version: 66.04
glider: 113
mission: 4
dive: 211
start: 10 23 108 3 33 3
data:
$ID,113
$MISSION,4
$DIVE,211
$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,-25853.725
$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
$GPS1,032702,6638.941,-6036.923,35,2.0,35,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.8
$GPS2,033208,6638.828,-6036.853,10,1.6,15,-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,-0.095,0.203
$KALMAN_X,21948.3,33.9,92.0,-161719.8,-205.9
$KALMAN_Y,-2540.4,-540.6,-1755.2,-24878.6,-770.4
$MHEAD_RNG_PITCHd_Wd,12.8,7403,-12.9,-7.021
$D_GRID,470
$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,13,begin dive
$GC,16,-1.08,-145.9,0.0,0.0,0,133,0.00,0.00,-114.90,0.000,2,0.000,0.000,165,2331,2834
$GC,136,-1.08,-146.0,3.6,-3.8,20,157,8.93,2.35,-6.07,0.000,4,0.270,0.075,2197,930,3019
$GC,220,-0.43,-146.0,23.9,-21.7,34,227,0.50,2.30,0.00,0.000,6,0.176,0.058,2338,2337,3022
$GC,565,-0.51,-146.0,53.4,-7.0,95,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2337,3024
$GC,909,-0.63,-146.0,78.5,-7.7,156,915,0.15,2.28,0.00,0.000,4,0.089,0.060,2283,934,3024
$GC,1002,-0.53,-146.0,87.5,-10.4,172,1009,0.15,2.28,0.00,0.000,6,0.167,0.055,2322,2350,3023
$GC,1342,-0.64,-146.0,114.0,-7.5,208,1346,0.10,2.33,0.00,0.000,4,0.104,0.073,2285,3755,3024
$GC,1449,-0.64,-146.0,123.3,-8.6,213,1453,0.00,2.22,0.00,0.000,6,0.000,0.046,2286,2337,3023
$GC,1780,-0.64,-146.0,150.5,-8.2,229,1784,0.00,2.25,0.00,0.000,4,0.000,0.061,2286,928,3023
$GC,1876,-0.64,-146.0,159.0,-9.1,233,1880,0.00,2.28,0.00,0.000,6,0.000,0.058,2286,2340,3023
$GC,2196,-0.69,-146.0,184.0,-7.5,249,2200,0.00,2.33,0.00,0.000,4,0.000,0.074,2286,3746,3023
$GC,2280,-0.79,-146.0,190.7,-8.2,252,2286,0.00,2.22,0.00,0.000,6,0.000,0.046,2286,2326,3024
$GC,2596,-0.85,-146.0,214.9,-7.5,268,2600,0.12,2.38,0.00,0.000,4,0.094,0.074,2238,3753,3023
$GC,2685,-0.79,-146.0,223.0,-9.1,272,2690,0.10,2.22,0.00,0.000,6,0.174,0.046,2261,2338,3023
$GC,3012,-0.79,-146.0,247.5,-7.0,288,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2337,3023
$GC,3320,-0.79,-146.0,267.1,-6.1,303,3324,0.00,2.25,0.00,0.000,4,0.000,0.061,2261,932,3023
$GC,3398,-0.79,-146.0,272.5,-7.0,306,3402,0.00,2.28,0.00,0.000,6,0.000,0.056,2261,2348,3022
$GC,3720,-0.79,-146.0,292.3,-6.2,322,3723,0.00,2.30,0.00,0.000,4,0.000,0.061,2261,927,3022
$GC,3798,-0.79,-146.0,297.5,-6.7,325,3802,0.00,2.33,0.00,0.000,6,0.000,0.058,2261,2345,3022
$GC,4118,-0.79,-146.0,317.9,-6.8,341,4122,0.00,2.33,0.00,0.000,4,0.000,0.073,2261,3753,3022
$GC,4271,-0.88,-146.0,328.7,-6.9,347,4277,0.00,2.22,0.00,0.000,6,0.000,0.045,2261,2334,3022
$GC,4587,-0.93,-146.0,352.2,-7.7,363,4591,0.10,2.25,0.00,0.000,4,0.119,0.060,2229,930,3022
$GC,4711,-0.83,-146.0,363.4,-9.3,368,4718,0.12,2.28,0.00,0.000,6,0.173,0.056,2259,2344,3022
$GC,5026,-0.89,-146.0,385.0,-6.6,384,5030,0.00,2.33,0.00,0.000,4,0.000,0.074,2259,3749,3022
$GC,5231,-0.99,-146.0,398.7,-6.1,393,5235,0.15,2.22,0.00,0.000,6,0.092,0.046,2205,2333,3022
$GC,5578,-0.88,-146.0,426.9,-8.3,402,5582,0.15,2.25,0.00,0.000,4,0.154,0.059,2245,928,3022
$GC,5661,-0.88,-146.0,433.5,-7.4,403,5667,0.00,2.28,0.00,0.000,6,0.000,0.056,2245,2343,3022
$GC,5992,-0.88,-146.0,456.1,-6.9,412,5996,0.00,2.33,0.00,0.000,4,0.000,0.074,2245,3749,3022
$GC,6156,-0.95,-146.0,467.9,-6.4,415,6160,0.00,2.20,0.00,0.000,6,0.000,0.043,2246,2339,3022
$STATE,6211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6211,begin apogee
$GC,6217,-0.34,0.0,471.6,6.4,417,6349,0.38,0.00,129.48,1.223,6,0.145,0.000,2360,2523,2420
$STATE,6350,end apogee,CONTROL_FINISHED_OK
$STATE,6350,begin climb
$GC,6352,1.08,146.0,475.4,0.0,420,6490,1.05,0.00,133.25,1.127,6,0.116,0.000,2664,2523,1824
$GC,6800,0.99,146.0,443.1,8.1,431,6804,0.00,2.42,0.00,0.000,4,0.000,0.071,2665,3927,1821
$GC,6850,0.77,146.0,438.7,8.9,432,6855,0.22,2.30,0.00,0.000,6,0.146,0.044,2602,2522,1820
$GC,7175,0.93,185.0,420.5,5.7,440,7215,0.12,0.00,33.50,1.149,6,0.081,0.000,2652,2520,1665
$GC,7520,0.94,191.4,396.6,6.8,449,7528,0.00,0.00,6.70,0.951,6,0.000,0.000,2651,2520,1639
$GC,7828,0.94,191.4,373.9,7.1,464,7832,0.00,2.35,0.00,0.000,4,0.000,0.071,2651,3929,1638
$GC,7855,0.87,191.4,371.8,8.4,465,7860,0.12,2.22,0.00,0.000,6,0.152,0.044,2617,2514,1638
$GC,8182,1.06,235.2,353.3,5.5,481,8222,0.17,0.00,36.88,1.141,6,0.077,0.000,2689,2513,1461
$GC,8530,1.00,235.2,324.6,8.5,498,8532,0.15,0.00,0.00,0.000,6,0.131,0.000,2644,2514,1459
$GC,8840,1.16,278.1,306.0,5.6,513,8884,0.15,2.33,36.28,1.115,4,0.083,0.058,2704,1118,1286
$GC,8900,1.16,278.1,301.5,7.5,515,8907,0.00,2.33,0.00,0.000,6,0.000,0.052,2704,2522,1284
$GC,9215,1.16,278.1,275.4,8.3,531,9219,0.00,2.30,0.00,0.000,4,0.000,0.059,2704,1110,1282
$GC,9283,1.16,278.1,270.1,7.7,534,9287,0.00,2.28,0.00,0.000,6,0.000,0.052,2704,2529,1281
$GC,9614,1.16,278.1,243.1,8.3,550,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2529,1281
$GC,9924,1.16,278.1,215.8,9.0,565,9927,0.00,2.28,0.00,0.000,4,0.000,0.058,2704,1116,1281
$GC,9934,1.16,278.1,214.8,8.9,565,9938,0.00,2.25,0.00,0.000,6,0.000,0.052,2704,2541,1281
$GC,10255,1.16,278.1,186.2,8.8,581,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2541,1280
$GC,10564,1.16,278.1,161.5,7.3,596,10568,0.00,2.30,0.00,0.000,4,0.000,0.059,2704,1110,1280
$GC,10597,1.22,283.8,159.3,6.8,597,10609,0.00,2.25,5.28,0.862,6,0.000,0.054,2704,2522,1262
$GC,10917,1.25,309.9,138.7,6.1,613,10947,0.00,2.38,23.25,1.071,4,0.000,0.060,2704,1112,1155
$GC,10960,1.37,350.4,136.2,5.6,615,11003,0.10,2.30,35.97,1.035,6,0.094,0.053,2745,2525,991
$GC,11312,1.37,350.4,107.8,8.2,632,11316,0.00,2.33,0.00,0.000,4,0.000,0.060,2745,1113,980
$GC,11345,1.37,350.4,105.0,7.8,633,11349,0.00,2.30,0.00,0.000,6,0.000,0.053,2745,2515,980
$GC,11682,1.37,350.4,74.8,9.5,684,11688,0.00,2.28,0.00,0.000,4,0.000,0.061,2745,1117,978
$GC,11767,1.37,350.4,67.0,9.4,699,11774,0.00,2.28,0.00,0.000,6,0.000,0.054,2745,2534,977
$GC,12111,1.37,350.4,37.6,7.9,760,12117,0.00,2.30,0.00,0.000,4,0.000,0.072,2745,3937,976
$GC,12123,1.37,350.4,36.6,7.7,762,12129,0.00,2.22,0.00,0.000,6,0.000,0.045,2745,2515,976
$GC,12466,1.44,350.4,8.8,9.7,823,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2515,975
$STATE,12554,end climb,SURFACE_DEPTH_REACHED
$STATE,12554,begin surface coast
$FINISH,0.8,1.014071
$STATE,12584,end surface coast,CONTROL_FINISHED_OK
$STATE,12584,begin surface
$SM_CCo,12660,0.00,0.000,0,0,974,354.70
$SM_GC,1.61,7.15,0.00,0.00,0.067,0.000,0.000,157,2328,974,-10.41,-0.34,354.70
$RAFOS_CLK,723
$RAFOS,4,1224737045,4.750000,4.734722,75,59,58,58,57,57,903,207,113,165,137,191
$RAFOS,3,1224736459,4.583333,4.571944,65,57,56,55,54,51,170,151,217,117,230,206
$RAFOS,2,1224735854,4.416667,4.403889,63,60,55,54,49,48,217,205,184,131,173,1829
$RAFOS,1,1224735252,4.250000,4.236667,83,65,64,63,58,54,747,226,199,215,187,153
$RAFOS,0,1224734645,4.083333,4.068056,96,60,59,58,54,51,612,176,206,128,146,228
$RAFOS_FIX,6639.375977,-6032.359375,231008,040424,3,85,1.14
$IRIDIUM_FIX,6614.97,-6028.78,160198,232339
$TT8_MAMPS,0.027612
$HUMID,1889
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.2,42.524
$10V_AH,10.5,17.930
$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,20.200,105.775,440.575,0.000,0.000,25.870,33.236,126.943,0.000,0.000,0.000,16.834,1538.753,8818.196,578.260,1655.180,386.623,33.375,1473.037,0.000,1636.206,1800.000,0.540,0.000
$DEVICE_MAMPS,269.984,75.933,1222.598,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.597,574.482,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31560,844
$CAP_FILE_SIZE,108301,0
$CFSIZE,260165632,235040768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.9
$GPS,231008,070538,6639.314,-6039.620,41,2.0,41,-38.0