version: 66.04
glider: 113
mission: 4
dive: 226
start: 10 25 108 15 2 22
data:
$ID,113
$MISSION,4
$DIVE,226
$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,-26150.727
$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,22
$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
$GPS1,145625,6641.900,-6008.139,24,1.0,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-62.3
$GPS2,150127,6641.902,-6008.071,15,1.1,15,-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,-0.001,0.224
$KALMAN_X,18281.0,-125.0,36.8,-136943.0,260.1
$KALMAN_Y,-32054.4,452.7,730.8,6844.0,-3424.8
$MHEAD_RNG_PITCHd_Wd,37.8,12915,-12.9,-7.021
$D_GRID,578
$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,-146.0,0.0,0.0,0,143,0.00,0.00,-124.65,0.000,2,0.000,0.000,166,2346,2754
$GC,146,-1.08,-146.0,3.1,-2.6,22,171,8.90,2.38,-9.40,0.000,4,0.270,0.085,2201,3752,3017
$GC,425,-0.78,-146.0,53.0,-13.5,71,432,0.22,2.25,0.00,0.000,6,0.170,0.045,2264,2323,3021
$GC,769,-0.68,-146.0,84.7,-9.1,132,776,0.10,2.38,0.00,0.000,4,0.183,0.072,2289,3746,3022
$GC,855,-0.68,-146.0,92.3,-8.7,147,861,0.00,2.20,0.00,0.000,6,0.000,0.044,2289,2341,3021
$GC,1193,-0.68,-146.0,121.9,-8.5,175,1197,0.00,2.22,0.00,0.000,4,0.000,0.059,2289,936,3022
$GC,1298,-0.68,-146.0,131.2,-8.9,179,1305,0.00,2.28,0.00,0.000,6,0.000,0.055,2289,2359,3022
$GC,1614,-0.73,-146.0,153.7,-6.5,195,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2360,3022
$GC,1924,-0.79,-146.0,174.8,-7.0,210,1928,0.10,2.30,0.00,0.000,4,0.118,0.058,2252,925,3021
$GC,2024,-0.69,-146.0,183.7,-9.3,214,2028,0.12,2.28,0.00,0.000,6,0.179,0.057,2282,2346,3021
$GC,2345,-0.76,-146.0,206.5,-7.0,230,2349,0.00,2.30,0.00,0.000,4,0.000,0.073,2282,3754,3021
$GC,2405,-0.89,-146.0,211.1,-7.6,232,2412,0.15,2.22,0.00,0.000,6,0.091,0.044,2230,2326,3021
$GC,2721,-0.80,-146.0,238.0,-8.6,248,2723,0.12,0.00,0.00,0.000,6,0.163,0.000,2262,2326,3021
$GC,3030,-0.80,-146.0,261.6,-7.9,263,3034,0.00,2.22,0.00,0.000,4,0.000,0.060,2262,930,3021
$GC,3101,-0.80,-146.0,267.7,-8.4,266,3106,0.00,2.28,0.00,0.000,6,0.000,0.056,2263,2352,3021
$GC,3428,-0.80,-146.0,291.5,-7.1,282,3432,0.00,2.30,0.00,0.000,4,0.000,0.074,2262,3746,3021
$GC,3529,-0.88,-146.0,298.9,-7.8,286,3533,0.00,2.20,0.00,0.000,6,0.000,0.045,2262,2339,3021
$GC,3850,-0.93,-146.0,321.1,-6.7,302,3854,0.12,2.25,0.00,0.000,4,0.106,0.058,2219,926,3020
$GC,3927,-0.79,-146.0,328.1,-9.4,305,3934,0.17,2.28,0.00,0.000,6,0.168,0.056,2265,2344,3021
$GC,4243,-0.86,-146.0,349.3,-6.6,321,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2344,3020
$GC,4553,-0.94,-146.0,368.1,-5.8,336,4557,0.12,2.33,0.00,0.000,4,0.107,0.073,2221,3757,3020
$GC,4635,-0.94,-146.0,374.5,-7.4,339,4642,0.00,2.25,0.00,0.000,6,0.000,0.044,2221,2337,3020
$GC,4951,-0.87,-146.0,396.0,-6.9,355,4956,0.10,2.35,0.00,0.000,4,0.175,0.071,2245,3755,3020
$GC,5042,-0.93,-146.0,401.7,-6.6,359,5046,0.00,2.22,0.00,0.000,6,0.000,0.044,2245,2326,3020
$GC,5371,-0.93,-146.0,421.1,-5.8,367,5375,0.00,2.20,0.00,0.000,4,0.000,0.059,2245,938,3020
$GC,5455,-0.93,-146.0,426.7,-7.2,368,5461,0.00,2.25,0.00,0.000,6,0.000,0.055,2245,2345,3020
$GC,5786,-0.93,-146.0,447.0,-6.2,377,5790,0.00,2.30,0.00,0.000,4,0.000,0.071,2245,3746,3021
$GC,5892,-1.00,-146.0,453.7,-6.2,379,5897,0.12,2.20,0.00,0.000,6,0.100,0.043,2202,2330,3021
$GC,6206,-0.90,-146.0,477.1,-7.7,387,6210,0.15,2.22,0.00,0.000,4,0.155,0.057,2243,930,3021
$GC,6283,-0.90,-146.0,482.8,-7.1,388,6289,0.00,2.25,0.00,0.000,6,0.000,0.053,2243,2343,3021
$GC,6614,-0.90,-146.0,504.0,-6.5,397,6618,0.00,2.30,0.00,0.000,4,0.000,0.071,2243,3750,3021
$GC,6749,-0.97,-146.0,513.3,-6.9,400,6753,0.00,2.20,0.00,0.000,6,0.000,0.042,2244,2331,3022
$GC,7079,-1.02,-146.0,534.1,-6.2,408,7081,0.12,0.00,0.00,0.000,6,0.101,0.000,2198,2331,3022
$GC,7405,-0.93,-146.0,558.3,-7.3,416,7409,0.15,2.35,0.00,0.000,4,0.159,0.068,2239,3746,3022
$GC,7477,-1.00,-146.0,562.8,-6.1,417,7481,0.00,2.17,0.00,0.000,6,0.000,0.042,2240,2342,3022
$STATE,7730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7730,begin apogee
$GC,7735,-0.34,0.0,578.3,6.1,424,7870,0.40,0.00,131.52,1.262,6,0.146,0.000,2363,2525,2420
$STATE,7870,end apogee,CONTROL_FINISHED_OK
$STATE,7871,begin climb
$GC,7873,1.08,146.0,580.9,0.0,427,8020,1.08,0.00,138.25,1.164,6,0.114,0.000,2669,2525,1824
$GC,8337,0.96,146.0,544.3,8.6,439,8342,0.10,2.42,0.00,0.000,4,0.157,0.067,2644,3943,1820
$GC,8387,0.82,146.0,539.9,9.2,440,8391,0.12,2.30,0.00,0.000,6,0.153,0.041,2613,2520,1820
$GC,8706,0.91,171.3,520.0,6.2,448,8730,0.00,0.00,22.15,1.174,6,0.000,0.000,2614,2521,1720
$GC,9030,1.02,197.3,499.9,6.1,456,9056,0.15,0.00,23.05,1.174,6,0.081,0.000,2673,2520,1615
$GC,9355,0.94,197.3,472.0,8.8,464,9360,0.12,2.25,0.00,0.000,4,0.133,0.055,2639,1115,1613
$GC,9370,0.94,197.3,470.8,8.7,464,9375,0.00,2.28,0.00,0.000,6,0.000,0.051,2639,2536,1613
$GC,9719,0.95,203.8,447.0,6.8,473,9732,0.00,2.35,6.72,0.986,4,0.000,0.054,2639,1112,1589
$GC,9738,1.00,203.8,445.6,7.4,473,9742,0.00,2.25,0.00,0.000,6,0.000,0.050,2639,2523,1589
$GC,10086,1.01,207.1,422.2,6.9,482,10096,0.00,2.28,4.45,0.824,4,0.000,0.055,2638,1112,1575
$GC,10113,1.10,207.1,420.2,7.2,482,10118,0.12,2.25,0.00,0.000,6,0.086,0.050,2690,2528,1575
$GC,10437,0.99,207.1,390.0,9.4,493,10439,0.15,0.00,0.00,0.000,6,0.129,0.000,2646,2528,1575
$GC,10746,0.99,207.1,365.9,7.9,508,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2528,1574
$GC,11055,0.99,207.1,341.7,7.8,523,11059,0.00,2.25,0.00,0.000,4,0.000,0.055,2646,1110,1574
$GC,11077,1.07,207.1,340.1,7.4,524,11081,0.00,2.25,0.00,0.000,6,0.000,0.051,2646,2534,1574
$GC,11410,1.12,207.1,313.7,8.2,540,11414,0.12,2.28,0.00,0.000,4,0.084,0.054,2698,1108,1574
$GC,11419,1.12,207.1,312.7,8.3,540,11426,0.00,2.22,0.00,0.000,6,0.000,0.050,2698,2520,1575
$GC,11735,1.02,207.1,280.6,10.1,556,11737,0.15,0.00,0.00,0.000,6,0.140,0.000,2654,2520,1575
$GC,12045,1.06,207.1,255.7,7.6,571,12048,0.00,2.25,0.00,0.000,4,0.000,0.055,2654,1109,1575
$GC,12072,1.16,207.1,253.6,7.1,572,12076,0.12,2.25,0.00,0.000,6,0.083,0.051,2705,2533,1575
$GC,12399,1.06,207.1,224.4,8.9,588,12400,0.15,0.00,0.00,0.000,6,0.134,0.000,2661,2534,1575
$GC,12707,1.10,230.8,204.6,6.2,603,12733,0.00,2.33,21.05,1.075,4,0.000,0.057,2661,1112,1477
$GC,12745,1.25,276.5,202.3,5.5,605,12792,0.17,2.28,38.67,1.051,6,0.077,0.050,2728,2522,1291
$GC,13118,1.17,276.5,168.1,9.1,623,13123,0.15,2.30,0.00,0.000,4,0.131,0.056,2684,1112,1286
$GC,13157,1.30,291.2,165.2,6.5,624,13177,0.12,2.28,12.75,0.992,6,0.081,0.051,2732,2529,1232
$GC,13494,1.23,291.2,133.5,9.9,641,13496,0.12,0.00,0.00,0.000,6,0.137,0.000,2696,2530,1229
$GC,13802,1.29,291.2,109.1,7.5,656,13805,0.00,2.28,0.00,0.000,4,0.000,0.058,2696,1116,1229
$GC,13851,1.40,291.2,105.3,7.6,658,13856,0.15,2.25,0.00,0.000,6,0.081,0.052,2757,2529,1229
$GC,14190,1.29,291.2,72.9,9.2,711,14197,0.15,2.28,0.00,0.000,4,0.146,0.058,2714,1116,1228
$GC,14209,1.23,291.2,71.4,8.9,714,14215,0.00,2.25,0.00,0.000,6,0.000,0.052,2714,2533,1228
$GC,14554,1.28,291.2,46.3,7.5,775,14560,0.00,2.28,0.00,0.000,4,0.000,0.057,2714,1113,1228
$GC,14583,1.36,291.2,44.0,7.4,780,14589,0.00,2.25,0.00,0.000,6,0.000,0.053,2714,2528,1228
$GC,14927,1.63,357.4,24.5,4.8,841,14992,0.20,2.40,55.97,1.013,4,0.079,0.057,2798,1113,961
$GC,15160,1.63,357.4,3.6,8.3,882,15167,0.00,2.30,0.00,0.000,6,0.000,0.051,2798,2529,951
$STATE,15182,end climb,SURFACE_DEPTH_REACHED
$STATE,15182,begin surface coast
$FINISH,0.7,1.019351
$STATE,15211,end surface coast,CONTROL_FINISHED_OK
$STATE,15211,begin surface
$SM_CCo,15288,0.00,0.000,0,0,948,360.84
$SM_GC,1.53,7.45,0.00,0.00,0.070,0.000,0.000,164,2338,948,-10.39,-0.06,360.84
$RAFOS_CLK,868
$RAFOS,4,1224953063,16.750000,16.739721,69,67,63,61,56,56,144,725,219,194,120,210
$RAFOS,3,1224952441,16.583334,16.566944,67,60,54,50,50,50,762,166,205,154,139,883
$RAFOS,2,1224951849,16.416666,16.402500,91,65,58,57,55,55,907,197,120,174,208,219
$RAFOS,1,1224951244,16.250000,16.234444,63,59,58,55,51,51,162,706,126,235,180,207
$RAFOS,0,1224950644,16.083334,16.067778,144,61,59,55,54,52,544,189,231,210,122,132
$RAFOS_FIX,6643.301270,-6004.622070,251008,161600,2,118,0.81
$IRIDIUM_FIX,6609.62,-6016.65,190198,101011
$TT8_MAMPS,0.027612
$HUMID,1875
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,21.1,44.752
$10V_AH,10.5,18.848
$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,22.125,127.850,454.600,0.000,0.000,23.737,32.068,126.770,0.000,0.000,0.000,17.336,1621.931,11214.068,640.903,1728.947,392.473,33.365,1574.688,0.000,1698.053,1800.000,0.529,0.000
$DEVICE_MAMPS,269.984,85.137,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.718,607.086,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31513,891
$CAP_FILE_SIZE,125103,0
$CFSIZE,260165632,234172416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.8
$GPS,251008,191858,6642.078,-6007.942,37,2.9,56,-38.0