version: 66.04
glider: 113
mission: 4
dive: 274
start: 11 6 108 15 50 24
data:
$ID,113
$MISSION,4
$DIVE,274
$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,-27001.285
$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,47
$R_STBD_OVSHOOT,30
$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
$GPS1,154239,6705.024,-5659.454,38,1.2,39,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.2
$GPS2,154927,6705.043,-5659.633,14,1.4,14,-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,0.164,-0.153
$KALMAN_X,-5999.3,-438.5,289.0,24232.0,-3478.0
$KALMAN_Y,-63990.3,-487.7,-557.3,83869.8,2791.5
$MHEAD_RNG_PITCHd_Wd,170.4,9214,-12.9,-7.021
$D_GRID,549
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-108.05,0.000,2,0.000,0.000,165,2329,3012
$GC,129,-1.08,-146.0,3.0,-2.2,19,143,8.75,2.22,0.00,0.000,4,0.259,0.051,2201,946,3015
$GC,256,-0.58,-146.0,26.2,-14.9,41,263,0.38,2.20,0.00,0.000,6,0.164,0.047,2310,2345,3018
$GC,600,-0.58,-146.0,55.5,-7.2,102,606,0.00,2.20,0.00,0.000,4,0.000,0.051,2310,945,3017
$GC,755,-0.58,-146.0,66.3,-6.7,129,761,0.00,2.20,0.00,0.000,6,0.000,0.047,2310,2351,3017
$GC,1099,-0.68,-146.0,87.9,-6.6,190,1106,0.10,2.25,0.00,0.000,4,0.093,0.062,2272,3746,3017
$GC,1119,-0.76,-146.0,89.3,-6.7,193,1125,0.00,2.15,0.00,0.000,6,0.000,0.037,2272,2336,3017
$GC,1462,-0.76,-146.0,117.2,-7.7,227,1465,0.00,2.17,0.00,0.000,4,0.000,0.050,2272,934,3016
$GC,1472,-0.76,-146.0,118.1,-7.7,227,1476,0.00,2.20,0.00,0.000,6,0.000,0.046,2271,2341,3016
$GC,1795,-0.76,-146.0,140.0,-6.3,243,1799,0.00,2.20,0.00,0.000,4,0.000,0.049,2272,938,3015
$GC,1805,-0.76,-146.0,140.8,-6.2,243,1809,0.00,2.20,0.00,0.000,6,0.000,0.045,2271,2346,3015
$GC,2127,-0.82,-146.0,159.2,-5.7,259,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2346,3015
$GC,2437,-0.88,-146.0,177.0,-5.7,274,2439,0.10,0.00,0.00,0.000,6,0.098,0.000,2233,2347,3014
$GC,2745,-0.88,-146.0,197.9,-7.1,289,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2347,3015
$GC,3055,-0.88,-146.0,218.5,-6.2,304,3059,0.00,2.25,0.00,0.000,4,0.000,0.063,2232,3743,3015
$GC,3065,-0.88,-146.0,219.2,-5.7,304,3069,0.00,2.15,0.00,0.000,6,0.000,0.036,2232,2331,3015
$GC,3386,-0.88,-146.0,238.0,-5.7,320,3390,0.00,2.30,0.00,0.000,4,0.000,0.062,2232,3747,3016
$GC,3442,-0.88,-146.0,241.3,-6.2,322,3446,0.00,2.15,0.00,0.000,6,0.000,0.036,2232,2335,3016
$GC,3764,-0.88,-146.0,261.1,-6.6,338,3767,0.00,2.30,0.00,0.000,4,0.000,0.061,2232,3752,3016
$GC,3802,-0.88,-146.0,263.9,-6.9,339,3808,0.00,2.15,0.00,0.000,6,0.000,0.036,2232,2338,3015
$GC,4118,-0.88,-146.0,285.5,-6.6,355,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2338,3016
$GC,4427,-0.88,-146.0,306.4,-6.7,370,4431,0.00,2.30,0.00,0.000,4,0.000,0.061,2232,3755,3017
$GC,4437,-0.88,-146.0,307.1,-6.5,370,4441,0.00,2.17,0.00,0.000,6,0.000,0.035,2232,2327,3017
$GC,4759,-0.88,-146.0,326.5,-5.7,386,4763,0.00,2.30,0.00,0.000,4,0.000,0.061,2232,3753,3017
$GC,4810,-0.88,-146.0,329.5,-5.9,388,4813,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2338,3017
$GC,5136,-0.88,-146.0,347.3,-5.2,404,5140,0.00,2.28,0.00,0.000,4,0.000,0.060,2232,3745,3018
$GC,5192,-0.88,-146.0,350.4,-5.3,406,5196,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2328,3018
$GC,5514,-0.88,-146.0,368.1,-6.1,422,5517,0.00,2.30,0.00,0.000,4,0.000,0.060,2232,3749,3018
$GC,5559,-0.88,-146.0,371.2,-6.1,424,5563,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2330,3018
$GC,5891,-0.88,-146.0,393.7,-7.2,440,5895,0.00,2.30,0.00,0.000,4,0.000,0.059,2231,3753,3019
$GC,5901,-0.88,-146.0,394.6,-7.4,440,5905,0.00,2.17,0.00,0.000,6,0.000,0.035,2232,2338,3019
$GC,6239,-0.88,-146.0,419.7,-7.5,451,6243,0.00,2.30,0.00,0.000,4,0.000,0.060,2232,3756,3019
$GC,6249,-0.88,-146.0,420.5,-7.5,451,6253,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2333,3019
$GC,6568,-0.88,-146.0,444.6,-7.5,459,6572,0.00,2.30,0.00,0.000,4,0.000,0.060,2232,3753,3020
$GC,6601,-0.88,-146.0,447.1,-7.4,459,6605,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2331,3020
$GC,6938,-0.88,-146.0,469.0,-6.2,468,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2331,3020
$GC,7263,-0.88,-146.0,488.6,-5.8,476,7267,0.00,2.30,0.00,0.000,4,0.000,0.060,2232,3750,3020
$GC,7319,-0.88,-146.0,491.7,-5.4,477,7323,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2335,3020
$GC,7638,-0.88,-146.0,507.8,-5.1,485,7642,0.00,2.30,0.00,0.000,4,0.000,0.060,2232,3752,3021
$GC,7648,-0.88,-146.0,508.5,-5.5,485,7652,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2336,3020
$GC,7968,-0.88,-146.0,526.4,-5.7,493,7971,0.00,2.30,0.00,0.000,4,0.000,0.060,2232,3756,3021
$GC,8001,-0.88,-146.0,528.5,-6.4,493,8005,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2334,3021
$GC,8338,-0.88,-146.0,547.7,-5.7,502,8341,0.00,2.30,0.00,0.000,4,0.000,0.061,2232,3752,3021
$STATE,8357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8357,begin apogee
$GC,8364,-0.34,0.0,549.1,6.2,502,8495,0.40,0.00,127.53,1.153,6,0.133,0.000,2361,2504,2420
$STATE,8496,end apogee,CONTROL_FINISHED_OK
$STATE,8496,begin climb
$GC,8499,1.08,146.0,551.2,0.0,505,8637,1.02,2.47,130.93,1.081,4,0.098,0.046,2677,1122,1824
$GC,8681,0.96,146.0,536.1,9.1,510,8687,0.15,2.40,0.00,0.000,6,0.135,0.043,2639,2528,1822
$GC,8995,0.91,146.0,512.0,7.8,518,8999,0.00,2.28,0.00,0.000,4,0.000,0.060,2639,3937,1820
$GC,9095,0.76,146.0,502.7,9.2,520,9100,0.15,2.20,0.00,0.000,6,0.139,0.036,2596,2502,1821
$GC,9415,0.93,197.9,484.6,5.2,528,9465,0.15,2.30,42.62,1.093,4,0.069,0.048,2660,1114,1613
$GC,9515,0.93,197.9,476.9,7.9,530,9519,0.00,2.25,0.00,0.000,6,0.000,0.043,2660,2527,1611
$GC,9828,0.87,197.9,451.3,8.4,538,9833,0.15,2.25,0.00,0.000,4,0.132,0.058,2615,3941,1610
$GC,9895,0.87,197.9,445.3,8.5,539,9899,0.00,2.17,0.00,0.000,6,0.000,0.035,2615,2508,1610
$GC,10237,0.98,197.9,420.8,7.3,548,10242,0.12,2.15,0.00,0.000,4,0.076,0.047,2666,1111,1610
$GC,10314,0.98,197.9,413.8,9.0,549,10318,0.00,2.20,0.00,0.000,6,0.000,0.044,2666,2534,1610
$GC,10634,0.91,197.9,385.4,9.4,561,10638,0.12,2.20,0.00,0.000,4,0.136,0.058,2628,3930,1609
$GC,10694,0.91,197.9,379.9,8.8,563,10700,0.00,2.15,0.00,0.000,6,0.000,0.036,2628,2510,1609
$GC,11011,1.00,218.6,358.6,6.3,579,11035,0.10,2.17,17.67,1.007,4,0.084,0.047,2674,1112,1529
$GC,11113,1.00,218.6,349.4,9.4,583,11117,0.00,2.20,0.00,0.000,6,0.000,0.043,2674,2522,1528
$GC,11434,0.92,218.6,320.1,9.0,599,11439,0.15,2.25,0.00,0.000,4,0.133,0.058,2628,3936,1527
$GC,11484,0.92,218.6,315.7,8.8,601,11488,0.00,2.15,0.00,0.000,6,0.000,0.036,2628,2518,1527
$GC,11805,1.02,218.6,293.1,7.4,617,11809,0.10,2.17,0.00,0.000,4,0.085,0.047,2672,1108,1527
$GC,11899,1.02,218.6,284.4,9.2,621,11903,0.00,2.20,0.00,0.000,6,0.000,0.043,2672,2531,1527
$GC,12226,0.96,218.6,253.6,9.5,637,12231,0.12,2.22,0.00,0.000,4,0.139,0.059,2636,3930,1527
$GC,12275,0.96,218.6,248.9,9.1,639,12279,0.00,2.15,0.00,0.000,6,0.000,0.036,2636,2507,1527
$GC,12597,1.06,231.7,225.8,6.6,655,12619,0.10,2.22,12.00,0.904,4,0.083,0.048,2680,1112,1475
$GC,12697,1.06,231.7,216.4,9.5,659,12701,0.00,2.20,0.00,0.000,6,0.000,0.043,2680,2525,1474
$GC,13019,1.00,231.7,186.5,8.9,675,13024,0.10,2.25,0.00,0.000,4,0.142,0.060,2652,3938,1474
$GC,13062,1.00,231.7,182.3,9.5,677,13066,0.00,2.15,0.00,0.000,6,0.000,0.035,2652,2520,1473
$GC,13390,1.06,231.7,158.6,7.1,693,13393,0.00,2.15,0.00,0.000,4,0.000,0.048,2652,1122,1474
$GC,13481,1.16,231.9,152.3,7.0,697,13485,0.12,2.17,0.00,0.000,6,0.079,0.044,2706,2526,1474
$GC,13813,1.06,231.9,120.4,9.2,713,13817,0.15,2.25,0.00,0.000,4,0.127,0.060,2660,3938,1474
$GC,13897,1.06,231.9,113.2,7.9,717,13901,0.00,2.15,0.00,0.000,6,0.000,0.036,2660,2515,1473
$GC,14225,1.14,231.9,89.3,7.2,751,14232,0.08,2.15,0.00,0.000,4,0.096,0.047,2702,1123,1474
$GC,14311,1.14,231.9,81.8,9.0,766,14317,0.00,2.17,0.00,0.000,6,0.000,0.044,2702,2525,1474
$GC,14655,1.14,231.9,53.3,7.1,827,14661,0.00,2.25,0.00,0.000,4,0.000,0.061,2702,3939,1475
$GC,14718,1.05,231.9,48.3,8.2,838,14725,0.15,2.15,0.00,0.000,6,0.133,0.037,2658,2520,1475
$GC,15063,1.37,235.4,27.9,6.9,899,15076,0.20,2.30,4.95,0.681,4,0.072,0.061,2744,3931,1459
$GC,15116,1.18,235.4,23.5,8.2,908,15123,0.20,2.15,0.00,0.000,6,0.135,0.038,2684,2523,1459
$STATE,15436,end climb,SURFACE_DEPTH_REACHED
$STATE,15436,begin surface coast
$FINISH,0.8,1.025046
$STATE,15468,end surface coast,CONTROL_FINISHED_OK
$STATE,15468,begin surface
$SM_CCo,15545,0.00,0.000,0,0,1457,236.22
$SM_GC,1.80,6.95,0.00,0.00,0.064,0.000,0.000,155,2324,1457,-10.41,-0.48,236.22
$RAFOS_CLK,794
$RAFOS,4,1225989843,16.750000,16.734167,91,65,54,54,50,50,818,219,179,198,143,161
$RAFOS,3,1225989243,16.583334,16.567499,63,59,57,56,52,52,220,195,126,229,173,151
$RAFOS,2,1225988646,16.416666,16.401667,107,64,62,58,55,54,629,168,213,144,196,125
$RAFOS,1,1225988042,16.250000,16.233889,82,68,65,57,56,54,877,197,213,162,179,142
$RAFOS,0,1225987445,16.083334,16.068056,72,61,57,57,56,56,216,155,195,1032,125,113
$RAFOS_FIX,6614.548340,-6018.893066,061108,161628,4,88,86.14
$IRIDIUM_FIX,6636.54,-5659.96,310198,111155
$TT8_MAMPS,0.029146
$HUMID,1877
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,21.5,52.481
$10V_AH,10.6,22.685
$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,20.125,159.550,335.700,0.000,0.000,24.003,37.919,216.592,0.250,0.000,0.000,15.737,1820.126,11254.330,488.835,1886.196,551.462,33.399,1517.317,0.000,1858.730,2160.000,0.529,0.000
$DEVICE_MAMPS,259.246,62.894,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.462,657.413,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34727,970
$CAP_FILE_SIZE,135241,0
$CFSIZE,260165632,230617088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.8
$GPS,061108,201138,6705.311,-5700.103,34,1.2,34,-37.6