version: 66.04
glider: 113
mission: 4
dive: 279
start: 11 7 108 13 48 26
data:
$ID,113
$MISSION,4
$DIVE,279
$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,-27088.369
$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,41
$R_STBD_OVSHOOT,32
$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
$GPS1,134133,6704.145,-5656.756,64,1.0,64,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.4
$GPS2,134732,6704.135,-5656.742,11,1.1,29,-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,0.210,-0.078
$KALMAN_X,-18609.8,-226.2,-135.1,39159.7,-2492.9
$KALMAN_Y,-58236.0,-842.3,-31.2,76261.6,958.0
$MHEAD_RNG_PITCHd_Wd,148.0,6654,-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,-146.0,0.0,0.0,0,137,0.00,0.00,-118.82,0.000,2,0.000,0.000,162,2350,3006
$GC,140,-1.08,-146.0,3.3,-3.4,21,154,8.65,2.28,0.00,0.000,4,0.257,0.051,2198,936,3010
$GC,297,-0.59,-146.0,32.1,-15.0,48,304,0.38,2.22,0.00,0.000,6,0.173,0.048,2304,2348,3013
$GC,642,-0.59,-146.0,66.2,-7.9,109,648,0.00,2.28,0.00,0.000,4,0.000,0.064,2304,3756,3012
$GC,654,-0.59,-146.0,67.1,-7.4,111,660,0.00,2.17,0.00,0.000,6,0.000,0.037,2304,2335,3013
$GC,999,-0.66,-146.0,92.1,-6.7,172,1006,0.00,2.30,0.00,0.000,4,0.000,0.064,2304,3744,3012
$GC,1057,-0.77,-146.0,96.1,-6.8,182,1064,0.12,2.15,0.00,0.000,6,0.094,0.038,2257,2340,3012
$GC,1379,-0.70,-146.0,121.7,-8.3,204,1384,0.10,2.30,0.00,0.000,4,0.164,0.063,2283,3743,3012
$GC,1434,-0.79,-146.0,126.2,-7.6,206,1440,0.00,2.17,0.00,0.000,6,0.000,0.038,2283,2327,3012
$GC,1750,-0.87,-146.0,150.3,-7.4,222,1754,0.12,2.17,0.00,0.000,4,0.086,0.049,2234,933,3012
$GC,1760,-0.87,-146.0,151.1,-7.3,222,1764,0.00,2.22,0.00,0.000,6,0.000,0.046,2234,2351,3011
$GC,2080,-0.81,-146.0,176.8,-7.6,238,2085,0.10,2.28,0.00,0.000,4,0.176,0.063,2258,3753,3009
$GC,2097,-0.81,-146.0,178.1,-7.4,239,2101,0.00,2.17,0.00,0.000,6,0.000,0.037,2258,2329,3009
$GC,2430,-0.81,-146.0,199.3,-6.3,255,2433,0.00,2.33,0.00,0.000,4,0.000,0.063,2258,3749,3009
$GC,2475,-0.87,-146.0,202.3,-6.7,257,2479,0.00,2.17,0.00,0.000,6,0.000,0.038,2258,2330,3009
$GC,2808,-0.87,-146.0,223.7,-6.2,273,2812,0.00,2.33,0.00,0.000,4,0.000,0.063,2258,3752,3010
$GC,2819,-0.87,-146.0,224.4,-6.4,273,2823,0.00,2.15,0.00,0.000,6,0.000,0.037,2258,2338,3010
$GC,3140,-0.92,-146.0,244.2,-6.2,289,3142,0.10,0.00,0.00,0.000,6,0.099,0.000,2220,2338,3010
$GC,3449,-0.85,-146.0,266.9,-7.6,304,3454,0.12,2.33,0.00,0.000,4,0.158,0.061,2254,3751,3010
$GC,3494,-0.93,-146.0,269.8,-6.8,306,3498,0.00,2.17,0.00,0.000,6,0.000,0.037,2254,2330,3010
$GC,3821,-0.98,-146.0,289.9,-6.2,322,3825,0.12,2.33,0.00,0.000,4,0.091,0.061,2206,3753,3011
$GC,3848,-0.91,-146.0,292.2,-8.4,323,3852,0.12,2.17,0.00,0.000,6,0.155,0.036,2240,2329,3011
$GC,4169,-0.91,-146.0,314.2,-6.7,339,4173,0.00,2.33,0.00,0.000,4,0.000,0.062,2240,3754,3011
$GC,4207,-0.91,-146.0,316.9,-7.0,340,4214,0.00,2.17,0.00,0.000,6,0.000,0.036,2240,2330,3011
$GC,4523,-0.91,-146.0,336.8,-6.1,356,4527,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3745,3012
$GC,4546,-0.91,-146.0,338.3,-6.5,357,4550,0.00,2.15,0.00,0.000,6,0.000,0.036,2240,2333,3011
$GC,4879,-0.91,-146.0,358.1,-5.9,373,4882,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3745,3012
$GC,4912,-0.96,-146.0,360.3,-6.4,374,4916,0.00,2.15,0.00,0.000,6,0.000,0.036,2240,2334,3012
$GC,5234,-0.96,-146.0,378.4,-5.5,390,5238,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3746,3013
$GC,5268,-1.00,-146.0,380.4,-5.6,391,5272,0.10,2.15,0.00,0.000,6,0.097,0.035,2204,2334,3013
$GC,5609,-0.91,-146.0,402.6,-6.5,407,5614,0.12,2.33,0.00,0.000,4,0.150,0.061,2234,3755,3013
$GC,5653,-0.91,-146.0,405.5,-6.4,408,5657,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2340,3013
$GC,5978,-0.91,-146.0,423.7,-5.7,416,5982,0.00,2.30,0.00,0.000,4,0.000,0.061,2234,3753,3014
$GC,6012,-0.91,-146.0,425.6,-5.5,416,6016,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2340,3014
$GC,6348,-0.91,-146.0,444.0,-5.4,425,6352,0.00,2.30,0.00,0.000,4,0.000,0.061,2234,3747,3015
$GC,6365,-0.91,-146.0,444.9,-5.3,425,6369,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2334,3014
$GC,6678,-0.91,-146.0,462.1,-5.6,433,6682,0.00,2.33,0.00,0.000,4,0.000,0.062,2234,3753,3015
$GC,6695,-0.91,-146.0,463.0,-5.6,433,6698,0.00,2.17,0.00,0.000,6,0.000,0.035,2234,2327,3015
$GC,7008,-0.91,-146.0,480.5,-5.6,441,7011,0.00,2.33,0.00,0.000,4,0.000,0.061,2234,3750,3015
$GC,7024,-0.91,-146.0,481.5,-5.7,441,7028,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2336,3015
$GC,7337,-0.91,-146.0,498.6,-5.4,449,7341,0.00,2.30,0.00,0.000,4,0.000,0.060,2234,3748,3016
$GC,7383,-0.91,-146.0,501.4,-6.1,450,7387,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2333,3015
$GC,7713,-0.91,-146.0,521.2,-5.9,458,7717,0.00,2.30,0.00,0.000,4,0.000,0.061,2234,3745,3016
$GC,7797,-0.97,-146.0,526.6,-6.1,459,7804,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2334,3016
$STATE,8004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8004,begin apogee
$GC,8010,-0.34,0.0,539.7,6.3,465,8139,0.43,0.00,126.47,1.146,6,0.138,0.000,2365,2528,2420
$STATE,8140,end apogee,CONTROL_FINISHED_OK
$STATE,8140,begin climb
$GC,8143,1.08,146.0,543.0,0.0,468,8281,0.98,2.53,130.95,1.076,4,0.097,0.045,2666,1119,1824
$GC,8345,0.98,146.0,530.5,7.3,472,8351,0.00,2.38,0.00,0.000,6,0.000,0.043,2666,2520,1822
$GC,8676,0.85,146.0,501.9,8.5,481,8681,0.17,2.28,0.00,0.000,4,0.133,0.059,2614,3929,1821
$GC,8794,0.80,146.0,492.4,8.3,483,8797,0.00,2.17,0.00,0.000,6,0.000,0.036,2614,2511,1821
$GC,9137,0.80,147.7,468.7,7.0,492,9141,0.00,2.15,0.00,0.000,4,0.000,0.048,2613,1123,1820
$GC,9198,0.89,147.7,464.3,7.2,493,9202,0.00,2.17,0.00,0.000,6,0.000,0.044,2614,2529,1820
$GC,9511,0.90,157.0,443.1,6.7,501,9525,0.00,2.25,10.25,0.982,4,0.000,0.060,2614,3930,1779
$GC,9587,0.90,157.0,437.2,7.8,502,9591,0.00,2.17,0.00,0.000,6,0.000,0.036,2613,2525,1777
$GC,9924,0.98,167.9,414.8,6.6,511,9940,0.12,2.17,10.40,0.975,4,0.077,0.047,2665,1122,1735
$GC,9985,0.92,167.9,409.9,8.7,512,9990,0.12,2.20,0.00,0.000,6,0.134,0.044,2629,2529,1734
$GC,10300,0.92,167.9,387.0,7.2,524,10305,0.00,2.25,0.00,0.000,4,0.000,0.061,2629,3936,1733
$GC,10379,0.87,167.9,380.5,7.9,527,10383,0.00,2.17,0.00,0.000,6,0.000,0.036,2629,2508,1733
$GC,10699,0.87,167.9,357.3,7.4,543,10703,0.00,2.15,0.00,0.000,4,0.000,0.048,2629,1115,1733
$GC,10777,0.94,167.9,351.5,7.3,546,10781,0.00,2.20,0.00,0.000,6,0.000,0.044,2629,2534,1732
$GC,11099,0.94,173.8,328.8,6.8,562,11110,0.00,2.22,6.40,0.840,4,0.000,0.058,2629,3930,1710
$GC,11167,0.89,173.8,323.4,8.5,565,11171,0.00,2.15,0.00,0.000,6,0.000,0.035,2629,2518,1710
$GC,11493,0.89,173.8,300.2,7.2,581,11497,0.00,2.15,0.00,0.000,4,0.000,0.047,2629,1123,1710
$GC,11549,0.97,178.2,296.4,6.9,583,11561,0.00,2.17,5.28,0.766,6,0.000,0.043,2629,2523,1693
$GC,11870,1.03,180.7,274.1,6.9,599,11880,0.10,2.28,4.00,0.649,4,0.084,0.059,2673,3926,1683
$GC,11931,0.83,180.7,267.8,10.6,601,11938,0.22,2.15,0.00,0.000,6,0.137,0.036,2608,2510,1683
$GC,12246,0.99,206.6,247.5,6.1,617,12274,0.15,2.25,22.02,0.966,4,0.071,0.047,2674,1120,1577
$GC,12331,0.99,206.6,240.1,9.2,621,12336,0.10,2.20,0.00,0.000,6,0.140,0.042,2649,2532,1575
$GC,12663,0.99,206.6,214.0,7.8,637,12667,0.00,2.20,0.00,0.000,4,0.000,0.059,2648,3923,1574
$GC,12709,0.92,206.6,209.9,8.8,639,12713,0.00,2.15,0.00,0.000,6,0.000,0.036,2648,2508,1575
$GC,13041,0.93,211.2,185.6,6.9,655,13050,0.00,2.15,5.07,0.716,4,0.000,0.047,2648,1120,1559
$GC,13108,1.01,215.1,181.0,6.9,658,13118,0.00,2.17,5.05,0.706,6,0.000,0.043,2648,2525,1543
$GC,13436,1.06,218.9,158.4,6.9,674,13446,0.00,2.22,5.12,0.705,4,0.000,0.061,2648,3926,1527
$GC,13490,1.06,218.9,153.9,8.2,676,13494,0.00,2.15,0.00,0.000,6,0.000,0.035,2648,2510,1526
$GC,13812,1.13,226.5,131.3,6.8,692,13827,0.12,2.20,7.82,0.798,4,0.077,0.047,2704,1117,1496
$GC,13912,1.07,226.5,122.5,8.7,696,13916,0.15,2.20,0.00,0.000,6,0.129,0.043,2661,2532,1495
$GC,14233,1.13,228.6,100.5,6.9,712,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2533,1495
$GC,14568,1.22,231.0,76.6,6.9,769,14581,0.15,2.22,5.30,0.693,4,0.071,0.047,2722,1120,1478
$GC,14633,1.17,231.0,70.8,9.2,780,14640,0.12,2.17,0.00,0.000,6,0.129,0.044,2686,2518,1478
$GC,14979,1.29,258.9,43.1,6.1,841,15009,0.12,0.00,23.70,0.872,6,0.076,0.000,2739,2519,1362
$STATE,15340,end climb,SURFACE_DEPTH_REACHED
$STATE,15340,begin surface coast
$FINISH,1.2,1.026205
$STATE,15358,end surface coast,CONTROL_FINISHED_OK
$STATE,15358,begin surface
$SM_CCo,15435,0.00,0.000,0,0,1358,260.26
$SM_GC,1.44,7.25,0.00,0.00,0.075,0.000,0.000,164,2340,1358,-10.39,0.00,260.26
$RAFOS_CLK,789
$RAFOS,4,1226076258,16.750000,16.738333,61,59,57,52,51,48,193,155,222,137,1494,176
$RAFOS,3,1226075644,16.583334,16.567778,71,61,53,52,51,51,171,213,155,202,120,140
$RAFOS,2,1226075051,16.416666,16.403055,80,64,58,56,53,53,608,188,206,171,129,152
$RAFOS,1,1226074441,16.250000,16.233612,58,57,56,54,52,49,198,186,216,234,124,169
$RAFOS,0,1226073853,16.083334,16.070278,60,60,60,58,58,54,163,205,227,145,193,217
$RAFOS_FIX,-22612.656250,3250.732910,071108,161652,2,76,3420.54
$IRIDIUM_FIX,6636.54,-5659.96,010298,090952
$TT8_MAMPS,0.029146
$HUMID,1859
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.60
$XPDR_PINGS,3
$24V_AH,21.4,53.111
$10V_AH,10.6,23.023
$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,20.500,165.025,367.850,0.000,0.000,25.378,42.708,150.725,0.750,0.000,0.000,30.971,1731.674,11225.975,508.795,1875.055,479.718,33.370,1541.998,0.000,1817.335,1800.000,0.529,0.000
$DEVICE_MAMPS,256.945,64.428,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.165,614.815,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34797,908
$CAP_FILE_SIZE,138136,0
$CFSIZE,260165632,230289408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.4
$GPS,071108,180755,6704.059,-5655.261,59,1.4,59,-37.6