version: 66.04
glider: 113
mission: 4
dive: 278
start: 11 7 108 9 24 11
data:
$ID,113
$MISSION,4
$DIVE,278
$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,-27056.771
$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,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
$GPS1,091702,6704.388,-5656.869,57,1.8,57,-37.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.4
$GPS2,092314,6704.430,-5656.979,12,1.3,12,-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,0.223,-0.025
$KALMAN_X,-16086.7,529.7,-163.3,35738.8,-3114.2
$KALMAN_Y,-59023.5,-364.7,431.4,76652.6,262.2
$MHEAD_RNG_PITCHd_Wd,134.1,7004,-12.9,-7.021
$D_GRID,539
$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,15,-1.08,-146.0,0.0,0.0,0,120,0.00,0.00,-102.10,0.000,2,0.000,0.000,158,2333,2984
$GC,123,-1.08,-146.0,3.5,-3.2,18,138,8.77,2.28,-1.02,0.000,4,0.261,0.064,2198,936,3018
$GC,275,-0.59,-146.0,31.1,-17.1,44,282,0.38,2.22,0.00,0.000,6,0.170,0.048,2306,2347,3021
$GC,620,-0.59,-146.0,64.0,-7.1,105,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2347,3021
$GC,964,-0.67,-146.0,86.5,-5.8,166,970,0.00,2.28,0.00,0.000,4,0.000,0.064,2306,3754,3021
$GC,977,-0.75,-146.0,87.3,-5.9,168,984,0.12,2.17,0.00,0.000,6,0.093,0.038,2260,2330,3021
$GC,1313,-0.70,-146.0,113.2,-8.1,206,1317,0.10,2.30,0.00,0.000,4,0.166,0.064,2285,3743,3020
$GC,1426,-0.79,-146.0,121.4,-7.2,211,1430,0.00,2.15,0.00,0.000,6,0.000,0.038,2285,2341,3020
$GC,1758,-0.86,-146.0,143.8,-6.8,227,1763,0.12,2.30,0.00,0.000,4,0.089,0.062,2235,3749,3020
$GC,1785,-0.86,-146.0,146.1,-8.7,228,1789,0.00,2.17,0.00,0.000,6,0.000,0.038,2235,2331,3020
$GC,2112,-0.79,-146.0,173.1,-8.2,244,2117,0.12,2.33,0.00,0.000,4,0.165,0.063,2268,3746,3019
$GC,2175,-0.88,-146.0,177.8,-7.1,247,2179,0.10,2.15,0.00,0.000,6,0.092,0.038,2231,2336,3019
$GC,2506,-0.82,-146.0,203.2,-7.3,263,2511,0.10,2.30,0.00,0.000,4,0.162,0.062,2257,3749,3018
$GC,2533,-0.82,-146.0,205.1,-7.2,264,2537,0.00,2.17,0.00,0.000,6,0.000,0.038,2257,2325,3018
$GC,2861,-0.82,-146.0,224.7,-5.9,280,2865,0.00,2.33,0.00,0.000,4,0.000,0.064,2257,3746,3017
$GC,2872,-0.87,-146.0,225.4,-5.9,280,2876,0.00,2.15,0.00,0.000,6,0.000,0.037,2257,2340,3018
$GC,3193,-0.92,-146.0,245.2,-6.1,296,3197,0.00,2.30,0.00,0.000,4,0.000,0.062,2257,3753,3018
$GC,3244,-1.01,-146.0,248.5,-6.7,298,3248,0.15,2.17,0.00,0.000,6,0.087,0.037,2203,2328,3018
$GC,3570,-0.88,-146.0,274.1,-8.1,314,3575,0.15,2.30,0.00,0.000,4,0.147,0.062,2245,3742,3019
$GC,3614,-0.94,-146.0,277.2,-7.1,316,3618,0.00,2.15,0.00,0.000,6,0.000,0.037,2245,2334,3019
$GC,3941,-0.94,-146.0,296.6,-6.0,332,3945,0.00,2.30,0.00,0.000,4,0.000,0.062,2245,3746,3020
$GC,3969,-0.94,-146.0,298.4,-6.5,333,3972,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2336,3019
$GC,4296,-0.94,-146.0,317.9,-5.8,349,4300,0.00,2.30,0.00,0.000,4,0.000,0.061,2245,3748,3020
$GC,4306,-0.94,-146.0,318.6,-5.6,349,4310,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2333,3020
$GC,4628,-0.94,-146.0,335.5,-5.3,365,4631,0.00,2.30,0.00,0.000,4,0.000,0.061,2245,3745,3021
$GC,4644,-0.94,-146.0,336.3,-4.9,365,4650,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2333,3021
$GC,4960,-0.94,-146.0,352.9,-5.3,381,4964,0.00,2.30,0.00,0.000,4,0.000,0.061,2245,3745,3021
$GC,4987,-1.00,-146.0,354.4,-5.6,382,4992,0.10,2.15,0.00,0.000,6,0.096,0.036,2207,2334,3021
$GC,5314,-0.91,-146.0,374.8,-6.3,398,5319,0.12,2.30,0.00,0.000,4,0.151,0.061,2241,3743,3021
$GC,5370,-0.97,-146.0,378.1,-5.7,400,5374,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2330,3021
$GC,5691,-0.97,-146.0,396.2,-5.7,416,5695,0.00,2.30,0.00,0.000,4,0.000,0.061,2242,3746,3022
$GC,5720,-1.03,-146.0,397.9,-6.3,417,5724,0.12,2.12,0.00,0.000,6,0.089,0.035,2193,2340,3022
$GC,6042,-0.90,-146.0,420.3,-7.1,426,6046,0.17,2.30,0.00,0.000,4,0.143,0.061,2243,3754,3022
$GC,6075,-0.97,-146.0,422.4,-6.3,426,6078,0.00,2.15,0.00,0.000,6,0.000,0.035,2244,2341,3022
$GC,6412,-1.01,-146.0,440.9,-5.4,435,6417,0.12,2.28,0.00,0.000,4,0.093,0.061,2194,3745,3023
$GC,6428,-1.01,-146.0,442.0,-5.7,435,6432,0.00,2.15,0.00,0.000,6,0.000,0.035,2194,2326,3023
$GC,6742,-0.89,-146.0,463.3,-6.7,443,6746,0.17,2.33,0.00,0.000,4,0.145,0.060,2244,3746,3023
$GC,6752,-0.81,-146.0,464.1,-6.8,443,6756,0.00,2.12,0.00,0.000,6,0.000,0.035,2244,2340,3023
$GC,7066,-0.86,-146.0,480.3,-5.1,451,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2340,3024
$GC,7391,-0.92,-146.0,497.9,-5.4,459,7394,0.00,2.30,0.00,0.000,4,0.000,0.061,2244,3750,3024
$GC,7452,-1.01,-146.0,501.6,-6.1,460,7457,0.12,2.15,0.00,0.000,6,0.091,0.035,2196,2337,3024
$GC,7766,-0.91,-146.0,523.2,-7.0,468,7771,0.15,2.30,0.00,0.000,4,0.150,0.060,2239,3743,3024
$GC,7835,-0.98,-146.0,527.4,-6.8,469,7839,0.00,2.15,0.00,0.000,6,0.000,0.035,2239,2331,3024
$STATE,8052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8053,begin apogee
$GC,8059,-0.34,0.0,540.3,5.7,475,8191,0.40,0.00,128.35,1.152,6,0.133,0.000,2365,2523,2420
$STATE,8191,end apogee,CONTROL_FINISHED_OK
$STATE,8191,begin climb
$GC,8194,1.08,146.0,543.3,0.0,478,8329,1.00,0.00,131.00,1.080,6,0.101,0.000,2668,2523,1824
$GC,8643,0.94,146.0,506.2,8.9,489,8648,0.12,2.33,0.00,0.000,4,0.146,0.059,2636,3938,1821
$GC,8704,0.82,146.0,500.7,9.3,490,8708,0.00,2.20,0.00,0.000,6,0.000,0.036,2635,2518,1821
$GC,9051,0.82,146.0,475.0,7.3,499,9053,0.10,0.00,0.00,0.000,6,0.150,0.000,2608,2518,1822
$GC,9377,0.91,158.7,453.8,6.6,507,9391,0.10,0.00,11.60,1.006,6,0.085,0.000,2652,2517,1773
$GC,9701,0.84,158.7,425.7,8.6,515,9703,0.12,0.00,0.00,0.000,6,0.135,0.000,2615,2517,1771
$GC,10026,0.91,165.2,403.4,6.8,523,10035,0.00,0.00,6.93,0.892,6,0.000,0.000,2615,2517,1746
$GC,10335,1.01,186.0,383.5,6.3,536,10361,0.15,2.25,18.55,1.030,4,0.073,0.048,2677,1122,1661
$GC,10394,0.93,186.0,378.4,8.9,538,10401,0.15,2.22,0.00,0.000,6,0.130,0.044,2635,2533,1659
$GC,10710,0.93,186.0,355.8,7.2,554,10714,0.00,2.22,0.00,0.000,4,0.000,0.060,2634,3929,1658
$GC,10748,0.88,186.0,352.7,8.7,555,10755,0.00,2.15,0.00,0.000,6,0.000,0.036,2634,2516,1659
$GC,11063,0.88,186.0,329.2,7.3,571,11067,0.00,2.15,0.00,0.000,4,0.000,0.048,2634,1116,1659
$GC,11136,0.95,186.0,323.8,7.7,574,11140,0.00,2.20,0.00,0.000,6,0.000,0.043,2634,2534,1659
$GC,11463,0.96,189.1,300.3,6.9,590,11468,0.00,0.00,4.05,0.667,6,0.000,0.000,2634,2534,1648
$GC,11773,0.96,194.2,278.8,6.8,605,11783,0.00,2.22,5.80,0.791,4,0.000,0.046,2634,1116,1628
$GC,11824,1.07,212.3,275.4,6.4,607,11845,0.12,2.20,16.10,0.954,6,0.077,0.043,2690,2530,1554
$GC,12163,0.97,212.3,243.8,9.7,624,12167,0.17,2.25,0.00,0.000,4,0.122,0.058,2636,3936,1552
$GC,12218,0.97,212.3,238.8,8.5,626,12224,0.00,2.17,0.00,0.000,6,0.000,0.035,2636,2506,1553
$GC,12534,1.04,216.8,216.7,6.9,642,12544,0.10,2.15,5.30,0.736,4,0.082,0.047,2683,1119,1536
$GC,12619,1.04,216.8,209.2,9.0,646,12622,0.00,2.17,0.00,0.000,6,0.000,0.044,2683,2520,1536
$GC,12951,0.98,216.8,179.6,8.9,662,12956,0.12,2.25,0.00,0.000,4,0.133,0.058,2646,3936,1536
$GC,12994,0.98,216.8,175.8,8.7,664,12998,0.00,2.15,0.00,0.000,6,0.000,0.036,2646,2515,1535
$GC,13322,1.09,233.4,154.6,6.5,680,13345,0.10,2.20,14.98,0.894,4,0.087,0.048,2691,1109,1468
$GC,13401,1.09,233.4,148.0,8.7,683,13405,0.00,2.22,0.00,0.000,6,0.000,0.043,2691,2515,1467
$GC,13722,1.04,233.4,119.0,8.7,699,13724,0.12,0.00,0.00,0.000,6,0.130,0.000,2654,2515,1466
$GC,14033,1.15,233.4,97.0,7.2,717,14040,0.12,2.20,0.00,0.000,4,0.074,0.047,2709,1109,1466
$GC,14069,1.15,233.4,93.9,8.3,723,14075,0.10,2.20,0.00,0.000,6,0.137,0.044,2681,2524,1466
$GC,14413,1.20,233.4,68.1,7.5,784,14419,0.00,2.25,0.00,0.000,4,0.000,0.061,2681,3929,1467
$GC,14454,1.20,233.4,64.9,7.9,791,14461,0.00,2.15,0.00,0.000,6,0.000,0.038,2680,2519,1467
$GC,14799,1.38,299.1,42.9,4.8,852,14857,0.17,0.00,53.00,0.904,6,0.066,0.000,2753,2519,1199
$GC,15197,1.31,299.1,7.5,9.0,922,15204,0.12,2.20,0.00,0.000,4,0.144,0.049,2720,1118,1193
$STATE,15247,end climb,SURFACE_DEPTH_REACHED
$STATE,15247,begin surface coast
$FINISH,1.3,1.026198
$STATE,15254,end surface coast,CONTROL_FINISHED_OK
$STATE,15254,begin surface
$SM_CCo,15333,0.00,0.000,0,0,1190,301.47
$SM_GC,1.45,6.97,0.00,0.00,0.059,0.000,0.000,161,2347,1190,-10.39,0.20,301.47
$RAFOS_CLK,789
$RAFOS,4,1226061844,12.750000,12.734445,67,64,62,60,58,57,202,121,217,165,132,192
$RAFOS,3,1226061249,12.583333,12.569167,65,63,61,61,56,53,166,198,148,220,179,230
$RAFOS,2,1226060644,12.416667,12.401111,67,63,54,53,52,50,636,215,187,163,117,141
$RAFOS,1,1226060059,12.250000,12.238611,64,62,59,59,58,53,188,178,161,221,198,137
$RAFOS,0,1226059468,12.083333,12.074445,58,56,56,54,47,47,196,178,220,162,128,229
$RAFOS_FIX,6614.548340,-6018.893066,061108,161628,4,88,86.14
$IRIDIUM_FIX,6641.98,-5629.34,010298,050559
$TT8_MAMPS,0.027612
$HUMID,1868
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,21.4,52.990
$10V_AH,10.6,22.955
$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,21.625,142.075,395.650,0.000,0.000,29.159,37.191,178.798,0.000,0.000,0.000,14.034,1709.627,11206.177,527.865,1741.511,519.967,33.373,1498.164,0.000,1725.460,1800.000,0.529,0.000
$DEVICE_MAMPS,260.780,64.428,1152.034,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.509,630.989,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34702,932
$CAP_FILE_SIZE,134117,0
$CFSIZE,260165632,230354944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.7
$GPS,071108,134133,6704.145,-5656.756,64,1.0,64,-37.6