version: 66.04
glider: 113
mission: 4
dive: 271
start: 11 6 108 2 34 45
data:
$ID,113
$MISSION,4
$DIVE,271
$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,-3
$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,225
$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,-26957.904
$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,42
$R_STBD_OVSHOOT,31
$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
$GPS1,022326,6705.621,-5659.165,40,1.6,40,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.0
$GPS2,023350,6705.605,-5659.204,9,2.0,14,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.177,-0.137
$KALMAN_X,3349.9,148.5,-81.2,14988.3,-1660.6
$KALMAN_Y,-68138.1,400.9,-359.1,87965.3,1471.2
$MHEAD_RNG_PITCHd_Wd,165.4,9420,-12.9,-7.021
$D_GRID,529
$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,17,-1.08,-146.0,0.0,0.0,0,135,0.00,0.00,-115.00,0.000,2,0.000,0.000,162,2327,2994
$GC,138,-1.08,-146.0,3.1,-2.4,20,153,8.73,2.40,-0.75,0.000,4,0.259,0.075,2200,3745,3017
$GC,290,-0.65,-146.0,29.6,-14.7,46,297,0.32,2.17,0.00,0.000,6,0.164,0.038,2294,2336,3020
$GC,635,-0.65,-146.0,58.1,-7.2,107,642,0.00,2.17,0.00,0.000,4,0.000,0.051,2294,939,3020
$GC,726,-0.65,-146.0,64.7,-7.5,123,733,0.00,2.20,0.00,0.000,6,0.000,0.047,2294,2344,3020
$GC,1072,-0.71,-146.0,89.7,-6.8,184,1079,0.00,2.22,0.00,0.000,4,0.000,0.049,2294,926,3020
$GC,1158,-0.71,-146.0,96.3,-7.5,199,1164,0.00,2.22,0.00,0.000,6,0.000,0.047,2295,2347,3019
$GC,1485,-0.80,-146.0,119.0,-7.4,222,1489,0.12,2.22,0.00,0.000,4,0.091,0.048,2247,932,3019
$GC,1507,-0.80,-146.0,120.9,-8.4,223,1510,0.00,2.20,0.00,0.000,6,0.000,0.046,2247,2341,3019
$GC,1839,-0.75,-146.0,148.9,-7.8,239,1841,0.10,0.00,0.00,0.000,6,0.176,0.000,2271,2341,3019
$GC,2149,-0.81,-146.0,168.3,-6.1,254,2153,0.00,2.25,0.00,0.000,4,0.000,0.063,2271,3743,3019
$GC,2210,-0.92,-146.0,172.3,-6.7,256,2217,0.12,2.15,0.00,0.000,6,0.086,0.038,2225,2337,3019
$GC,2526,-0.84,-146.0,196.8,-7.8,272,2530,0.12,2.30,0.00,0.000,4,0.158,0.061,2258,3753,3018
$GC,2536,-0.79,-146.0,197.6,-7.8,272,2540,0.00,2.17,0.00,0.000,6,0.000,0.037,2258,2331,3018
$GC,2858,-0.84,-146.0,218.2,-6.1,288,2862,0.00,2.30,0.00,0.000,4,0.000,0.062,2258,3743,3018
$GC,2885,-0.91,-146.0,219.9,-6.6,289,2889,0.00,2.15,0.00,0.000,6,0.000,0.037,2257,2338,3018
$GC,3213,-0.98,-146.0,239.3,-5.6,305,3217,0.12,2.30,0.00,0.000,4,0.093,0.061,2209,3747,3018
$GC,3291,-0.90,-146.0,244.7,-6.6,308,3296,0.12,2.15,0.00,0.000,6,0.155,0.036,2241,2336,3019
$GC,3612,-0.90,-146.0,262.6,-5.7,324,3616,0.00,2.30,0.00,0.000,4,0.000,0.061,2242,3749,3019
$GC,3646,-0.90,-146.0,264.8,-5.7,325,3650,0.00,2.15,0.00,0.000,6,0.000,0.036,2242,2340,3019
$GC,3966,-0.90,-146.0,283.6,-5.7,341,3971,0.00,2.28,0.00,0.000,4,0.000,0.061,2242,3747,3020
$GC,4006,-0.95,-146.0,286.0,-6.3,342,4012,0.00,2.15,0.00,0.000,6,0.000,0.036,2242,2336,3019
$GC,4322,-0.95,-146.0,304.0,-5.8,358,4325,0.00,2.30,0.00,0.000,4,0.000,0.061,2242,3752,3020
$GC,4355,-1.00,-146.0,306.0,-6.1,359,4360,0.10,2.15,0.00,0.000,6,0.094,0.036,2204,2338,3020
$GC,4678,-0.90,-146.0,327.9,-6.7,375,4682,0.15,2.30,0.00,0.000,4,0.144,0.061,2246,3745,3020
$GC,4704,-0.90,-146.0,329.6,-5.8,376,4708,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2330,3020
$GC,5032,-0.95,-146.0,348.2,-6.2,392,5036,0.00,2.30,0.00,0.000,4,0.000,0.061,2246,3745,3021
$GC,5043,-1.00,-146.0,348.9,-5.6,392,5048,0.12,2.15,0.00,0.000,6,0.101,0.035,2201,2331,3021
$GC,5368,-0.89,-146.0,372.0,-7.1,408,5372,0.15,2.30,0.00,0.000,4,0.147,0.059,2244,3744,3022
$GC,5384,-0.89,-146.0,373.3,-7.1,409,5388,0.00,2.15,0.00,0.000,6,0.000,0.035,2244,2331,3022
$GC,5717,-0.94,-146.0,393.1,-6.3,425,5721,0.00,2.30,0.00,0.000,4,0.000,0.060,2244,3750,3022
$GC,5729,-0.99,-146.0,393.9,-6.0,425,5733,0.10,2.15,0.00,0.000,6,0.097,0.035,2206,2337,3022
$GC,6067,-0.91,-146.0,418.3,-7.4,436,6072,0.12,2.30,0.00,0.000,4,0.150,0.061,2241,3754,3022
$GC,6094,-0.91,-146.0,420.2,-6.4,436,6098,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2330,3022
$GC,6431,-0.96,-146.0,441.2,-6.2,445,6435,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3750,3023
$GC,6493,-1.03,-146.0,445.2,-6.6,446,6498,0.12,2.15,0.00,0.000,6,0.090,0.035,2193,2336,3023
$GC,6806,-0.91,-146.0,469.5,-7.8,454,6810,0.17,2.30,0.00,0.000,4,0.143,0.060,2243,3756,3023
$GC,6861,-1.00,-146.0,473.3,-7.2,455,6866,0.10,2.15,0.00,0.000,6,0.096,0.035,2205,2338,3023
$GC,7181,-0.93,-146.0,495.9,-7.1,463,7186,0.12,2.28,0.00,0.000,4,0.149,0.059,2240,3746,3023
$GC,7191,-0.93,-146.0,496.8,-6.9,463,7195,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2329,3023
$GC,7511,-0.99,-146.0,515.4,-5.8,471,7514,0.00,2.30,0.00,0.000,4,0.000,0.060,2240,3749,3023
$GC,7524,-1.05,-146.0,516.1,-5.6,471,7528,0.12,2.15,0.00,0.000,6,0.089,0.035,2192,2331,3023
$STATE,7717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7717,begin apogee
$GC,7723,-0.34,0.0,530.0,7.1,476,7854,0.55,0.00,127.97,1.147,6,0.143,0.000,2360,2526,2420
$STATE,7855,end apogee,CONTROL_FINISHED_OK
$STATE,7855,begin climb
$GC,7857,1.08,146.0,532.3,0.0,479,7993,1.05,0.00,131.77,1.077,6,0.106,0.000,2672,2526,1824
$GC,8286,0.93,146.0,497.2,8.5,490,8288,0.15,0.00,0.00,0.000,6,0.144,0.000,2630,2525,1822
$GC,8610,0.96,164.6,475.8,6.4,498,8628,0.00,0.00,16.52,1.039,6,0.000,0.000,2630,2526,1748
$GC,8935,0.96,164.6,453.5,7.1,506,8938,0.00,2.28,0.00,0.000,4,0.000,0.061,2629,3941,1746
$GC,8985,0.87,164.6,449.4,7.9,507,8989,0.00,2.17,0.00,0.000,6,0.000,0.036,2630,2520,1746
$GC,9309,0.88,169.6,426.9,6.9,515,9319,0.00,2.17,5.60,0.828,4,0.000,0.047,2630,1120,1727
$GC,9393,0.95,169.6,421.2,7.1,517,9397,0.00,2.20,0.00,0.000,6,0.000,0.044,2629,2533,1727
$GC,9723,0.95,172.0,398.3,6.9,525,9732,0.00,2.25,3.85,0.668,4,0.000,0.060,2629,3922,1718
$GC,9777,0.89,172.0,394.0,8.5,527,9781,0.00,2.15,0.00,0.000,6,0.000,0.036,2629,2508,1718
$GC,10098,0.91,182.7,372.5,6.7,543,10113,0.00,2.17,10.40,0.964,4,0.000,0.048,2629,1108,1674
$GC,10171,1.00,188.7,367.6,6.8,546,10187,0.10,2.20,6.65,0.862,6,0.086,0.043,2670,2520,1650
$GC,10496,0.91,188.7,339.6,8.8,562,10500,0.15,2.25,0.00,0.000,4,0.126,0.058,2626,3930,1649
$GC,10573,0.91,188.7,333.1,8.3,565,10577,0.00,2.15,0.00,0.000,6,0.000,0.036,2625,2516,1648
$GC,10895,0.99,192.7,311.2,6.9,581,10905,0.10,2.17,5.05,0.761,4,0.086,0.048,2670,1112,1634
$GC,10972,0.94,192.7,304.6,8.8,584,10977,0.12,2.20,0.00,0.000,6,0.136,0.044,2636,2531,1633
$GC,11293,0.94,193.8,282.3,7.0,600,11297,0.00,2.22,0.00,0.000,4,0.000,0.061,2635,3927,1633
$GC,11338,0.88,193.8,278.6,8.8,602,11342,0.00,2.15,0.00,0.000,6,0.000,0.036,2636,2510,1632
$GC,11671,0.88,193.8,254.6,7.2,618,11675,0.00,2.15,0.00,0.000,4,0.000,0.048,2635,1112,1632
$GC,11744,0.98,202.2,249.2,6.7,621,11760,0.00,2.17,9.27,0.884,6,0.000,0.044,2636,2525,1595
$GC,12070,1.03,202.2,224.0,7.9,637,12072,0.10,0.00,0.00,0.000,6,0.083,0.000,2678,2525,1594
$GC,12379,0.96,202.2,195.1,9.3,652,12380,0.12,0.00,0.00,0.000,6,0.131,0.000,2641,2525,1593
$GC,12688,1.01,202.2,171.0,7.8,667,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2525,1593
$GC,12998,1.08,202.2,146.5,7.6,682,13002,0.10,2.20,0.00,0.000,4,0.086,0.046,2687,1119,1594
$GC,13052,1.08,202.2,141.3,9.3,684,13056,0.00,2.17,0.00,0.000,6,0.000,0.043,2687,2521,1594
$GC,13374,1.01,202.2,111.7,8.6,700,13379,0.12,2.25,0.00,0.000,4,0.136,0.058,2651,3933,1594
$GC,13446,1.01,202.2,105.8,7.5,703,13450,0.00,2.15,0.00,0.000,6,0.000,0.036,2651,2514,1595
$GC,13783,1.17,242.4,86.1,5.7,750,13825,0.15,2.25,33.15,0.901,4,0.071,0.048,2717,1125,1431
$GC,13904,1.17,242.4,76.6,7.7,771,13911,0.12,2.20,0.00,0.000,6,0.129,0.044,2682,2520,1430
$GC,14249,1.26,269.6,55.8,6.1,832,14279,0.10,2.30,22.70,0.885,4,0.079,0.061,2727,3929,1320
$GC,14343,1.13,269.6,47.3,10.3,848,14350,0.17,2.20,0.00,0.000,6,0.135,0.038,2680,2512,1318
$GC,14689,1.29,294.5,24.9,6.2,909,14719,0.12,2.28,20.65,0.882,4,0.077,0.050,2734,1112,1218
$GC,14810,1.29,294.5,14.8,8.5,930,14816,0.00,2.22,0.00,0.000,6,0.000,0.044,2734,2525,1216
$STATE,14966,end climb,SURFACE_DEPTH_REACHED
$STATE,14966,begin surface coast
$FINISH,0.7,1.026297
$STATE,14990,end surface coast,CONTROL_FINISHED_OK
$STATE,14990,begin surface
$SM_CCo,15067,0.00,0.000,0,0,1213,296.32
$SM_GC,1.61,7.07,0.00,0.00,0.064,0.000,0.000,161,2333,1213,-10.38,-0.23,296.32
$RAFOS_CLK,782
$RAFOS,4,1225946643,4.750000,4.734167,68,65,51,48,48,45,191,216,168,157,133,120
$RAFOS,3,1225946062,4.583333,4.572778,91,67,64,58,54,53,896,155,209,143,172,199
$RAFOS,2,1225945444,4.416667,4.401111,59,59,58,55,54,52,216,635,171,196,120,153
$RAFOS,1,1225944867,4.250000,4.240833,76,61,59,57,53,51,741,178,201,222,212,165
$RAFOS,0,1225944247,4.083333,4.068611,64,64,63,57,54,52,169,204,1026,188,219,160
$RAFOS_FIX,6706.001465,-5703.614746,061108,040440,2,84,0.48
$IRIDIUM_FIX,6636.54,-5704.59,310198,020206
$TT8_MAMPS,0.027612
$HUMID,1857
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,21.5,52.090
$10V_AH,10.6,22.478
$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,21.600,146.825,393.600,0.000,0.000,55.677,66.227,309.600,0.000,0.000,0.000,15.972,1775.216,10886.420,570.138,1768.297,696.763,33.370,1534.019,0.000,1749.410,1800.000,0.528,0.000
$DEVICE_MAMPS,259.246,75.166,1146.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.360,650.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34675,962
$CAP_FILE_SIZE,137498,0
$CFSIZE,260165632,230813696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.4
$GPS,061108,064725,6705.439,-5659.135,24,1.0,41,-37.6