version: 66.04
glider: 113
mission: 4
dive: 109
start: 9 28 108 14 50 52
data:
$ID,113
$MISSION,4
$DIVE,109
$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,100
$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,-24021.02
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,23
$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
$GPS1,144458,6643.271,-6006.543,32,2.1,51,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-66.2
$GPS2,144957,6643.255,-6006.604,15,1.8,15,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.174,0.142
$KALMAN_X,14623.1,-3.6,-705.1,-96015.2,1843.8
$KALMAN_Y,-2838.1,-544.1,2046.4,-20020.8,-2442.4
$MHEAD_RNG_PITCHd_Wd,347.2,26763,-12.9,-7.021
$D_GRID,582
$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,14,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,138,0.00,0.00,-118.65,0.000,2,0.000,0.000,160,2337,2713
$GC,140,-1.08,-146.0,3.1,-2.4,21,166,8.82,2.47,-10.68,0.000,4,0.271,0.085,2192,3757,3019
$GC,239,-0.51,-146.0,25.3,-22.2,38,246,0.47,2.28,0.00,0.000,6,0.173,0.046,2325,2339,3022
$GC,585,-0.58,-146.0,50.5,-6.3,99,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2339,3024
$GC,928,-0.69,-146.0,74.6,-7.3,160,934,0.15,0.00,0.00,0.000,6,0.092,0.000,2271,2339,3026
$GC,1265,-0.69,-146.0,105.8,-8.7,212,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2339,3026
$GC,1574,-0.69,-146.0,130.4,-7.6,227,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2339,3026
$GC,1883,-0.69,-146.0,154.0,-7.4,242,1887,0.00,2.35,0.00,0.000,4,0.000,0.074,2272,3747,3025
$GC,1951,-0.76,-146.0,159.1,-7.6,245,1955,0.00,2.22,0.00,0.000,6,0.000,0.045,2271,2329,3025
$GC,2282,-0.76,-146.0,182.9,-7.0,261,2286,0.00,2.22,0.00,0.000,4,0.000,0.058,2272,925,3025
$GC,2387,-0.76,-146.0,191.2,-7.9,265,2394,0.00,2.30,0.00,0.000,6,0.000,0.054,2271,2342,3024
$GC,2703,-0.82,-146.0,211.9,-6.5,281,2707,0.00,2.33,0.00,0.000,4,0.000,0.072,2271,3756,3024
$GC,2816,-0.92,-146.0,218.9,-6.4,286,2820,0.12,2.22,0.00,0.000,6,0.100,0.045,2228,2330,3024
$GC,3147,-0.85,-146.0,243.3,-7.2,302,3151,0.10,2.20,0.00,0.000,4,0.179,0.060,2252,937,3024
$GC,3230,-0.85,-146.0,249.4,-6.8,305,3236,0.00,2.25,0.00,0.000,6,0.000,0.058,2252,2341,3024
$GC,3545,-0.85,-146.0,269.3,-6.0,321,3549,0.00,2.30,0.00,0.000,4,0.000,0.073,2251,3747,3023
$GC,3668,-0.91,-146.0,276.8,-6.2,326,3672,0.00,2.20,0.00,0.000,6,0.000,0.044,2251,2337,3023
$GC,3988,-0.91,-146.0,295.6,-6.1,342,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2336,3023
$GC,4297,-0.91,-146.0,314.0,-5.8,357,4301,0.00,2.35,0.00,0.000,4,0.000,0.073,2252,3752,3023
$GC,4383,-1.00,-146.0,319.5,-7.0,360,4389,0.12,2.20,0.00,0.000,6,0.107,0.044,2207,2340,3023
$GC,4697,-0.91,-146.0,344.2,-7.9,376,4702,0.12,2.22,0.00,0.000,4,0.165,0.057,2240,934,3022
$GC,4768,-0.91,-146.0,349.6,-7.2,379,4774,0.00,2.28,0.00,0.000,6,0.000,0.054,2240,2342,3022
$GC,5090,-0.91,-146.0,371.3,-6.7,395,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2342,3022
$GC,5399,-0.91,-146.0,391.9,-6.5,410,5403,0.00,2.30,0.00,0.000,4,0.000,0.070,2240,3750,3023
$GC,5505,-0.98,-146.0,399.1,-7.1,414,5511,0.00,2.20,0.00,0.000,6,0.000,0.043,2240,2332,3023
$GC,5815,-0.98,-146.0,418.6,-6.2,423,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2332,3023
$GC,6141,-1.03,-146.0,437.6,-5.6,431,6146,0.12,2.35,0.00,0.000,4,0.102,0.071,2196,3750,3023
$GC,6246,-0.95,-146.0,445.7,-8.4,433,6251,0.08,2.22,0.00,0.000,6,0.162,0.043,2230,2337,3023
$GC,6595,-0.95,-146.0,467.9,-6.6,442,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2336,3023
$GC,6918,-0.95,-146.0,488.0,-6.2,450,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2336,3024
$GC,7244,-0.95,-146.0,508.0,-6.1,458,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2336,3024
$GC,7568,-0.95,-146.0,527.5,-6.0,466,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2336,3024
$GC,7893,-0.95,-146.0,547.4,-6.3,474,7897,0.00,2.20,0.00,0.000,4,0.000,0.056,2231,935,3024
$GC,7965,-0.95,-146.0,552.2,-7.0,475,7970,0.00,2.28,0.00,0.000,6,0.000,0.052,2231,2345,3024
$GC,8307,-0.95,-146.0,573.9,-6.2,484,8311,0.00,2.30,0.00,0.000,4,0.000,0.070,2231,3755,3024
$GC,8402,-1.03,-146.0,580.0,-6.4,486,8406,0.00,2.22,0.00,0.000,6,0.000,0.041,2231,2336,3024
$STATE,8439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8440,begin apogee
$GC,8445,-0.34,0.0,582.3,5.7,487,8575,0.43,0.00,127.30,1.282,6,0.142,0.000,2363,2522,2420
$STATE,8575,end apogee,CONTROL_FINISHED_OK
$STATE,8576,begin climb
$GC,8577,1.08,146.0,583.4,0.0,490,8715,1.02,2.67,129.15,1.192,4,0.110,0.069,2666,3924,1824
$GC,8760,0.78,146.0,567.7,12.3,494,8765,0.25,2.40,0.00,0.000,6,0.144,0.041,2600,2522,1822
$GC,9072,0.78,151.4,545.2,6.8,502,9083,0.00,2.45,5.72,0.927,4,0.000,0.071,2600,3929,1802
$GC,9088,0.79,157.7,544.2,6.8,502,9102,0.00,2.33,7.32,0.996,6,0.000,0.041,2600,2505,1776
$GC,9433,0.81,171.7,521.7,6.5,511,9448,0.00,0.00,12.98,1.141,6,0.000,0.000,2600,2504,1720
$GC,9758,0.90,196.9,501.2,6.2,519,9783,0.12,0.00,22.42,1.192,6,0.084,0.000,2649,2504,1617
$GC,10083,0.82,196.9,474.1,8.4,527,10088,0.15,2.40,0.00,0.000,4,0.142,0.070,2608,3926,1615
$GC,10109,0.82,196.9,471.9,7.7,527,10114,0.00,2.28,0.00,0.000,6,0.000,0.041,2608,2511,1615
$GC,10447,0.88,198.7,448.7,7.0,536,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2511,1614
$GC,10771,0.95,198.7,425.9,7.1,544,10773,0.12,0.00,0.00,0.000,6,0.087,0.000,2659,2511,1615
$GC,11096,0.85,198.7,397.4,8.7,552,11101,0.15,2.35,0.00,0.000,4,0.148,0.071,2616,3934,1614
$GC,11106,0.76,198.7,396.5,8.7,552,11110,0.00,2.22,0.00,0.000,6,0.000,0.041,2616,2506,1613
$GC,11427,0.77,204.4,374.8,6.8,568,11436,0.00,0.00,7.28,1.022,6,0.000,0.000,2616,2506,1586
$GC,11737,0.85,219.8,354.4,6.5,583,11757,0.00,0.00,14.15,1.118,6,0.000,0.000,2616,2506,1524
$GC,12066,0.96,243.1,333.6,6.2,599,12089,0.10,0.00,20.33,1.127,6,0.095,0.000,2655,2506,1428
$GC,12394,0.96,243.1,307.0,8.1,615,12398,0.00,2.22,0.00,0.000,4,0.000,0.055,2655,1118,1426
$GC,12404,0.96,243.1,306.1,8.1,615,12409,0.00,2.28,0.00,0.000,6,0.000,0.049,2655,2518,1426
$GC,12724,0.96,243.1,279.2,8.7,631,12728,0.00,2.28,0.00,0.000,4,0.000,0.055,2655,1109,1426
$GC,12734,0.96,243.1,278.2,8.6,631,12739,0.00,2.28,0.00,0.000,6,0.000,0.048,2656,2520,1426
$GC,13055,0.96,243.1,250.5,8.5,647,13059,0.00,2.25,0.00,0.000,4,0.000,0.055,2655,1111,1426
$GC,13065,0.96,243.1,249.5,8.5,647,13070,0.00,2.28,0.00,0.000,6,0.000,0.048,2655,2524,1426
$GC,13386,0.96,243.1,223.8,8.0,663,13390,0.00,2.25,0.00,0.000,4,0.000,0.055,2655,1118,1426
$GC,13414,1.01,243.1,222.0,7.1,664,13418,0.00,2.22,0.00,0.000,6,0.000,0.048,2655,2525,1426
$GC,13740,1.01,243.1,196.3,7.7,680,13744,0.00,2.25,0.00,0.000,4,0.000,0.055,2655,1114,1426
$GC,13762,1.08,243.1,194.6,7.5,681,13766,0.00,2.22,0.00,0.000,6,0.000,0.049,2655,2522,1426
$GC,14093,1.08,243.1,170.9,7.1,697,14097,0.00,2.25,0.00,0.000,4,0.000,0.056,2655,1116,1426
$GC,14104,1.13,243.1,170.1,7.2,697,14109,0.10,2.22,0.00,0.000,6,0.094,0.049,2693,2523,1426
$GC,14424,1.07,243.1,141.8,8.5,713,14429,0.12,2.28,0.00,0.000,4,0.147,0.057,2658,1108,1426
$GC,14451,1.15,253.0,139.9,6.7,714,14466,0.08,2.28,9.57,1.019,6,0.083,0.050,2710,2523,1387
$GC,14794,1.04,253.0,108.7,9.3,731,14799,0.17,2.30,0.00,0.000,4,0.138,0.068,2658,3927,1386
$GC,14804,0.97,253.0,107.6,9.3,731,14810,0.00,2.20,0.00,0.000,6,0.000,0.043,2659,2517,1386
$GC,15137,1.09,279.5,84.7,6.1,777,15167,0.00,2.42,22.30,1.068,4,0.000,0.072,2658,3935,1279
$GC,15179,1.20,302.6,82.1,6.2,784,15209,0.15,2.28,20.50,1.014,6,0.084,0.043,2713,2511,1185
$GC,15546,1.20,302.6,51.4,8.3,849,15552,0.00,2.25,0.00,0.000,4,0.000,0.059,2714,1118,1179
$GC,15563,1.20,302.6,49.9,8.5,852,15570,0.00,2.28,0.00,0.000,6,0.000,0.052,2714,2520,1179
$GC,15908,1.41,356.5,24.1,5.2,913,15961,0.10,2.42,44.97,1.029,4,0.095,0.059,2758,1101,964
$GC,16023,1.41,356.5,16.0,8.0,933,16030,0.00,2.38,0.00,0.000,6,0.000,0.054,2758,2530,959
$STATE,16203,end climb,SURFACE_DEPTH_REACHED
$STATE,16203,begin surface coast
$FINISH,0.8,1.013450
$STATE,16231,end surface coast,CONTROL_FINISHED_OK
$STATE,16231,begin surface
$SM_CCo,16307,0.00,0.000,0,0,952,360.10
$SM_GC,1.68,7.40,0.00,0.00,0.074,0.000,0.000,161,2341,952,-10.39,0.03,360.10
$RAFOS_CLK,925
$RAFOS,4,1222620246,16.750000,16.735001,75,68,64,57,53,52,811,197,213,120,181,163
$RAFOS,3,1222619641,16.583334,16.566944,83,62,58,55,54,53,769,214,165,191,124,178
$RAFOS,2,1222619062,16.416666,16.406111,80,64,62,60,59,58,834,205,175,152,244,226
$RAFOS,1,1222618457,16.250000,16.238056,115,67,58,56,52,51,632,200,218,125,209,141
$RAFOS,0,1222617859,16.083334,16.071945,67,58,57,57,56,52,459,170,192,119,204,158
$RAFOS_FIX,6644.067383,-6001.936523,280908,161627,5,84,0.64
$IRIDIUM_FIX,6614.97,-6001.83,231297,101023
$TT8_MAMPS,0.027612
$HUMID,1898
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,26.039
$10V_AH,10.6,10.036
$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,20.600,124.250,444.000,0.000,0.000,27.461,30.560,132.587,0.000,0.000,0.000,16.653,1734.104,12124.317,597.183,1800.421,362.981,33.378,1583.684,0.000,1775.930,1800.000,0.528,0.000
$DEVICE_MAMPS,270.751,85.137,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.713,660.907,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34696,970
$CAP_FILE_SIZE,128623,0
$CFSIZE,260165632,243269632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.0
$GPS,280908,192407,6642.368,-6010.043,32,0.8,32,-38.0