version: 66.04
glider: 113
mission: 4
dive: 266
start: 11 5 108 5 55 40
data:
$ID,113
$MISSION,4
$DIVE,266
$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,-3
$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,225
$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,-26882.502
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,054807,6705.950,-5655.830,25,1.6,25,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.2
$GPS2,055445,6706.016,-5655.944,11,1.7,11,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.186,-0.125
$KALMAN_X,18615.6,393.3,-196.2,1955.0,-522.4
$KALMAN_Y,-76630.3,183.3,491.5,96570.8,-217.7
$MHEAD_RNG_PITCHd_Wd,161.5,8007,-12.9,-7.021
$D_GRID,463
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.08,-146.0,0.0,0.0,0,134,0.00,0.00,-113.97,0.000,2,0.000,0.000,154,2327,3004
$GC,137,-1.08,-146.0,3.1,-2.6,20,152,8.40,2.28,-0.43,0.000,4,0.244,0.065,2201,932,3018
$GC,158,1.29,-146.0,8.8,-13.4,23,166,1.77,2.25,0.00,0.000,6,0.166,0.048,2717,2352,3021
$GC,504,0.17,-146.0,32.8,-5.3,84,511,0.68,2.28,0.00,0.000,4,0.061,0.064,2456,3753,3021
$GC,764,-0.62,-146.0,51.5,-6.7,130,771,0.47,2.17,0.00,0.000,6,0.091,0.038,2290,2337,3021
$GC,1109,-0.84,-146.0,73.2,-6.7,191,1116,0.12,2.30,0.00,0.000,4,0.094,0.062,2242,3743,3020
$GC,1329,-0.84,-146.0,92.5,-9.0,230,1336,0.00,2.17,0.00,0.000,6,0.000,0.039,2242,2328,3020
$GC,1663,-0.84,-146.0,120.0,-7.7,257,1667,0.00,2.30,0.00,0.000,4,0.000,0.063,2242,3742,3019
$GC,1690,-0.84,-146.0,122.2,-8.0,258,1694,0.00,2.15,0.00,0.000,6,0.000,0.038,2242,2341,3018
$GC,2016,-0.84,-146.0,143.7,-6.4,274,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2341,3018
$GC,2325,-0.84,-146.0,164.7,-6.8,289,2329,0.00,2.30,0.00,0.000,4,0.000,0.063,2242,3752,3018
$GC,2337,-0.84,-146.0,165.5,-6.7,289,2340,0.00,2.17,0.00,0.000,6,0.000,0.038,2242,2333,3017
$GC,2658,-0.84,-146.0,186.8,-6.8,305,2661,0.00,2.30,0.00,0.000,4,0.000,0.062,2242,3745,3017
$GC,2691,-0.90,-146.0,189.2,-7.3,306,2695,0.00,2.15,0.00,0.000,6,0.000,0.038,2242,2339,3018
$GC,3012,-0.90,-146.0,210.3,-6.1,322,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2338,3017
$GC,3321,-0.90,-146.0,228.0,-5.6,337,3325,0.00,2.30,0.00,0.000,4,0.000,0.062,2242,3750,3018
$GC,3348,-0.96,-146.0,229.8,-6.3,338,3353,0.00,2.15,0.00,0.000,6,0.000,0.037,2242,2337,3018
$GC,3676,-0.96,-146.0,248.9,-6.0,354,3680,0.00,2.28,0.00,0.000,4,0.000,0.061,2242,3744,3018
$GC,3686,-1.01,-146.0,249.5,-6.0,354,3691,0.10,2.15,0.00,0.000,6,0.097,0.036,2204,2334,3018
$GC,4007,-0.94,-146.0,272.8,-7.3,370,4011,0.12,2.33,0.00,0.000,4,0.148,0.061,2239,3755,3019
$GC,4040,-1.00,-146.0,275.1,-6.3,371,4047,0.00,2.17,0.00,0.000,6,0.000,0.036,2239,2329,3018
$GC,4356,-1.05,-146.0,294.2,-6.2,387,4361,0.12,2.33,0.00,0.000,4,0.094,0.061,2191,3756,3019
$GC,4412,-0.95,-146.0,298.4,-7.3,389,4419,0.15,2.17,0.00,0.000,6,0.144,0.036,2232,2326,3019
$GC,4728,-0.95,-146.0,317.4,-5.8,405,4731,0.00,2.33,0.00,0.000,4,0.000,0.062,2232,3754,3020
$GC,4745,-0.95,-146.0,318.4,-5.5,405,4752,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2340,3020
$GC,5061,-0.95,-146.0,336.7,-6.0,421,5066,0.00,2.28,0.00,0.000,4,0.000,0.061,2232,3747,3021
$GC,5130,-1.01,-146.0,340.9,-6.5,424,5134,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2333,3020
$GC,5462,-1.01,-146.0,360.9,-6.1,440,5466,0.00,2.30,0.00,0.000,4,0.000,0.061,2232,3745,3021
$GC,5480,-1.01,-146.0,361.8,-5.9,440,5486,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2331,3022
$GC,5795,-1.01,-146.0,381.5,-6.0,456,5800,0.00,2.30,0.00,0.000,4,0.000,0.061,2232,3756,3022
$GC,5846,-1.08,-146.0,384.6,-6.3,458,5851,0.12,2.15,0.00,0.000,6,0.095,0.035,2187,2340,3022
$GC,6192,-0.97,-146.0,410.6,-7.9,472,6197,0.15,2.30,0.00,0.000,4,0.146,0.061,2229,3750,3022
$GC,6225,-1.02,-146.0,413.1,-7.7,472,6229,0.00,2.15,0.00,0.000,6,0.000,0.035,2229,2336,3022
$GC,6561,-1.02,-146.0,435.3,-6.6,481,6565,0.00,2.30,0.00,0.000,4,0.000,0.061,2229,3746,3022
$GC,6601,-1.08,-146.0,437.9,-6.7,481,6608,0.12,2.15,0.00,0.000,6,0.091,0.035,2182,2331,3022
$GC,6932,-0.96,-146.0,462.7,-7.5,490,6937,0.17,2.30,0.00,0.000,3,0.147,0.060,2231,3744,3022
$STATE,6938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6938,begin apogee
$GC,6945,-0.34,0.0,463.1,7.4,490,7074,0.40,0.00,126.18,1.101,6,0.133,0.000,2362,2515,2420
$STATE,7075,end apogee,CONTROL_FINISHED_OK
$STATE,7075,begin climb
$GC,7078,1.08,146.0,466.0,0.0,493,7216,1.00,2.53,128.90,1.031,4,0.103,0.044,2667,1119,1824
$GC,7263,0.95,146.0,453.6,7.6,497,7268,0.10,2.40,0.00,0.000,6,0.140,0.043,2642,2528,1822
$GC,7611,0.90,146.0,427.6,7.6,506,7615,0.00,2.25,0.00,0.000,4,0.000,0.061,2642,3927,1821
$GC,7683,0.75,146.0,421.3,8.6,507,7687,0.15,2.17,0.00,0.000,6,0.141,0.037,2598,2513,1822
$GC,8025,0.90,183.6,401.3,5.7,516,8061,0.12,2.22,31.12,1.040,4,0.074,0.048,2652,1123,1671
$GC,8124,0.90,183.6,393.4,8.7,518,8130,0.00,2.22,0.00,0.000,6,0.000,0.044,2652,2527,1670
$GC,8439,0.84,183.6,366.5,8.5,534,8444,0.12,2.25,0.00,0.000,4,0.133,0.060,2615,3937,1669
$GC,8500,0.84,183.6,361.5,8.6,536,8506,0.00,2.17,0.00,0.000,6,0.000,0.036,2615,2509,1668
$GC,8815,0.94,195.4,340.3,6.6,552,8832,0.10,2.17,11.00,0.941,4,0.085,0.047,2660,1114,1622
$GC,8900,0.94,195.4,333.2,8.3,555,8905,0.00,2.20,0.00,0.000,6,0.000,0.044,2660,2524,1622
$GC,9232,0.89,195.4,305.5,7.9,571,9237,0.12,2.25,0.00,0.000,4,0.136,0.060,2624,3936,1621
$GC,9281,0.89,195.4,301.8,7.3,573,9285,0.00,2.15,0.00,0.000,6,0.000,0.036,2624,2520,1621
$GC,9603,1.00,227.5,283.0,5.9,589,9636,0.12,2.28,26.90,0.989,4,0.077,0.048,2679,1120,1491
$GC,9703,1.00,227.5,274.5,9.2,593,9710,0.10,2.20,0.00,0.000,6,0.136,0.044,2652,2522,1490
$GC,10019,1.00,227.5,250.5,7.5,609,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2522,1488
$GC,10328,1.00,227.5,227.4,7.6,624,10331,0.00,2.20,0.00,0.000,4,0.000,0.048,2652,1113,1488
$GC,10389,1.07,227.5,222.8,7.2,626,10395,0.00,2.17,0.00,0.000,6,0.000,0.043,2652,2521,1488
$GC,10705,1.07,227.5,198.7,7.4,642,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2521,1488
$GC,11014,1.07,227.5,176.9,7.0,657,11018,0.00,2.20,0.00,0.000,4,0.000,0.048,2652,1112,1488
$GC,11081,1.14,227.5,172.2,7.2,660,11086,0.12,2.20,0.00,0.000,6,0.081,0.044,2705,2534,1488
$GC,11414,1.01,227.5,138.1,10.2,676,11419,0.17,2.22,0.00,0.000,4,0.124,0.058,2652,3934,1489
$GC,11492,1.01,227.5,131.1,8.2,679,11496,0.00,2.15,0.00,0.000,6,0.000,0.036,2652,2513,1488
$GC,11814,1.13,260.9,110.0,5.9,695,11849,0.10,2.28,27.35,0.902,4,0.084,0.048,2698,1112,1355
$GC,11916,1.13,260.9,102.1,8.0,699,11922,0.00,2.22,0.00,0.000,6,0.000,0.043,2698,2528,1354
$GC,12255,1.13,260.9,74.5,8.3,754,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2528,1354
$GC,12599,1.16,284.4,48.9,6.2,815,12624,0.00,2.33,19.77,0.877,4,0.000,0.061,2698,3926,1259
$GC,12703,1.16,284.4,41.1,7.8,833,12710,0.00,2.17,0.00,0.000,6,0.000,0.038,2700,2515,1257
$GC,13047,1.23,284.4,17.1,7.2,894,13053,0.00,2.17,0.00,0.000,4,0.000,0.050,2701,1115,1256
$GC,13122,1.36,302.0,12.1,6.4,907,13143,0.10,2.20,15.15,0.861,6,0.090,0.045,2746,2527,1188
$STATE,13236,end climb,SURFACE_DEPTH_REACHED
$STATE,13236,begin surface coast
$FINISH,0.8,1.026397
$STATE,13260,end surface coast,CONTROL_FINISHED_OK
$STATE,13260,begin surface
$SM_CCo,13337,0.00,0.000,0,0,1184,303.44
$SM_GC,1.66,7.15,0.00,0.00,0.065,0.000,0.000,161,2333,1184,-10.38,-0.20,303.44
$RAFOS_CLK,678
$RAFOS,4,1225874659,8.750000,8.738611,106,59,58,55,54,53,735,219,185,202,145,156
$RAFOS,3,1225874057,8.583333,8.571389,74,69,66,56,55,54,919,198,218,141,122,179
$RAFOS,2,1225873444,8.416667,8.401111,64,63,61,57,56,56,645,214,149,132,172,657
$RAFOS,1,1225872853,8.250000,8.236944,99,60,58,55,52,50,825,218,138,148,229,192
$RAFOS,0,1225872277,8.083333,8.076944,67,67,61,58,56,52,187,221,118,860,149,208
$RAFOS_FIX,6705.404785,-5700.959473,051108,080825,3,93,0.40
$IRIDIUM_FIX,6636.54,-5647.69,300198,010121
$TT8_MAMPS,0.027612
$HUMID,1862
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,21.6,51.432
$10V_AH,10.6,22.144
$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,22.525,133.850,386.375,0.000,0.000,33.096,50.660,193.525,0.250,0.000,0.000,13.403,1675.227,9306.410,516.408,1732.186,512.698,33.368,1476.104,0.000,1708.329,1800.000,0.529,0.000
$DEVICE_MAMPS,243.906,65.195,1101.412,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,715.672,629.596,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,931
$CAP_FILE_SIZE,122341,0
$CFSIZE,260165632,231145472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.1
$GPS,051108,093926,6705.647,-5656.624,36,2.0,36,-37.6