version: 66.04
glider: 113
mission: 4
dive: 217
start: 10 24 108 2 11 23
data:
$ID,113
$MISSION,4
$DIVE,217
$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,-25979.652
$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,24
$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
$GPS1,015902,6640.192,-6033.935,49,1.2,49,-38.0
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.0
$GPS2,021026,6639.988,-6033.613,9,1.6,13,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.188,0.122
$KALMAN_X,16454.0,214.6,245.4,-154215.9,-775.5
$KALMAN_Y,-14152.5,-20.3,309.0,-13713.3,-5278.8
$MHEAD_RNG_PITCHd_Wd,95.0,30376,-12.9,-7.021
$D_GRID,506
$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,15,-1.08,-146.0,0.0,0.0,0,144,0.00,0.00,-126.07,0.000,2,0.000,0.000,165,2333,2869
$GC,147,-1.08,-146.0,3.5,-2.6,22,167,8.90,2.33,-4.70,0.000,4,0.268,0.077,2197,928,3018
$GC,420,-0.63,-146.0,55.7,-14.2,70,427,0.35,2.30,0.00,0.000,6,0.177,0.058,2296,2344,3022
$GC,765,-0.63,-146.0,85.7,-8.1,131,771,0.00,2.30,0.00,0.000,4,0.000,0.061,2296,925,3023
$GC,811,-0.63,-146.0,89.6,-8.7,139,817,0.00,2.30,0.00,0.000,6,0.000,0.056,2296,2354,3023
$GC,1154,-0.63,-146.0,116.4,-7.8,173,1158,0.00,2.30,0.00,0.000,4,0.000,0.072,2296,3752,3023
$GC,1193,-0.71,-146.0,119.6,-7.7,174,1200,0.00,2.25,0.00,0.000,6,0.000,0.045,2296,2319,3023
$GC,1508,-0.77,-146.0,143.8,-7.5,190,1510,0.12,0.00,0.00,0.000,6,0.097,0.000,2249,2318,3022
$GC,1818,-0.69,-146.0,171.8,-9.2,205,1820,0.15,0.00,0.00,0.000,6,0.165,0.000,2288,2318,3022
$GC,2127,-0.75,-146.0,194.9,-7.3,220,2131,0.00,2.22,0.00,0.000,4,0.000,0.061,2289,926,3022
$GC,2171,-0.75,-146.0,198.4,-8.4,222,2175,0.00,2.28,0.00,0.000,6,0.000,0.056,2288,2342,3022
$GC,2504,-0.82,-146.0,222.8,-7.6,238,2506,0.12,0.00,0.00,0.000,6,0.107,0.000,2245,2342,3022
$GC,2813,-0.77,-146.0,247.6,-7.7,253,2815,0.10,0.00,0.00,0.000,6,0.175,0.000,2270,2343,3022
$GC,3122,-0.77,-146.0,268.8,-7.1,268,3126,0.00,2.28,0.00,0.000,4,0.000,0.062,2270,933,3021
$GC,3172,-0.77,-146.0,272.7,-7.8,270,3176,0.00,2.28,0.00,0.000,6,0.000,0.057,2270,2346,3022
$GC,3498,-0.82,-146.0,297.7,-7.6,286,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2346,3022
$GC,3808,-0.88,-146.0,320.5,-7.0,301,3812,0.10,2.33,0.00,0.000,4,0.107,0.074,2233,3746,3022
$GC,3863,-0.88,-146.0,325.1,-8.5,303,3867,0.00,2.20,0.00,0.000,6,0.000,0.045,2233,2336,3021
$GC,4184,-0.84,-146.0,350.5,-7.4,319,4187,0.00,2.35,0.00,0.000,4,0.000,0.074,2233,3745,3021
$GC,4222,-0.84,-146.0,353.7,-7.8,320,4229,0.08,2.22,0.00,0.000,6,0.186,0.045,2252,2344,3021
$GC,4539,-0.84,-146.0,373.2,-5.9,336,4542,0.00,2.25,0.00,0.000,4,0.000,0.061,2252,932,3021
$GC,4577,-0.84,-146.0,375.8,-6.4,337,4583,0.00,2.28,0.00,0.000,6,0.000,0.057,2252,2347,3021
$GC,4893,-0.84,-146.0,394.9,-6.2,353,4896,0.00,2.33,0.00,0.000,4,0.000,0.074,2252,3752,3021
$GC,4926,-0.90,-146.0,397.0,-6.3,354,4930,0.00,2.22,0.00,0.000,6,0.000,0.044,2252,2329,3021
$GC,5263,-0.90,-146.0,417.8,-6.1,364,5267,0.00,2.38,0.00,0.000,4,0.000,0.073,2252,3753,3021
$GC,5337,-0.98,-146.0,422.3,-6.5,365,5341,0.12,2.22,0.00,0.000,6,0.104,0.045,2210,2333,3021
$GC,5679,-0.89,-146.0,446.5,-7.0,374,5684,0.12,2.35,0.00,0.000,4,0.163,0.073,2242,3747,3021
$GC,5706,-0.89,-146.0,448.3,-6.9,374,5710,0.00,2.20,0.00,0.000,6,0.000,0.044,2242,2340,3021
$GC,6048,-0.89,-146.0,468.9,-6.1,383,6051,0.00,2.22,0.00,0.000,4,0.000,0.058,2242,935,3022
$GC,6087,-0.89,-146.0,471.6,-6.9,383,6093,0.00,2.25,0.00,0.000,6,0.000,0.054,2242,2341,3021
$GC,6418,-0.89,-146.0,491.4,-6.0,392,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2341,3021
$STATE,6699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6700,begin apogee
$GC,6705,-0.34,0.0,507.9,5.7,399,6838,0.40,0.00,129.88,1.233,6,0.146,0.000,2365,2519,2420
$STATE,6839,end apogee,CONTROL_FINISHED_OK
$STATE,6839,begin climb
$GC,6841,1.08,146.0,510.9,0.0,402,6991,1.08,2.75,136.88,1.131,4,0.113,0.070,2674,3926,1823
$GC,7019,0.85,146.0,498.3,10.6,406,7026,0.22,2.47,0.00,0.000,6,0.146,0.042,2618,2517,1822
$GC,7350,0.90,146.0,474.3,7.2,415,7354,0.00,2.35,0.00,0.000,4,0.000,0.056,2618,1098,1820
$GC,7401,1.00,146.0,470.8,7.3,416,7406,0.15,2.38,0.00,0.000,6,0.079,0.054,2674,2530,1820
$GC,7719,0.88,146.0,442.5,8.8,424,7723,0.17,2.33,0.00,0.000,4,0.132,0.071,2623,3934,1820
$GC,7756,0.88,146.0,439.5,8.0,424,7763,0.00,2.25,0.00,0.000,6,0.000,0.043,2624,2503,1820
$GC,8088,0.95,158.3,417.4,6.6,433,8101,0.00,0.00,11.20,1.083,6,0.000,0.000,2624,2503,1774
$GC,8393,1.05,180.5,397.8,6.3,441,8418,0.15,2.45,19.75,1.133,4,0.080,0.071,2685,3939,1684
$GC,8441,0.86,180.5,393.6,9.9,443,8446,0.25,2.28,0.00,0.000,6,0.143,0.043,2617,2514,1682
$GC,8762,1.03,228.5,375.2,5.4,459,8808,0.15,2.33,40.38,1.142,4,0.077,0.058,2677,1115,1488
$GC,8836,1.03,228.5,369.6,7.9,462,8840,0.00,2.35,0.00,0.000,6,0.000,0.052,2677,2528,1486
$GC,9157,1.03,228.5,342.7,8.4,478,9162,0.00,2.30,0.00,0.000,4,0.000,0.058,2677,1111,1485
$GC,9218,1.03,228.5,337.7,8.3,480,9224,0.00,2.28,0.00,0.000,6,0.000,0.052,2677,2526,1485
$GC,9534,1.03,228.5,311.9,7.9,496,9538,0.00,2.28,0.00,0.000,4,0.000,0.067,2677,3929,1485
$GC,9573,0.93,228.5,308.3,9.5,497,9580,0.15,2.20,0.00,0.000,6,0.146,0.043,2635,2516,1484
$GC,9889,1.09,259.8,289.3,6.0,513,9921,0.12,2.30,26.62,1.107,4,0.088,0.057,2688,1110,1359
$GC,9960,1.09,259.8,283.6,8.4,516,9964,0.00,2.30,0.00,0.000,6,0.000,0.052,2688,2525,1358
$GC,10281,1.09,259.8,255.7,8.8,532,10284,0.00,2.28,0.00,0.000,4,0.000,0.057,2688,1117,1356
$GC,10352,1.09,259.8,249.8,8.1,535,10356,0.00,2.28,0.00,0.000,6,0.000,0.051,2688,2539,1356
$GC,10679,1.09,259.8,223.1,8.2,551,10683,0.00,2.30,0.00,0.000,4,0.000,0.058,2688,1109,1357
$GC,10728,1.14,259.8,219.3,7.7,553,10732,0.00,2.25,0.00,0.000,6,0.000,0.054,2688,2518,1357
$GC,11055,1.14,259.8,194.8,7.4,569,11058,0.00,2.25,0.00,0.000,4,0.000,0.058,2688,1115,1356
$GC,11094,1.24,273.7,192.2,6.5,570,11111,0.00,2.25,12.27,1.037,6,0.000,0.053,2688,2529,1304
$GC,11426,1.24,273.7,168.3,7.3,587,11430,0.00,2.28,0.00,0.000,4,0.000,0.059,2688,1117,1302
$GC,11475,1.32,273.7,164.6,7.1,589,11480,0.12,2.25,0.00,0.000,6,0.088,0.051,2735,2525,1302
$GC,11802,1.21,273.7,133.3,9.6,605,11806,0.15,2.28,0.00,0.000,4,0.132,0.059,2691,1118,1301
$GC,11840,1.31,273.7,130.3,7.1,606,11847,0.12,2.25,0.00,0.000,6,0.086,0.054,2738,2527,1301
$GC,12156,1.22,273.7,100.7,9.2,622,12158,0.15,0.00,0.00,0.000,6,0.135,0.000,2694,2528,1300
$GC,12490,1.27,273.7,75.9,7.2,679,12496,0.00,2.28,0.00,0.000,4,0.000,0.059,2694,1114,1300
$GC,12548,1.38,273.7,71.8,7.3,689,12555,0.15,2.25,0.00,0.000,6,0.080,0.054,2755,2524,1300
$GC,12893,1.28,273.7,39.9,8.4,750,12900,0.15,2.28,0.00,0.000,4,0.146,0.059,2711,1117,1300
$GC,13032,1.52,317.3,31.7,5.5,774,13074,0.17,2.25,36.80,1.028,6,0.074,0.054,2778,2525,1126
$STATE,13387,end climb,SURFACE_DEPTH_REACHED
$STATE,13387,begin surface coast
$FINISH,0.8,1.005695
$STATE,13410,end surface coast,CONTROL_FINISHED_OK
$STATE,13410,begin surface
$SM_CCo,13487,0.00,0.000,0,0,1116,319.87
$SM_GC,1.54,7.35,0.00,0.00,0.073,0.000,0.000,166,2337,1116,-10.38,-0.08,319.87
$RAFOS_CLK,791
$RAFOS,4,1224823444,4.750000,4.734445,67,58,54,52,52,51,216,176,116,202,152,193
$RAFOS,3,1224822856,4.583333,4.571111,113,60,60,58,58,51,712,191,169,203,178,221
$RAFOS,2,1224822246,4.416667,4.401667,59,54,53,52,51,50,151,142,198,210,186,124
$RAFOS,1,1224821642,4.250000,4.233889,66,58,56,55,51,48,141,177,201,215,158,234
$RAFOS,0,1224821063,4.083333,4.073056,62,59,57,56,54,53,214,185,169,150,200,130
$RAFOS_FIX,5454.719727,-2947.647705,241008,000002,3,73,311.23
$IRIDIUM_FIX,6609.62,-6036.17,180198,020233
$TT8_MAMPS,0.027612
$HUMID,1899
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,21.2,43.425
$10V_AH,10.5,18.292
$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,21.400,124.475,413.775,0.000,0.000,88.668,93.341,256.364,0.000,0.000,0.000,15.314,1511.698,9893.882,591.300,1529.988,649.742,33.363,1434.070,0.000,1511.036,1800.000,0.533,0.000
$DEVICE_MAMPS,268.450,82.069,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.099,572.685,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31565,841
$CAP_FILE_SIZE,115349,0
$CFSIZE,260165632,234696704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.6
$GPS,241008,055733,6638.159,-6030.135,38,2.0,39,-37.9