version: 66.04
glider: 113
mission: 4
dive: 203
start: 10 21 108 18 13 4
data:
$ID,113
$MISSION,4
$DIVE,203
$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,-25745.559
$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,32
$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
$GPS1,180631,6644.928,-6007.097,38,1.0,38,-38.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-61.7
$GPS2,181209,6644.938,-6007.351,14,1.3,14,-38.1
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.224,0.006
$KALMAN_X,19979.8,-149.4,-225.7,-137837.5,677.7
$KALMAN_Y,6836.5,1216.8,555.1,-27002.5,-748.1
$MHEAD_RNG_PITCHd_Wd,309.6,26676,-12.9,-7.021
$D_GRID,588
$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,14,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,137,0.00,0.00,-118.00,0.000,2,0.000,0.000,166,2336,2753
$GC,140,-1.08,-146.0,3.0,-2.5,21,165,8.85,2.38,-9.90,0.000,4,0.268,0.082,2192,3746,3019
$GC,413,-0.74,-146.0,53.9,-14.7,69,420,0.30,2.22,0.00,0.000,6,0.172,0.045,2274,2336,3022
$GC,757,-0.67,-146.0,85.0,-9.2,130,763,0.00,2.25,0.00,0.000,4,0.000,0.059,2274,925,3023
$GC,921,-0.58,-146.0,100.6,-9.8,158,925,0.12,2.28,0.00,0.000,6,0.166,0.054,2308,2340,3023
$GC,1241,-0.68,-146.0,122.8,-6.8,174,1245,0.00,2.28,0.00,0.000,4,0.000,0.058,2308,928,3024
$GC,1286,-0.74,-146.0,126.1,-7.3,176,1291,0.12,2.28,0.00,0.000,6,0.097,0.055,2262,2345,3024
$GC,1613,-0.74,-146.0,152.6,-8.4,192,1616,0.00,2.33,0.00,0.000,4,0.000,0.071,2262,3755,3024
$GC,1825,-0.74,-146.0,171.1,-8.4,201,1829,0.00,2.25,0.00,0.000,6,0.000,0.044,2261,2336,3023
$GC,2146,-0.74,-146.0,197.0,-7.6,217,2150,0.00,2.25,0.00,0.000,4,0.000,0.060,2262,925,3023
$GC,2269,-0.68,-146.0,207.0,-8.0,222,2274,0.10,2.28,0.00,0.000,6,0.179,0.055,2285,2341,3023
$GC,2585,-0.78,-146.0,227.0,-6.0,237,2589,0.00,2.33,0.00,0.000,4,0.000,0.072,2285,3747,3022
$GC,2738,-0.91,-146.0,236.9,-6.3,243,2745,0.17,2.22,0.00,0.000,6,0.084,0.044,2221,2324,3022
$GC,3054,-0.81,-146.0,263.9,-8.5,259,3055,0.15,0.00,0.00,0.000,6,0.162,0.000,2260,2324,3022
$GC,3362,-0.81,-146.0,285.5,-7.2,274,3366,0.00,2.38,0.00,0.000,4,0.000,0.072,2261,3747,3022
$GC,3506,-0.88,-146.0,296.8,-7.4,280,3513,0.00,2.20,0.00,0.000,6,0.000,0.044,2261,2340,3022
$GC,3823,-0.93,-146.0,319.0,-6.8,296,3825,0.12,0.00,0.00,0.000,6,0.111,0.000,2218,2340,3022
$GC,4131,-0.85,-146.0,343.0,-7.4,311,4136,0.12,2.25,0.00,0.000,4,0.162,0.057,2251,928,3021
$GC,4180,-0.85,-146.0,346.7,-7.4,313,4184,0.00,2.28,0.00,0.000,6,0.000,0.054,2251,2347,3021
$GC,4502,-0.85,-146.0,367.0,-6.4,329,4505,0.00,2.30,0.00,0.000,4,0.000,0.071,2251,3743,3021
$GC,4592,-0.92,-146.0,372.9,-6.6,333,4596,0.00,2.20,0.00,0.000,6,0.000,0.044,2251,2333,3021
$GC,4924,-0.92,-146.0,392.7,-5.7,349,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2333,3021
$GC,5231,-0.97,-146.0,410.5,-5.8,360,5235,0.10,2.22,0.00,0.000,4,0.117,0.056,2216,935,3022
$GC,5280,-0.86,-146.0,414.1,-7.2,361,5284,0.12,2.25,0.00,0.000,6,0.169,0.053,2247,2341,3021
$GC,5598,-0.86,-146.0,434.8,-6.5,369,5603,0.00,2.33,0.00,0.000,4,0.000,0.070,2247,3753,3022
$GC,5738,-0.94,-146.0,444.5,-6.8,372,5742,0.00,2.20,0.00,0.000,6,0.000,0.041,2247,2338,3022
$GC,6063,-0.99,-146.0,466.2,-6.6,380,6068,0.10,2.35,0.00,0.000,4,0.115,0.067,2213,3753,3023
$GC,6129,-0.99,-146.0,471.5,-8.7,381,6134,0.00,2.22,0.00,0.000,6,0.000,0.042,2213,2341,3023
$GC,6472,-0.92,-146.0,496.3,-7.1,390,6474,0.10,0.00,0.00,0.000,6,0.172,0.000,2238,2341,3023
$GC,6797,-0.92,-146.0,516.5,-6.2,398,6801,0.00,2.35,0.00,0.000,4,0.000,0.069,2238,3752,3023
$GC,6864,-0.98,-146.0,520.7,-6.2,399,6868,0.00,2.20,0.00,0.000,6,0.000,0.042,2238,2331,3023
$GC,7211,-0.98,-146.0,540.2,-5.8,408,7215,0.00,2.20,0.00,0.000,4,0.000,0.054,2238,936,3024
$GC,7279,-0.98,-146.0,545.0,-7.7,409,7283,0.00,2.25,0.00,0.000,6,0.000,0.053,2238,2345,3024
$GC,7627,-0.98,-146.0,567.1,-6.1,418,7632,0.00,2.30,0.00,0.000,4,0.000,0.070,2238,3743,3024
$GC,7672,-1.05,-146.0,569.7,-5.8,419,7677,0.12,2.20,0.00,0.000,6,0.100,0.041,2194,2324,3024
$STATE,7917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7918,begin apogee
$GC,7924,-0.34,0.0,588.7,8.2,425,8057,0.57,0.00,130.57,1.277,6,0.150,0.000,2366,2525,2420
$STATE,8058,end apogee,CONTROL_FINISHED_OK
$STATE,8058,begin climb
$GC,8060,1.08,146.0,591.7,0.0,428,8203,1.02,2.72,133.90,1.180,4,0.110,0.068,2665,3930,1824
$GC,8244,0.84,146.0,577.8,11.0,432,8250,0.20,2.42,0.00,0.000,6,0.140,0.041,2614,2528,1822
$GC,8592,0.86,162.5,555.8,6.5,441,8609,0.00,0.00,15.25,1.131,6,0.000,0.000,2614,2528,1757
$GC,8917,0.99,211.2,537.9,5.4,449,8962,0.12,0.00,41.88,1.203,6,0.082,0.000,2663,2527,1559
$GC,9282,0.95,211.2,509.6,7.8,458,9284,0.10,0.00,0.00,0.000,6,0.131,0.000,2637,2527,1557
$GC,9607,0.95,213.1,487.2,7.0,466,9610,0.00,2.25,0.00,0.000,4,0.000,0.055,2636,1112,1556
$GC,9629,1.04,222.6,485.7,6.7,466,9645,0.10,2.28,10.93,1.104,6,0.089,0.050,2678,2539,1512
$GC,9970,0.96,222.6,456.2,8.9,474,9972,0.12,0.00,0.00,0.000,6,0.127,0.000,2641,2539,1511
$GC,10295,1.02,228.9,433.0,6.8,482,10308,0.00,2.35,6.80,0.992,4,0.000,0.054,2641,1112,1485
$GC,10327,1.14,251.5,430.9,6.3,482,10353,0.15,2.25,20.30,1.147,6,0.081,0.050,2702,2522,1394
$GC,10661,1.02,251.5,398.8,9.9,491,10666,0.17,2.30,0.00,0.000,4,0.130,0.065,2651,3931,1392
$GC,10672,0.91,251.5,397.6,9.7,491,10678,0.00,2.22,0.00,0.000,6,0.000,0.041,2651,2508,1391
$GC,10987,0.97,251.5,375.0,7.3,507,10991,0.00,2.20,0.00,0.000,4,0.000,0.054,2650,1116,1391
$GC,11020,1.08,252.4,372.5,7.0,508,11024,0.00,2.22,0.00,0.000,6,0.000,0.049,2650,2522,1391
$GC,11340,1.15,252.4,349.3,7.4,524,11345,0.12,2.25,0.00,0.000,4,0.077,0.054,2705,1114,1391
$GC,11356,1.15,252.4,347.9,8.0,525,11360,0.00,2.22,0.00,0.000,6,0.000,0.049,2705,2525,1391
$GC,11689,1.05,252.4,312.9,10.6,541,11693,0.15,2.25,0.00,0.000,4,0.133,0.054,2661,1117,1391
$GC,11711,1.05,252.4,310.8,9.1,542,11715,0.00,2.22,0.00,0.000,6,0.000,0.050,2661,2527,1391
$GC,12037,1.05,252.4,283.9,7.8,558,12041,0.00,2.25,0.00,0.000,4,0.000,0.054,2661,1111,1391
$GC,12069,1.14,252.4,281.5,7.1,559,12074,0.08,2.22,0.00,0.000,6,0.106,0.049,2693,2528,1391
$GC,12390,1.08,252.4,252.8,9.0,575,12392,0.10,0.00,0.00,0.000,6,0.144,0.000,2666,2528,1391
$GC,12699,1.13,252.4,228.3,7.9,590,12703,0.00,2.25,0.00,0.000,4,0.000,0.054,2666,1114,1391
$GC,12726,1.22,252.4,226.2,7.3,591,12730,0.12,2.22,0.00,0.000,6,0.084,0.050,2718,2525,1391
$GC,13052,1.11,252.4,192.5,10.2,607,13057,0.15,2.25,0.00,0.000,4,0.130,0.054,2674,1116,1391
$GC,13062,1.04,252.4,191.4,10.1,607,13068,0.00,2.22,0.00,0.000,6,0.000,0.050,2674,2529,1392
$GC,13378,1.11,270.2,169.6,6.4,623,13400,0.00,2.35,16.50,1.047,4,0.000,0.054,2674,1111,1317
$GC,13407,1.22,291.9,167.8,6.3,624,13432,0.10,2.28,19.08,1.018,6,0.090,0.050,2716,2530,1229
$GC,13754,1.22,291.9,138.5,8.6,641,13758,0.00,2.30,0.00,0.000,4,0.000,0.056,2716,1109,1226
$GC,13777,1.22,291.9,136.5,8.2,642,13780,0.00,2.28,0.00,0.000,6,0.000,0.051,2716,2531,1225
$GC,14109,1.22,291.9,109.3,8.8,658,14113,0.00,2.28,0.00,0.000,4,0.000,0.055,2716,1117,1224
$GC,14147,1.22,291.9,105.7,9.0,659,14153,0.00,2.28,0.00,0.000,6,0.000,0.051,2716,2543,1225
$GC,14485,1.22,291.9,74.5,9.3,711,14491,0.00,2.30,0.00,0.000,4,0.000,0.058,2716,1114,1224
$GC,14525,1.26,291.9,70.9,8.7,718,14532,0.00,2.25,0.00,0.000,6,0.000,0.051,2716,2528,1224
$GC,14869,1.26,291.9,42.9,7.6,779,14875,0.00,2.28,0.00,0.000,4,0.000,0.056,2716,1112,1224
$GC,14938,1.36,297.5,38.5,6.8,791,14950,0.00,2.25,5.38,0.834,6,0.000,0.054,2716,2523,1207
$GC,15288,1.54,300.3,16.7,6.9,853,15301,0.17,2.30,3.83,0.693,4,0.074,0.056,2787,1115,1195
$GC,15375,1.44,300.3,9.6,8.1,868,15382,0.15,2.25,0.00,0.000,6,0.147,0.053,2747,2523,1194
$STATE,15470,end climb,SURFACE_DEPTH_REACHED
$STATE,15470,begin surface coast
$FINISH,0.9,1.025818
$STATE,15508,end surface coast,CONTROL_FINISHED_OK
$STATE,15508,begin surface
$SM_CCo,15584,0.00,0.000,0,0,1192,301.23
$SM_GC,1.76,7.30,0.00,0.00,0.077,0.000,0.000,162,2328,1192,-10.39,-0.34,301.23
$RAFOS_CLK,885
$RAFOS,4,1224621860,20.750000,20.738890,60,57,56,55,55,54,200,218,142,167,724,118
$RAFOS,3,1224621252,20.583334,20.570000,68,60,57,56,53,49,723,173,150,213,196,70
$RAFOS,2,1224620661,20.416666,20.405834,67,66,53,52,49,49,211,191,122,139,153,178
$RAFOS,1,1224620044,20.250000,20.234444,72,59,56,55,55,54,695,218,120,138,195,152
$RAFOS,0,1224619456,20.083334,20.071112,98,62,59,58,54,51,457,160,204,151,127,171
$RAFOS_FIX,6643.818848,-6001.776367,211008,202044,2,85,0.64
$IRIDIUM_FIX,6614.97,-5959.11,150198,131317
$TT8_MAMPS,0.027612
$HUMID,1892
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,21.3,41.334
$10V_AH,10.5,17.427
$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,21.650,141.600,404.400,0.000,0.000,25.061,34.790,154.808,0.250,0.000,0.000,16.309,1678.178,11472.202,558.435,1801.057,436.318,33.359,1543.630,0.000,1767.842,1800.000,0.530,0.000
$DEVICE_MAMPS,267.683,82.069,1277.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.499,608.454,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31593,891
$CAP_FILE_SIZE,131908,0
$CFSIZE,260165632,235491328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,211008,223437,6645.171,-6010.863,34,1.3,39,-38.1