version: 66.04
glider: 113
mission: 4
dive: 228
start: 10 25 108 23 49 46
data:
$ID,113
$MISSION,4
$DIVE,228
$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,-26202.004
$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
$GPS1,234325,6644.125,-6004.881,22,1.1,40,-38.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.1
$GPS2,234850,6644.129,-6004.914,14,1.1,14,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.204,0.094
$KALMAN_X,18572.9,-162.3,-239.9,-134625.7,891.5
$KALMAN_Y,-35446.5,736.1,1402.5,13397.0,-5221.9
$MHEAD_RNG_PITCHd_Wd,103.3,41958,-12.9,-7.021
$D_GRID,620
$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,15,-1.08,-146.0,0.0,0.0,0,142,0.00,0.00,-124.38,0.000,2,0.000,0.000,162,2340,2807
$GC,145,-1.08,-146.0,3.3,-2.8,22,170,9.07,2.40,-7.12,0.000,4,0.275,0.087,2200,3738,3018
$GC,367,-0.75,-146.0,44.8,-13.6,61,374,0.25,2.20,0.00,0.000,6,0.168,0.044,2270,2339,3022
$GC,712,-0.66,-146.0,78.6,-9.2,122,719,0.00,2.33,0.00,0.000,4,0.000,0.071,2270,3745,3022
$GC,725,-0.58,-146.0,79.8,-9.1,124,732,0.15,2.20,0.00,0.000,6,0.155,0.043,2312,2333,3022
$GC,1077,-0.67,-146.0,107.9,-7.8,173,1078,0.10,0.00,0.00,0.000,6,0.107,0.000,2275,2333,3023
$GC,1386,-0.67,-146.0,131.4,-6.9,188,1390,0.00,2.35,0.00,0.000,4,0.000,0.071,2274,3754,3022
$GC,1401,-0.67,-146.0,132.7,-7.2,188,1408,0.00,2.22,0.00,0.000,6,0.000,0.044,2274,2345,3022
$GC,1717,-0.67,-146.0,155.0,-7.6,204,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2345,3022
$GC,2026,-0.67,-146.0,178.9,-7.6,219,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2345,3022
$GC,2336,-0.67,-146.0,200.2,-6.5,234,2340,0.00,2.25,0.00,0.000,4,0.000,0.060,2274,932,3022
$GC,2346,-0.67,-146.0,201.1,-6.8,234,2350,0.00,2.28,0.00,0.000,6,0.000,0.054,2274,2353,3022
$GC,2670,-0.67,-146.0,221.6,-6.5,250,2674,0.00,2.30,0.00,0.000,4,0.000,0.071,2275,3754,3021
$GC,2743,-0.77,-146.0,226.9,-7.0,253,2747,0.00,2.22,0.00,0.000,6,0.000,0.044,2274,2330,3021
$GC,3070,-0.83,-146.0,248.4,-6.7,269,3074,0.00,2.35,0.00,0.000,4,0.000,0.071,2274,3749,3021
$GC,3126,-0.92,-146.0,252.3,-6.8,271,3131,0.15,2.20,0.00,0.000,6,0.101,0.044,2220,2335,3021
$GC,3447,-0.83,-146.0,281.6,-8.9,287,3449,0.15,0.00,0.00,0.000,6,0.163,0.000,2260,2335,3021
$GC,3755,-0.83,-146.0,304.3,-7.3,302,3760,0.00,2.22,0.00,0.000,4,0.000,0.060,2260,928,3021
$GC,3782,-0.83,-146.0,306.4,-8.1,303,3787,0.00,2.28,0.00,0.000,6,0.000,0.054,2260,2353,3021
$GC,4110,-0.88,-146.0,330.2,-7.1,319,4114,0.00,2.28,0.00,0.000,4,0.000,0.058,2260,935,3021
$GC,4148,-0.88,-146.0,333.2,-7.6,320,4154,0.00,2.25,0.00,0.000,6,0.000,0.056,2260,2341,3020
$GC,4464,-0.93,-146.0,353.4,-6.3,336,4469,0.12,2.33,0.00,0.000,4,0.115,0.071,2217,3753,3021
$GC,4504,-0.88,-146.0,356.5,-7.8,338,4508,0.12,2.20,0.00,0.000,6,0.164,0.044,2248,2338,3020
$GC,4835,-0.88,-146.0,377.5,-6.3,354,4839,0.00,2.35,0.00,0.000,4,0.000,0.070,2249,3757,3021
$GC,4886,-0.95,-146.0,380.9,-6.8,356,4890,0.00,2.22,0.00,0.000,6,0.000,0.044,2249,2329,3021
$GC,5213,-0.99,-146.0,400.4,-5.9,372,5215,0.12,0.00,0.00,0.000,6,0.107,0.000,2204,2328,3021
$GC,5538,-0.89,-146.0,424.3,-7.4,380,5539,0.15,0.00,0.00,0.000,6,0.155,0.000,2245,2327,3021
$GC,5863,-0.89,-146.0,444.6,-6.1,388,5867,0.00,2.35,0.00,0.000,4,0.000,0.070,2245,3746,3021
$GC,5935,-0.96,-146.0,449.2,-6.3,389,5939,0.00,2.20,0.00,0.000,6,0.000,0.043,2245,2330,3021
$GC,6277,-0.96,-146.0,468.5,-5.6,398,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2330,3022
$GC,6603,-1.01,-146.0,486.5,-5.4,406,6608,0.12,2.35,0.00,0.000,4,0.101,0.068,2200,3750,3022
$GC,6642,-0.91,-146.0,489.1,-7.0,407,6647,0.15,2.20,0.00,0.000,6,0.156,0.043,2240,2336,3022
$GC,6972,-0.91,-146.0,508.1,-5.7,415,6976,0.00,2.33,0.00,0.000,4,0.000,0.069,2240,3750,3023
$GC,7011,-0.98,-146.0,510.3,-5.8,415,7017,0.00,2.20,0.00,0.000,6,0.000,0.042,2240,2336,3023
$GC,7342,-0.98,-146.0,528.4,-5.4,424,7346,0.00,2.33,0.00,0.000,4,0.000,0.068,2240,3745,3023
$GC,7381,-1.05,-146.0,530.6,-5.9,424,7388,0.12,2.20,0.00,0.000,6,0.097,0.042,2197,2328,3023
$GC,7712,-0.95,-146.0,553.8,-7.2,433,7717,0.12,2.33,0.00,0.000,4,0.160,0.069,2229,3746,3023
$GC,7739,-0.95,-146.0,555.6,-6.8,433,7743,0.00,2.17,0.00,0.000,6,0.000,0.041,2229,2340,3023
$GC,8082,-0.95,-146.0,577.1,-6.3,442,8085,0.00,2.33,0.00,0.000,4,0.000,0.067,2229,3750,3023
$GC,8108,-0.95,-146.0,578.9,-7.3,442,8113,0.00,2.22,0.00,0.000,6,0.000,0.041,2229,2317,3023
$GC,8452,-0.95,-146.0,600.1,-6.1,451,8456,0.00,2.38,0.00,0.000,4,0.000,0.067,2229,3754,3024
$GC,8520,-0.99,-146.0,604.5,-5.4,452,8524,0.00,2.20,0.00,0.000,6,0.000,0.041,2229,2337,3024
$STATE,8784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8785,begin apogee
$GC,8790,-0.34,0.0,621.2,6.2,459,8926,0.43,0.00,132.68,1.285,6,0.145,0.000,2359,2521,2420
$STATE,8927,end apogee,CONTROL_FINISHED_OK
$STATE,8927,begin climb
$GC,8929,1.08,146.0,623.7,0.0,462,9077,1.10,0.00,138.90,1.187,6,0.112,0.000,2674,2521,1824
$GC,9392,0.93,146.0,585.5,9.0,474,9394,0.15,0.00,0.00,0.000,6,0.144,0.000,2634,2521,1820
$GC,9717,0.93,146.0,562.1,7.1,482,9721,0.00,2.35,0.00,0.000,4,0.000,0.068,2635,3944,1820
$GC,9762,0.81,146.0,558.4,9.3,483,9766,0.00,2.25,0.00,0.000,6,0.000,0.041,2634,2511,1820
$GC,10091,0.81,146.0,534.4,7.2,491,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2511,1819
$GC,10416,0.82,151.7,511.8,6.8,499,10427,0.00,2.35,5.85,0.966,4,0.000,0.069,2634,3930,1801
$GC,10472,0.73,151.7,507.4,8.1,500,10476,0.15,2.20,0.00,0.000,6,0.149,0.042,2593,2519,1800
$GC,10784,0.92,197.4,490.2,5.5,508,10830,0.15,2.35,38.78,1.208,4,0.077,0.055,2651,1125,1615
$GC,10858,0.92,197.4,484.6,8.4,509,10862,0.00,2.33,0.00,0.000,6,0.000,0.051,2651,2537,1614
$GC,11195,0.92,197.4,458.2,7.8,518,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2537,1613
$GC,11520,0.92,197.4,433.4,7.7,526,11523,0.00,2.28,0.00,0.000,4,0.000,0.055,2652,1116,1613
$GC,11558,0.92,197.4,430.4,7.3,526,11564,0.00,2.22,0.00,0.000,6,0.000,0.050,2652,2522,1612
$GC,11889,0.92,197.4,405.5,7.5,535,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2522,1612
$GC,12197,0.92,197.4,380.9,8.1,548,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2522,1612
$GC,12506,0.92,197.4,356.3,7.7,563,12510,0.00,2.25,0.00,0.000,4,0.000,0.055,2651,1111,1612
$GC,12539,0.96,197.4,353.7,7.4,564,12543,0.00,2.22,0.00,0.000,6,0.000,0.050,2652,2525,1612
$GC,12861,0.99,214.0,331.8,6.5,580,12883,0.00,2.33,14.75,1.091,4,0.000,0.069,2651,3938,1546
$GC,12899,0.99,217.1,329.1,6.9,581,12909,0.00,2.22,4.60,0.793,6,0.000,0.041,2651,2515,1534
$GC,13237,0.99,217.1,305.1,7.6,598,13241,0.00,2.22,0.00,0.000,4,0.000,0.055,2652,1109,1533
$GC,13309,1.07,217.1,299.3,7.9,601,13313,0.00,2.25,0.00,0.000,6,0.000,0.051,2651,2531,1532
$GC,13636,1.13,217.1,274.4,7.3,617,13640,0.10,2.28,0.00,0.000,4,0.086,0.068,2696,3929,1532
$GC,13674,0.93,217.1,270.5,10.7,618,13682,0.20,2.20,0.00,0.000,6,0.143,0.042,2638,2509,1532
$GC,13990,1.08,241.0,250.1,6.2,634,14016,0.12,2.25,20.73,1.077,4,0.088,0.055,2691,1110,1436
$GC,14055,1.08,241.0,245.1,7.5,637,14059,0.00,2.28,0.00,0.000,6,0.000,0.051,2691,2528,1436
$GC,14382,1.08,241.0,219.0,8.0,653,14386,0.00,2.28,0.00,0.000,4,0.000,0.054,2690,1105,1434
$GC,14420,1.08,241.0,215.9,7.6,654,14426,0.00,2.25,0.00,0.000,6,0.000,0.051,2691,2522,1435
$GC,14736,1.08,241.0,189.1,8.9,670,14737,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2522,1434
$GC,15045,1.08,241.0,161.8,8.2,685,15048,0.00,2.25,0.00,0.000,4,0.000,0.057,2691,1115,1434
$GC,15089,1.08,241.0,158.3,8.0,687,15093,0.00,2.22,0.00,0.000,6,0.000,0.051,2691,2522,1434
$GC,15421,1.08,241.0,134.1,7.1,703,15422,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2522,1433
$GC,15731,1.08,243.8,112.5,6.9,718,15735,0.00,2.30,0.00,0.000,4,0.000,0.071,2691,3934,1433
$GC,15764,1.02,243.8,109.8,7.5,719,15769,0.12,2.20,0.00,0.000,6,0.146,0.044,2655,2516,1433
$GC,16091,1.34,267.0,91.2,6.2,752,16121,0.20,2.38,22.23,1.045,4,0.077,0.070,2735,3928,1330
$GC,16150,1.24,267.0,86.4,8.3,762,16157,0.12,2.22,0.00,0.000,6,0.152,0.043,2701,2520,1329
$GC,16493,1.24,267.0,61.9,7.1,823,16500,0.00,2.25,0.00,0.000,4,0.000,0.059,2701,1111,1327
$GC,16574,1.32,267.0,56.2,7.3,837,16581,0.08,2.25,0.00,0.000,6,0.105,0.054,2733,2518,1327
$GC,16918,1.32,267.0,27.1,7.8,898,16924,0.00,2.30,0.00,0.000,4,0.000,0.071,2733,3927,1327
$GC,16982,1.25,267.0,22.0,8.1,909,16989,0.12,2.20,0.00,0.000,6,0.144,0.044,2697,2515,1327
$STATE,17324,end climb,SURFACE_DEPTH_REACHED
$STATE,17324,begin surface coast
$FINISH,0.8,1.014879
$STATE,17364,end surface coast,CONTROL_FINISHED_OK
$STATE,17364,begin surface
$SM_CCo,17381,6.53,0.884,0,0,1298,275.23
$SM_GC,2.93,0.00,0.00,6.53,0.000,0.000,0.884,165,2324,1298,-10.44,-0.45,275.23
$RAFOS_CLK,992
$RAFOS,2,1224995044,4.416667,4.401111,66,59,58,55,55,55,901,171,143,191,208,114
$RAFOS,1,1224994442,4.250000,4.233889,82,67,57,57,56,49,685,191,173,694,150,201
$RAFOS,0,1224993861,4.083333,4.072500,127,62,62,58,55,54,453,209,164,117,136,148
$RAFOS,4,1224981844,0.750000,0.734444,59,57,56,52,51,51,803,212,188,145,176,114
$RAFOS,3,1224981251,0.583333,0.569722,146,63,63,59,54,52,712,218,173,229,139,198
$RAFOS,2,1224980651,0.416667,0.403056,64,59,57,54,51,50,216,881,197,1569,157,133
$RAFOS,1,1224980053,0.250000,0.236944,89,61,59,59,54,52,639,173,217,189,205,145
$RAFOS,0,1224979445,0.083333,0.068056,115,64,63,56,54,50,518,191,215,229,125,159
$RAFOS_FIX,6644.438965,-6000.893066,261008,000054,3,117,1.61
$IRIDIUM_FIX,6614.97,-6006.54,190198,191936
$TT8_MAMPS,0.029913
$HUMID,1895
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.10
$XPDR_PINGS,4
$24V_AH,21.1,45.046
$10V_AH,10.5,18.981
$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,21.075,145.675,378.500,6.525,0.000,28.568,40.822,139.721,1.000,0.000,0.000,15.952,1842.326,13099.888,592.419,1788.703,455.868,33.363,1567.548,0.000,1766.599,3240.000,0.529,0.000
$DEVICE_MAMPS,275.353,86.671,1284.725,883.584,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.643,667.762,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34644,977
$CAP_FILE_SIZE,134290,0
$CFSIZE,260165632,234029056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.5
$GPS,261008,044208,6642.985,-5959.256,46,0.8,46,-38.0