.000,0.073,2240,3750,3020
$GC,4825,-0.80,-146.0,402.5,-7.5,350,4829,0.00,2.22,0.00,0.000,6,0.000,0.044,2240,2323,3020
$GC,5149,-0.80,-146.0,424.6,-6.7,358,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2323,3020
$GC,5474,-0.80,-146.0,447.3,-6.9,366,5478,0.00,2.17,0.00,0.000,4,0.000,0.058,2240,938,3020
$GC,5535,-0.80,-146.0,451.9,-7.4,367,5539,0.00,2.25,0.00,0.000,6,0.000,0.054,2240,2344,3020
$GC,5848,-0.80,-146.0,473.4,-6.8,375,5853,0.00,2.33,0.00,0.000,4,0.000,0.072,2240,3753,3020
$GC,5926,-0.86,-146.0,479.1,-7.0,376,5930,0.00,2.20,0.00,0.000,6,0.000,0.043,2240,2340,3020
$GC,6263,-0.86,-146.0,501.7,-6.8,385,6267,0.00,2.22,0.00,0.000,4,0.000,0.056,2240,929,3021
$GC,6312,-0.86,-146.0,505.3,-7.3,386,6316,0.00,2.28,0.00,0.000,6,0.000,0.053,2240,2356,3021
$GC,6637,-0.86,-146.0,526.2,-6.4,394,6641,0.00,2.30,0.00,0.000,4,0.000,0.071,2240,3754,3021
$GC,6687,-0.91,-146.0,529.2,-5.9,395,6691,0.00,2.20,0.00,0.000,6,0.000,0.041,2240,2336,3021
$GC,7011,-0.91,-146.0,549.9,-6.2,403,7015,0.00,2.22,0.00,0.000,4,0.000,0.057,2240,928,3022
$GC,7057,-0.91,-146.0,552.7,-6.4,404,7061,0.00,2.28,0.00,0.000,6,0.000,0.054,2240,2350,3022
$STATE,7175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7175,begin apogee
$GC,7181,-0.34,0.0,559.9,6.0,407,7315,0.43,0.00,131.18,1.252,6,0.151,0.000,2366,2516,2420
$STATE,7316,end apogee,CONTROL_FINISHED_OK
$STATE,7316,begin climb
$GC,7318,1.08,146.0,561.9,0.0,410,7465,1.05,0.00,137.40,1.152,6,0.109,0.000,2667,2516,1824
$GC,7787,0.96,146.0,523.6,8.5,422,7791,0.10,2.42,0.00,0.000,4,0.161,0.069,2642,3927,1820
$GC,7826,0.82,146.0,519.9,9.6,423,7831,0.12,2.28,0.00,0.000,6,0.155,0.042,2611,2521,1821
$GC,8150,0.95,184.0,500.0,5.7,431,8189,0.12,0.00,32.58,1.183,6,0.082,0.000,2662,2520,1669
$GC,8514,0.90,184.0,472.7,7.7,440,8516,0.12,0.00,0.00,0.000,6,0.131,0.000,2627,2520,1668
$GC,8839,0.98,198.3,451.6,6.5,448,8859,0.08,2.40,13.23,1.116,4,0.107,0.070,2662,3927,1611
$GC,8875,0.89,198.3,448.4,8.9,448,8882,0.12,2.22,0.00,0.000,6,0.155,0.043,2628,2518,1610
$GC,9207,0.97,203.6,426.1,6.8,457,9215,0.00,0.00,5.97,0.937,6,0.000,0.000,2629,2518,1590
$GC,9531,1.05,203.6,402.9,7.4,465,9533,0.12,0.00,0.00,0.000,6,0.087,0.000,2678,2518,1589
$GC,9840,0.98,203.6,375.0,9.1,479,9845,0.12,2.33,0.00,0.000,4,0.134,0.067,2641,3930,1588
$GC,9873,0.98,203.6,372.2,8.4,480,9879,0.00,2.20,0.00,0.000,6,0.000,0.043,2641,2511,1589
$GC,10190,1.08,227.3,351.3,6.2,496,10214,0.12,0.00,21.02,1.124,6,0.086,0.000,2691,2510,1493
$GC,10518,1.02,227.3,323.6,8.6,512,10520,0.12,0.00,0.00,0.000,6,0.136,0.000,2656,2511,1491
$GC,10827,1.08,227.3,301.8,7.1,527,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2511,1491
$GC,11136,1.15,227.3,279.7,7.3,542,11138,0.12,0.00,0.00,0.000,6,0.083,0.000,2705,2510,1491
$GC,11446,1.06,227.3,249.4,10.0,557,11448,0.15,0.00,0.00,0.000,6,0.135,0.000,2662,2510,1491
$GC,11755,1.12,227.3,226.2,7.1,572,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2510,1491
$GC,12064,1.19,228.9,203.8,7.0,587,12068,0.12,2.20,0.00,0.000,4,0.087,0.057,2715,1119,1491
$GC,12086,1.19,228.9,202.1,7.6,588,12090,0.00,2.22,0.00,0.000,6,0.000,0.052,2714,2525,1491
$GC,12419,1.10,228.9,172.9,8.6,604,12423,0.15,2.30,0.00,0.000,4,0.135,0.070,2668,3937,1490
$GC,12451,1.10,228.9,170.3,8.5,605,12457,0.00,2.20,0.00,0.000,6,0.000,0.044,2668,2516,1489
$GC,12767,1.21,254.3,149.7,6.2,621,12798,0.12,2.33,23.00,1.068,4,0.081,0.058,2720,1117,1382
$GC,12825,1.21,254.3,145.2,8.0,623,12832,0.00,2.28,0.00,0.000,6,0.000,0.052,2719,2523,1382
$GC,13141,1.15,254.3,118.9,8.1,639,13146,0.12,2.30,0.00,0.000,4,0.134,0.068,2682,3927,1380
$GC,13180,1.15,254.3,115.6,8.2,641,13184,0.00,2.20,0.00,0.000,6,0.000,0.044,2682,2518,1380
$GC,13504,1.27,283.8,94.8,6.0,666,13533,0.10,0.00,24.95,1.044,6,0.088,0.000,2722,2518,1261
$GC,13870,1.27,283.8,66.9,7.8,731,13876,0.00,2.25,0.00,0.000,4,0.000,0.060,2722,1114,1259
$GC,13894,1.27,283.8,65.1,7.4,735,13900,0.00,2.25,0.00,0.000,6,0.000,0.053,2722,2520,1259
$GC,14238,1.27,283.8,39.0,7.6,796,14244,0.00,2.30,0.00,0.000,4,0.000,0.071,2722,3927,1257
$GC,14267,1.27,283.8,36.6,8.1,801,14273,0.00,2.20,0.00,0.000,6,0.000,0.046,2722,2522,1257
$GC,14611,1.38,305.7,15.2,6.3,862,14636,0.00,2.35,18.80,1.006,4,0.000,0.060,2722,1108,1173
$GC,14693,1.54,338.8,10.5,5.9,876,14729,0.17,2.30,29.23,0.984,6,0.078,0.054,2788,2528,1037
$STATE,14795,end climb,SURFACE_DEPTH_REACHED
$STATE,14795,begin surface coast
$FINISH,0.6,1.013200
$STATE,14818,end surface coast,CONTROL_FINISHED_OK
$STATE,14818,begin surface
$SM_CCo,14895,0.00,0.000,0,0,1028,340.97
$SM_GC,1.44,7.55,0.00,0.00,0.077,0.000,0.000,165,2349,1028,-10.38,0.25,340.97
$RAFOS_CLK,852
$RAFOS,4,1224938642,12.750000,12.733889,60,55,55,53,52,51,211,175,137,225,199,146
$RAFOS,3,1224938066,12.583333,12.573889,69,61,57,57,54,53,629,119,218,180,157,190
$RAFOS,2,1224937446,12.416667,12.401667,83,65,61,57,56,54,924,209,189,226,177,159
$RAFOS,1,1224936862,12.250000,12.239445,74,59,59,57,56,55,607,203,121,190,170,157
$RAFOS,0,1224936243,12.083333,12.067500,90,65,56,56,53,51,551,217,143,205,179,129
$RAFOS_FIX,6642.228516,-6004.144043,251008,121200,3,82,1.09
$IRIDIUM_FIX,6614.97,-5858.45,190198,060657
$TT8_MAMPS,0.028379
$HUMID,1863
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,21.1,44.594
$10V_AH,10.5,18.784
$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,20.600,95.775,437.350,0.000,0.000,30.041,31.812,124.904,0.000,0.000,0.000,13.084,1585.509,11056.812,580.324,1592.493,394.063,33.369,1449.405,0.000,1578.156,1800.000,0.532,0.000
$DEVICE_MAMPS,269.984,82.836,1251.744,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.434,612.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31540,898
$CAP_FILE_SIZE,112419,0
$CFSIZE,260165632,234237952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.1
$GPS,251008,145625,6641.900,-6008.139,24,1.0,41,-38.0