version: 66.04
glider: 113
mission: 4
dive: 276
start: 11 7 108 0 54 34
data:
$ID,113
$MISSION,4
$DIVE,276
$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,-27026.244
$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,32
$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
$GPS1,004756,6705.412,-5658.966,38,1.8,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-58.9
$GPS2,005339,6705.401,-5658.930,9,1.4,9,-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,0.201,-0.100
$KALMAN_X,-10994.6,-68.2,-178.1,29838.4,-1150.3
$KALMAN_Y,-61012.4,690.1,88.1,79723.2,454.4
$MHEAD_RNG_PITCHd_Wd,154.0,9059,-12.9,-7.021
$D_GRID,528
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-117.30,0.000,6,0.000,0.000,156,2334,3016
$GC,141,-1.08,-146.0,3.4,-2.7,21,155,8.77,2.28,0.00,0.000,4,0.261,0.051,2199,925,3020
$GC,408,-0.67,-146.0,52.6,-16.0,68,415,0.32,2.22,0.00,0.000,6,0.164,0.048,2293,2340,3023
$GC,752,-0.67,-146.0,83.3,-8.0,129,758,0.00,2.25,0.00,0.000,4,0.000,0.062,2293,3744,3022
$GC,793,-0.74,-146.0,86.6,-8.3,136,799,0.00,2.17,0.00,0.000,6,0.000,0.037,2293,2322,3022
$GC,1125,-0.81,-146.0,109.2,-6.3,176,1127,0.12,0.00,0.00,0.000,6,0.094,0.000,2247,2321,3021
$GC,1434,-0.76,-146.0,131.3,-6.7,191,1439,0.10,2.33,0.00,0.000,4,0.166,0.061,2271,3746,3020
$GC,1445,-0.76,-146.0,132.1,-6.8,191,1451,0.00,2.15,0.00,0.000,6,0.000,0.037,2271,2338,3020
$GC,1761,-0.81,-146.0,150.8,-6.4,207,1764,0.00,2.28,0.00,0.000,4,0.000,0.061,2272,3745,3020
$GC,1771,-0.87,-146.0,151.5,-6.3,207,1776,0.10,2.15,0.00,0.000,6,0.092,0.037,2233,2330,3020
$GC,2093,-0.81,-146.0,174.8,-7.1,223,2097,0.10,2.33,0.00,0.000,4,0.163,0.061,2258,3755,3020
$GC,2103,-0.81,-146.0,175.6,-6.9,223,2109,0.00,2.17,0.00,0.000,6,0.000,0.037,2258,2328,3020
$GC,2418,-0.81,-146.0,194.4,-6.0,239,2422,0.00,2.30,0.00,0.000,4,0.000,0.061,2258,3743,3020
$GC,2430,-0.86,-146.0,195.0,-5.7,239,2434,0.00,2.15,0.00,0.000,6,0.000,0.036,2258,2333,3020
$GC,2751,-0.91,-146.0,213.6,-5.7,255,2755,0.00,2.30,0.00,0.000,4,0.000,0.061,2258,3750,3020
$GC,2776,-0.97,-146.0,215.0,-5.9,256,2781,0.12,2.15,0.00,0.000,6,0.091,0.037,2213,2338,3020
$GC,3109,-0.88,-146.0,238.9,-7.4,272,3113,0.12,2.30,0.00,0.000,4,0.155,0.060,2246,3750,3020
$GC,3136,-0.88,-146.0,240.7,-6.8,273,3140,0.00,2.15,0.00,0.000,6,0.000,0.036,2246,2340,3020
$GC,3463,-0.88,-146.0,260.7,-5.9,289,3466,0.00,2.28,0.00,0.000,4,0.000,0.060,2246,3747,3020
$GC,3474,-0.88,-146.0,261.4,-5.8,289,3477,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2333,3020
$GC,3795,-0.88,-146.0,279.4,-5.4,305,3799,0.00,2.30,0.00,0.000,4,0.000,0.061,2246,3750,3021
$GC,3811,-0.88,-146.0,280.3,-5.3,305,3817,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2333,3021
$GC,4127,-0.88,-146.0,296.6,-5.2,321,4131,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3753,3021
$GC,4166,-0.95,-146.0,298.9,-5.6,322,4173,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2336,3021
$GC,4482,-0.95,-146.0,316.0,-5.5,338,4486,0.00,2.28,0.00,0.000,4,0.000,0.059,2246,3749,3022
$GC,4498,-1.00,-146.0,317.0,-6.0,338,4505,0.12,2.15,0.00,0.000,6,0.100,0.035,2203,2334,3022
$GC,4814,-0.89,-146.0,340.0,-7.3,354,4818,0.15,2.30,0.00,0.000,4,0.146,0.060,2245,3745,3022
$GC,4859,-0.95,-146.0,342.9,-6.4,356,4863,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2330,3022
$GC,5192,-0.95,-146.0,363.3,-6.0,372,5196,0.00,2.30,0.00,0.000,4,0.000,0.060,2245,3749,3022
$GC,5231,-1.03,-146.0,365.9,-6.2,373,5238,0.12,2.15,0.00,0.000,6,0.091,0.035,2197,2333,3022
$GC,5547,-0.92,-146.0,388.1,-7.0,389,5552,0.15,2.30,0.00,0.000,4,0.151,0.059,2241,3745,3023
$GC,5575,-0.92,-146.0,389.7,-5.8,390,5578,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2329,3023
$GC,5894,-0.92,-146.0,406.7,-5.2,403,5898,0.00,2.30,0.00,0.000,4,0.000,0.060,2241,3750,3023
$GC,5909,-0.92,-146.0,407.6,-5.3,403,5913,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2330,3023
$GC,6223,-0.92,-146.0,424.4,-5.5,411,6227,0.00,2.30,0.00,0.000,4,0.000,0.060,2240,3745,3024
$GC,6245,-0.98,-146.0,425.6,-5.4,411,6249,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2328,3024
$GC,6593,-0.98,-146.0,444.4,-5.3,420,6597,0.00,2.30,0.00,0.000,4,0.000,0.060,2240,3749,3024
$GC,6606,-1.03,-146.0,445.0,-5.3,420,6610,0.12,2.15,0.00,0.000,6,0.088,0.035,2193,2330,3024
$GC,6924,-0.91,-146.0,465.4,-6.4,428,6929,0.17,2.33,0.00,0.000,4,0.143,0.058,2243,3755,3024
$GC,6958,-0.98,-146.0,467.4,-5.2,428,6962,0.00,2.15,0.00,0.000,6,0.000,0.035,2243,2337,3024
$GC,7295,-1.04,-146.0,484.7,-5.1,437,7299,0.12,2.30,0.00,0.000,4,0.092,0.058,2193,3753,3024
$GC,7311,-1.04,-146.0,485.7,-5.1,437,7315,0.00,2.15,0.00,0.000,6,0.000,0.034,2192,2330,3024
$GC,7624,-0.93,-146.0,506.6,-6.8,445,7629,0.15,2.30,0.00,0.000,4,0.146,0.058,2235,3743,3025
$GC,7726,-0.99,-146.0,513.1,-6.2,447,7730,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2327,3025
$STATE,8001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8001,begin apogee
$GC,8007,-0.34,0.0,529.1,5.7,454,8138,0.43,0.00,128.10,1.142,6,0.135,0.000,2367,2521,2420
$STATE,8139,end apogee,CONTROL_FINISHED_OK
$STATE,8139,begin climb
$GC,8141,1.08,146.0,531.3,0.0,457,8279,1.00,2.53,130.60,1.074,4,0.097,0.044,2670,1123,1824
$GC,8335,0.97,146.0,516.8,8.9,462,8340,0.10,2.38,0.00,0.000,6,0.145,0.043,2647,2520,1822
$GC,8653,0.90,146.0,491.8,7.7,470,8657,0.00,2.28,0.00,0.000,4,0.000,0.059,2647,3930,1821
$GC,8749,0.73,146.0,483.7,8.6,472,8754,0.20,2.17,0.00,0.000,6,0.136,0.037,2588,2516,1821
$GC,9073,0.94,201.7,467.2,5.1,480,9124,0.17,2.28,45.62,1.092,4,0.066,0.048,2662,1115,1596
$GC,9181,0.94,201.7,458.4,8.7,482,9185,0.00,2.25,0.00,0.000,6,0.000,0.043,2662,2524,1595
$GC,9523,0.88,201.7,426.7,9.5,491,9527,0.15,2.25,0.00,0.000,4,0.128,0.059,2617,3931,1594
$GC,9583,0.88,201.7,421.1,9.1,492,9587,0.00,2.15,0.00,0.000,6,0.000,0.035,2617,2516,1594
$GC,9897,0.97,201.7,398.0,7.4,500,9901,0.12,2.17,0.00,0.000,4,0.078,0.047,2667,1110,1593
$GC,9980,0.97,201.7,390.3,9.5,503,9986,0.00,2.20,0.00,0.000,6,0.000,0.043,2667,2532,1593
$GC,10296,0.91,201.7,362.7,8.9,519,10300,0.12,2.22,0.00,0.000,4,0.141,0.059,2631,3929,1593
$GC,10334,0.91,201.7,359.5,8.4,520,10341,0.00,2.15,0.00,0.000,6,0.000,0.035,2630,2510,1593
$GC,10650,0.99,214.1,338.3,6.6,536,10666,0.00,2.17,11.02,0.956,4,0.000,0.047,2630,1115,1546
$GC,10735,1.09,217.2,332.6,6.9,539,10745,0.15,2.20,4.47,0.709,6,0.074,0.043,2692,2528,1534
$GC,11068,0.97,217.2,299.0,10.2,555,11072,0.17,2.22,0.00,0.000,4,0.122,0.058,2638,3927,1533
$GC,11140,0.97,217.2,291.9,10.3,558,11144,0.00,2.15,0.00,0.000,6,0.000,0.035,2638,2512,1533
$GC,11467,1.03,217.2,266.6,7.7,574,11470,0.00,2.15,0.00,0.000,4,0.000,0.047,2638,1115,1532
$GC,11550,1.12,217.2,259.9,8.0,577,11557,0.15,2.17,0.00,0.000,6,0.074,0.042,2703,2522,1532
$GC,11866,0.98,217.2,225.0,11.1,593,11871,0.20,2.25,0.00,0.000,4,0.123,0.058,2636,3930,1533
$GC,11938,0.98,217.2,218.0,8.8,596,11942,0.00,2.17,0.00,0.000,6,0.000,0.036,2636,2518,1532
$GC,12266,1.06,217.2,193.3,7.4,612,12270,0.10,2.17,0.00,0.000,4,0.083,0.047,2682,1110,1533
$GC,12349,1.06,217.2,185.4,9.8,616,12353,0.00,2.20,0.00,0.000,6,0.000,0.043,2682,2533,1533
$GC,12682,0.99,217.2,154.6,9.2,632,12686,0.12,2.22,0.00,0.000,4,0.137,0.058,2644,3927,1533
$GC,12737,0.99,217.2,149.5,9.0,634,12743,0.00,2.15,0.00,0.000,6,0.000,0.035,2644,2510,1533
$GC,13052,1.08,217.2,126.8,7.1,650,13057,0.10,2.15,0.00,0.000,4,0.089,0.046,2691,1119,1533
$GC,13125,1.08,217.2,120.4,8.6,653,13129,0.00,2.17,0.00,0.000,6,0.000,0.043,2691,2523,1533
$GC,13446,1.08,217.2,94.1,7.9,676,13452,0.00,2.22,0.00,0.000,4,0.000,0.059,2691,3926,1534
$GC,13509,0.94,217.2,88.4,9.7,687,13516,0.17,2.15,0.00,0.000,6,0.131,0.037,2639,2510,1534
$GC,13852,1.22,217.2,65.6,7.1,748,13859,0.20,2.33,0.00,0.000,4,0.069,0.061,2722,3937,1535
$GC,14008,1.01,217.2,50.4,10.7,775,14015,0.25,2.17,0.00,0.000,6,0.130,0.038,2646,2511,1535
$GC,14353,1.31,221.4,27.8,6.9,836,14367,0.20,2.33,5.60,0.728,4,0.072,0.061,2729,3930,1516
$GC,14424,1.11,233.8,22.8,6.6,848,14443,0.20,2.17,11.27,0.847,6,0.131,0.038,2669,2513,1466
$GC,14783,1.32,299.1,8.5,4.8,911,14843,0.17,2.28,52.58,0.898,4,0.067,0.049,2744,1112,1199
$STATE,14869,end climb,SURFACE_DEPTH_REACHED
$STATE,14869,begin surface coast
$FINISH,1.5,1.026193
$STATE,14878,end surface coast,CONTROL_FINISHED_OK
$STATE,14878,begin surface
$SM_CCo,14957,0.00,0.000,0,0,1193,300.98
$SM_GC,1.68,7.22,0.00,0.00,0.063,0.000,0.000,165,2346,1193,-10.37,0.17,300.98
$RAFOS_CLK,759
$RAFOS,4,1226033045,4.750000,4.734722,57,52,51,51,51,51,212,171,182,200,139,236
$RAFOS,3,1226032455,4.583333,4.570833,68,63,62,59,58,50,196,148,209,130,226,163
$RAFOS,2,1226031850,4.416667,4.402778,60,59,57,55,53,51,178,212,202,192,154,618
$RAFOS,1,1226031248,4.250000,4.235556,68,59,54,52,52,51,212,134,166,195,225,838
$RAFOS,0,1226030655,4.083333,4.070833,59,59,56,55,54,52,188,197,216,120,163,142
$RAFOS,4,1226018645,0.750000,0.734722,58,57,57,56,53,51,199,183,218,129,231,165
$RAFOS_FIX,6614.548340,-6018.893066,061108,161628,4,88,86.14
$IRIDIUM_FIX,6636.54,-5655.33,310198,202052
$TT8_MAMPS,0.027612
$HUMID,1853
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.20
$XPDR_PINGS,3
$24V_AH,21.5,52.743
$10V_AH,10.6,22.823
$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,22.625,169.050,389.275,0.000,0.000,28.373,37.107,148.790,0.750,0.000,0.000,11.394,1731.466,10716.153,563.933,1808.188,476.708,33.369,1566.810,0.000,1782.117,1800.000,0.529,0.000
$DEVICE_MAMPS,260.780,62.894,1142.063,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.357,626.323,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34682,927
$CAP_FILE_SIZE,138194,0
$CFSIZE,260165632,230481920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.1
$GPS,071108,050508,6704.637,-5656.634,32,1.2,32,-37.6