version: 66.04
glider: 113
mission: 4
dive: 206
start: 10 22 108 7 26 23
data:
$ID,113
$MISSION,4
$DIVE,206
$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,-25787.453
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,072029,6641.811,-6017.815,40,1.7,44,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.7
$GPS2,072527,6641.781,-6017.903,12,1.2,12,-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,-0.218,0.053
$KALMAN_X,22434.4,332.7,-289.6,-148372.4,1068.6
$KALMAN_Y,4765.3,-1644.8,921.1,-28285.0,-752.4
$MHEAD_RNG_PITCHd_Wd,321.6,18389,-12.9,-7.021
$D_GRID,532
$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,14,-1.08,-146.0,0.0,0.0,0,121,0.00,0.00,-104.15,0.000,2,0.000,0.000,167,2323,2771
$GC,124,-1.08,-146.0,3.2,-2.7,18,149,8.88,2.40,-8.70,0.000,4,0.269,0.084,2192,3742,3019
$GC,259,-0.63,-146.0,31.2,-18.7,41,266,0.38,2.22,0.00,0.000,6,0.176,0.047,2295,2344,3022
$GC,604,-0.63,-146.0,65.2,-8.1,102,610,0.00,2.25,0.00,0.000,4,0.000,0.059,2295,933,3023
$GC,835,-0.59,-146.0,85.6,-8.4,143,841,0.00,2.28,0.00,0.000,6,0.000,0.054,2295,2350,3023
$GC,1166,-0.59,-146.0,110.9,-7.4,183,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2350,3023
$GC,1476,-0.66,-146.0,131.9,-6.6,198,1480,0.00,2.33,0.00,0.000,4,0.000,0.074,2295,3753,3023
$GC,1635,-0.79,-146.0,143.1,-6.8,205,1639,0.12,2.22,0.00,0.000,6,0.092,0.044,2249,2325,3023
$GC,1966,-0.72,-146.0,172.0,-8.8,221,1968,0.12,0.00,0.00,0.000,6,0.171,0.000,2281,2324,3023
$GC,2277,-0.77,-146.0,194.2,-7.1,236,2281,0.00,2.35,0.00,0.000,4,0.000,0.072,2281,3749,3023
$GC,2333,-0.87,-146.0,198.5,-7.4,238,2337,0.15,2.20,0.00,0.000,6,0.093,0.044,2230,2344,3023
$GC,2654,-0.77,-146.0,228.5,-9.6,254,2659,0.15,2.25,0.00,0.000,4,0.162,0.058,2269,934,3022
$GC,2794,-0.77,-146.0,240.4,-8.0,260,2798,0.00,2.25,0.00,0.000,6,0.000,0.055,2270,2339,3022
$GC,3121,-0.83,-146.0,262.6,-6.7,276,3125,0.00,2.33,0.00,0.000,4,0.000,0.073,2270,3752,3022
$GC,3268,-0.93,-146.0,272.4,-6.2,282,3273,0.15,2.22,0.00,0.000,6,0.092,0.044,2217,2330,3022
$GC,3588,-0.83,-146.0,296.9,-7.6,298,3593,0.15,2.35,0.00,0.000,4,0.156,0.071,2258,3745,3021
$GC,3656,-0.91,-146.0,301.3,-6.5,301,3660,0.00,2.20,0.00,0.000,6,0.000,0.044,2258,2340,3021
$GC,3988,-0.96,-146.0,322.2,-6.5,317,3990,0.12,0.00,0.00,0.000,6,0.100,0.000,2213,2340,3021
$GC,4298,-0.86,-146.0,348.6,-8.6,332,4303,0.15,2.35,0.00,0.000,4,0.162,0.070,2254,3747,3021
$GC,4375,-0.94,-146.0,354.6,-7.3,335,4382,0.10,2.20,0.00,0.000,6,0.103,0.043,2219,2339,3021
$GC,4691,-0.86,-146.0,379.1,-7.5,351,4695,0.12,2.25,0.00,0.000,4,0.163,0.057,2253,929,3021
$GC,4768,-0.86,-146.0,384.9,-7.4,354,4774,0.00,2.28,0.00,0.000,6,0.000,0.053,2253,2353,3021
$GC,5103,-0.92,-146.0,406.0,-6.5,369,5107,0.00,2.30,0.00,0.000,4,0.000,0.070,2253,3751,3021
$GC,5204,-1.01,-146.0,412.8,-7.0,371,5209,0.15,2.22,0.00,0.000,6,0.099,0.043,2201,2325,3022
$GC,5522,-0.89,-146.0,438.9,-8.2,379,5527,0.15,2.38,0.00,0.000,4,0.156,0.069,2242,3749,3021
$GC,5600,-0.95,-146.0,444.5,-7.2,380,5606,0.00,2.20,0.00,0.000,6,0.000,0.043,2242,2341,3021
$GC,5931,-0.95,-146.0,465.8,-6.3,389,5935,0.00,2.25,0.00,0.000,4,0.000,0.057,2242,925,3022
$GC,5985,-0.95,-146.0,469.7,-7.4,390,5990,0.00,2.30,0.00,0.000,6,0.000,0.053,2242,2344,3022
$GC,6305,-0.95,-146.0,489.5,-6.1,398,6308,0.00,2.33,0.00,0.000,4,0.000,0.070,2242,3754,3023
$GC,6451,-1.02,-146.0,499.0,-6.5,401,6455,0.12,2.22,0.00,0.000,6,0.096,0.042,2198,2323,3023
$GC,6768,-0.91,-146.0,522.4,-7.4,409,6773,0.15,2.20,0.00,0.000,4,0.160,0.055,2239,942,3023
$GC,6863,-0.91,-146.0,529.1,-7.1,411,6867,0.00,2.25,0.00,0.000,6,0.000,0.053,2239,2347,3023
$STATE,6941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6941,begin apogee
$GC,6946,-0.34,0.0,534.0,6.0,413,7079,0.40,0.00,129.90,1.241,6,0.145,0.000,2362,2528,2420
$STATE,7080,end apogee,CONTROL_FINISHED_OK
$STATE,7080,begin climb
$GC,7082,1.08,146.0,537.2,0.0,416,7227,1.08,0.00,136.35,1.140,6,0.114,0.000,2670,2528,1824
$GC,7549,0.95,146.0,500.9,8.4,428,7554,0.12,2.40,0.00,0.000,4,0.151,0.068,2638,3929,1820
$GC,7559,0.83,146.0,499.9,8.6,428,7564,0.10,2.30,0.00,0.000,6,0.152,0.041,2612,2516,1821
$GC,7871,0.92,165.9,480.2,6.3,436,7892,0.10,0.00,17.70,1.137,6,0.089,0.000,2652,2516,1743
$GC,8197,0.87,165.9,453.9,8.3,444,8201,0.12,2.38,0.00,0.000,4,0.142,0.067,2616,3939,1742
$GC,8223,0.87,165.9,451.6,7.9,444,8227,0.00,2.28,0.00,0.000,6,0.000,0.041,2616,2515,1742
$GC,8560,0.97,184.6,429.6,6.4,453,8585,0.12,2.45,16.70,1.136,4,0.085,0.069,2664,3931,1666
$GC,8603,0.83,184.6,426.4,8.3,454,8607,0.17,2.25,0.00,0.000,6,0.146,0.042,2615,2515,1666
$GC,8926,0.98,224.4,406.7,5.7,462,8967,0.12,0.00,33.78,1.155,6,0.082,0.000,2665,2513,1505
$GC,9274,0.98,224.4,380.1,7.7,476,9278,0.00,2.35,0.00,0.000,4,0.000,0.067,2665,3929,1503
$GC,9283,0.98,224.4,379.1,7.9,476,9288,0.00,2.25,0.00,0.000,6,0.000,0.041,2665,2521,1503
$GC,9605,0.98,224.4,352.6,9.0,492,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2520,1503
$GC,9914,0.98,224.4,325.5,8.3,507,9918,0.00,2.22,0.00,0.000,4,0.000,0.057,2665,1115,1503
$GC,9930,0.98,224.4,324.1,8.2,507,9937,0.00,2.28,0.00,0.000,6,0.000,0.051,2665,2555,1503
$GC,10245,0.98,224.4,299.4,7.5,523,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2555,1503
$GC,10554,0.98,224.4,277.1,7.1,538,10558,0.00,2.30,0.00,0.000,4,0.000,0.054,2665,1111,1503
$GC,10564,0.98,224.4,276.3,7.1,538,10569,0.00,2.25,0.00,0.000,6,0.000,0.050,2665,2515,1502
$GC,10885,0.98,224.4,253.2,7.5,554,10889,0.00,2.25,0.00,0.000,4,0.000,0.055,2665,1109,1502
$GC,10913,1.05,231.8,251.1,6.8,555,10929,0.00,2.25,7.20,0.950,6,0.000,0.051,2665,2529,1475
$GC,11238,1.05,231.8,226.7,7.5,571,11242,0.00,2.28,0.00,0.000,4,0.000,0.054,2665,1110,1475
$GC,11255,1.11,231.8,225.4,7.5,571,11261,0.00,2.25,0.00,0.000,6,0.000,0.051,2665,2525,1474
$GC,11571,1.18,242.5,203.1,6.7,587,11587,0.10,2.28,10.55,1.013,4,0.086,0.055,2709,1114,1431
$GC,11620,1.18,242.5,199.0,8.5,588,11624,0.00,2.25,0.00,0.000,6,0.000,0.051,2709,2520,1431
$GC,11941,1.11,242.5,170.0,9.0,604,11945,0.12,2.30,0.00,0.000,4,0.139,0.067,2672,3926,1430
$GC,11967,1.11,242.5,167.4,8.8,605,11971,0.00,2.20,0.00,0.000,6,0.000,0.042,2672,2518,1430
$GC,12295,1.18,243.5,143.5,7.0,621,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2518,1430
$GC,12604,1.29,270.9,125.1,6.1,636,12631,0.15,0.00,24.55,1.063,6,0.077,0.000,2732,2517,1316
$GC,12935,1.23,270.9,96.7,8.3,655,12941,0.12,0.00,0.00,0.000,6,0.140,0.000,2696,2517,1311
$GC,13279,1.30,270.9,69.4,7.7,716,13285,0.08,2.35,0.00,0.000,4,0.107,0.071,2731,3924,1310
$GC,13297,1.30,270.9,67.8,8.0,719,13304,0.00,2.22,0.00,0.000,6,0.000,0.045,2731,2505,1311
$GC,13641,1.31,277.0,39.3,6.8,780,13654,0.00,2.22,5.90,0.868,4,0.000,0.059,2731,1115,1289
$GC,13677,1.33,293.5,36.9,6.5,786,13700,0.00,2.25,15.38,0.996,6,0.000,0.054,2731,2520,1222
$GC,14039,1.38,296.3,11.3,6.9,850,14045,0.00,2.28,0.00,0.000,4,0.000,0.058,2731,1115,1218
$GC,14074,1.46,302.3,8.8,6.8,856,14088,0.08,2.28,8.27,0.916,6,0.101,0.053,2765,2530,1187
$STATE,14159,end climb,SURFACE_DEPTH_REACHED
$STATE,14159,begin surface coast
$FINISH,0.9,1.018641
$STATE,14191,end surface coast,CONTROL_FINISHED_OK
$STATE,14191,begin surface
$SM_CCo,14267,0.00,0.000,0,0,1183,303.19
$SM_GC,1.77,7.32,0.00,0.00,0.073,0.000,0.000,166,2335,1183,-10.37,-0.14,303.19
$RAFOS_CLK,809
$RAFOS,4,1224665051,8.750000,8.736389,63,61,61,54,52,52,199,214,815,125,158,144
$RAFOS,3,1224664451,8.583333,8.569722,72,63,55,55,55,54,742,199,158,231,174,190
$RAFOS,2,1224663845,8.416667,8.401389,82,65,59,53,51,51,958,218,193,165,118,154
$RAFOS,1,1224663254,8.250000,8.237223,115,58,57,56,56,52,684,145,182,217,173,130
$RAFOS,0,1224662656,8.083333,8.071111,83,59,59,58,53,53,506,496,208,195,142,171
$RAFOS_FIX,6642.272461,-6014.232422,221008,080820,4,88,0.85
$IRIDIUM_FIX,6543.17,-6809.92,160198,030329
$TT8_MAMPS,0.027612
$HUMID,1884
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.3,41.778
$10V_AH,10.5,17.621
$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,21.500,123.500,406.275,0.000,0.000,27.725,38.753,115.192,0.000,0.000,0.000,14.398,1626.365,10291.793,598.253,1679.120,383.846,33.374,1493.822,0.000,1659.395,1800.000,0.528,0.000
$DEVICE_MAMPS,269.217,83.603,1241.006,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.965,597.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31541,876
$CAP_FILE_SIZE,121088,0
$CFSIZE,260165632,235323392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.3
$GPS,221008,112558,6641.869,-6022.071,32,2.9,51,-38.0