version: 66.04
glider: 113
mission: 4
dive: 280
start: 11 7 108 18 24 17
data:
$ID,113
$MISSION,4
$DIVE,280
$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,-27126.029
$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
$GPS1,180755,6704.059,-5655.261,59,1.4,59,-37.6
$_CALLS,3
$_XMS_NAKs,35
$_XMS_TOUTs,2
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-50.8
$GPS2,182323,6704.007,-5655.522,15,3.6,34,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.033,-0.222
$KALMAN_X,-20900.6,-721.6,305.7,42388.6,-2379.1
$KALMAN_Y,-57312.4,-357.9,-478.2,75059.9,2886.2
$MHEAD_RNG_PITCHd_Wd,209.2,30054,-12.9,-7.021
$D_GRID,552
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-95.50,0.000,2,0.000,0.000,163,2333,2801
$GC,117,-1.08,-146.0,3.4,-3.7,17,142,8.57,2.35,-7.38,0.000,4,0.253,0.077,2191,3737,3018
$GC,396,-0.67,-146.0,54.6,-17.1,66,403,0.35,2.15,0.00,0.000,6,0.161,0.039,2292,2343,3020
$GC,740,-0.67,-146.0,78.5,-7.3,127,746,0.00,2.20,0.00,0.000,4,0.000,0.051,2292,933,3020
$GC,780,-0.67,-146.0,81.5,-7.6,134,786,0.00,2.22,0.00,0.000,6,0.000,0.047,2292,2351,3021
$GC,1117,-0.73,-146.0,105.6,-6.9,183,1121,0.00,2.22,0.00,0.000,4,0.000,0.049,2292,934,3020
$GC,1162,-0.73,-146.0,109.2,-8.1,185,1166,0.00,2.20,0.00,0.000,6,0.000,0.047,2292,2340,3020
$GC,1494,-0.82,-146.0,133.3,-7.4,201,1496,0.12,0.00,0.00,0.000,6,0.093,0.000,2246,2340,3019
$GC,1802,-0.82,-146.0,158.3,-8.0,216,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2340,3017
$GC,2112,-0.82,-146.0,183.0,-7.5,231,2116,0.00,2.28,0.00,0.000,4,0.000,0.063,2246,3747,3018
$GC,2122,-0.82,-146.0,183.9,-7.5,231,2126,0.00,2.17,0.00,0.000,6,0.000,0.036,2246,2328,3017
$GC,2444,-0.82,-146.0,207.7,-7.3,247,2447,0.00,2.33,0.00,0.000,4,0.000,0.061,2246,3753,3017
$GC,2538,-0.82,-146.0,214.7,-7.3,251,2542,0.00,2.17,0.00,0.000,6,0.000,0.036,2246,2330,3017
$GC,2866,-0.82,-146.0,235.6,-6.0,267,2870,0.00,2.30,0.00,0.000,4,0.000,0.062,2246,3742,3018
$GC,2899,-0.82,-146.0,237.8,-6.6,268,2903,0.00,2.15,0.00,0.000,6,0.000,0.036,2246,2330,3017
$GC,3220,-0.82,-146.0,255.9,-5.5,284,3224,0.00,2.30,0.00,0.000,4,0.000,0.061,2246,3743,3019
$GC,3243,-0.82,-146.0,257.2,-5.7,285,3247,0.00,2.15,0.00,0.000,6,0.000,0.036,2246,2333,3019
$GC,3575,-0.82,-146.0,274.6,-5.2,301,3579,0.00,2.30,0.00,0.000,4,0.000,0.061,2246,3749,3019
$GC,3592,-0.82,-146.0,275.5,-5.1,301,3598,0.00,2.15,0.00,0.000,6,0.000,0.036,2246,2336,3019
$GC,3908,-0.82,-146.0,292.6,-5.5,317,3912,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3753,3019
$GC,3941,-0.82,-146.0,294.5,-5.9,318,3945,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2337,3019
$GC,4262,-0.82,-146.0,311.3,-5.0,334,4266,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3753,3020
$GC,4290,-0.82,-146.0,312.7,-5.5,335,4293,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2338,3020
$GC,4617,-0.82,-146.0,330.3,-5.4,351,4621,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3755,3021
$GC,4641,-0.87,-146.0,331.7,-6.1,352,4645,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2339,3020
$GC,4974,-0.87,-146.0,349.9,-5.1,368,4978,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3753,3022
$GC,4985,-0.87,-146.0,350.5,-5.0,368,4989,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2340,3021
$GC,5306,-0.87,-146.0,367.6,-5.5,384,5310,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3753,3022
$GC,5317,-0.87,-146.0,368.1,-5.3,384,5321,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2340,3022
$GC,5639,-0.87,-146.0,384.0,-4.9,400,5643,0.00,2.30,0.00,0.000,4,0.000,0.061,2246,3753,3022
$GC,5650,-0.91,-146.0,384.6,-4.8,400,5653,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2340,3022
$GC,5971,-0.96,-146.0,400.4,-5.3,416,5975,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3754,3022
$GC,6018,-1.02,-146.0,403.0,-5.6,417,6022,0.12,2.17,0.00,0.000,6,0.093,0.035,2198,2325,3022
$GC,6341,-0.91,-146.0,425.1,-7.1,425,6346,0.15,2.33,0.00,0.000,4,0.150,0.061,2240,3745,3023
$GC,6381,-0.98,-146.0,427.6,-6.0,426,6385,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2331,3023
$GC,6712,-0.98,-146.0,446.8,-5.8,434,6715,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3746,3024
$GC,6751,-1.05,-146.0,449.2,-6.2,434,6757,0.12,2.15,0.00,0.000,6,0.088,0.035,2193,2330,3024
$GC,7083,-0.94,-146.0,471.7,-6.8,443,7088,0.15,2.33,0.00,0.000,4,0.147,0.060,2235,3752,3024
$GC,7127,-0.99,-146.0,474.5,-6.0,444,7131,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2337,3024
$GC,7451,-0.99,-146.0,491.6,-5.2,452,7455,0.00,2.30,0.00,0.000,4,0.000,0.060,2235,3754,3024
$GC,7493,-1.03,-146.0,494.2,-6.3,452,7500,0.10,2.15,0.00,0.000,6,0.106,0.035,2200,2335,3024
$GC,7826,-0.94,-146.0,516.4,-6.7,461,7830,0.12,2.30,0.00,0.000,4,0.150,0.060,2234,3743,3024
$GC,7841,-0.94,-146.0,517.6,-6.5,461,7845,0.00,2.12,0.00,0.000,6,0.000,0.035,2234,2340,3024
$GC,8191,-0.94,-146.0,536.4,-5.4,470,8195,0.00,2.15,0.00,0.000,4,0.000,0.045,2234,940,3024
$GC,8202,-0.94,-146.0,537.1,-5.4,470,8205,0.00,2.20,0.00,0.000,6,0.000,0.043,2234,2355,3024
$STATE,8477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8477,begin apogee
$GC,8483,-0.34,0.0,552.0,5.3,477,8614,0.43,0.00,128.43,1.157,6,0.133,0.000,2367,2530,2420
$STATE,8615,end apogee,CONTROL_FINISHED_OK
$STATE,8615,begin climb
$GC,8618,1.08,146.0,553.7,0.0,480,8757,0.98,2.58,131.07,1.081,4,0.098,0.061,2666,3923,1824
$GC,8787,0.83,146.0,540.8,9.8,484,8792,0.20,2.38,0.00,0.000,6,0.133,0.034,2613,2516,1823
$GC,9105,0.85,157.5,519.6,6.6,492,9121,0.00,2.22,10.90,0.986,4,0.000,0.046,2613,1116,1777
$GC,9200,0.95,162.1,513.3,6.9,494,9211,0.12,2.22,5.40,0.811,6,0.073,0.043,2665,2525,1759
$GC,9555,0.86,162.1,482.2,8.8,503,9559,0.15,2.25,0.00,0.000,4,0.128,0.060,2621,3927,1757
$GC,9626,0.86,162.1,476.2,8.2,504,9630,0.00,2.15,0.00,0.000,6,0.000,0.036,2621,2512,1757
$GC,9968,0.86,162.1,452.6,7.1,513,9972,0.00,2.15,0.00,0.000,4,0.000,0.047,2621,1116,1757
$GC,10030,0.94,162.1,448.0,7.2,514,10034,0.00,2.17,0.00,0.000,6,0.000,0.043,2620,2522,1757
$GC,10344,0.99,162.2,426.2,7.0,522,10348,0.10,2.22,0.00,0.000,4,0.079,0.060,2666,3927,1756
$GC,10438,0.79,162.2,416.3,11.1,524,10443,0.20,2.15,0.00,0.000,6,0.137,0.036,2608,2512,1756
$GC,10760,0.92,182.1,394.6,6.3,534,10783,0.10,2.25,17.65,1.030,4,0.085,0.047,2653,1115,1677
$GC,10833,0.92,182.1,388.6,8.2,537,10837,0.00,2.22,0.00,0.000,6,0.000,0.043,2653,2534,1676
$GC,11161,0.92,182.1,361.8,8.3,553,11165,0.00,2.22,0.00,0.000,4,0.000,0.058,2653,3929,1675
$GC,11206,0.80,182.1,357.4,10.0,555,11211,0.17,2.15,0.00,0.000,6,0.135,0.036,2600,2514,1676
$GC,11539,0.99,213.0,336.6,6.0,571,11571,0.17,2.22,26.00,1.020,4,0.065,0.047,2675,1119,1550
$GC,11638,0.99,213.0,327.9,8.7,575,11643,0.10,2.22,0.00,0.000,6,0.133,0.042,2649,2534,1549
$GC,11953,0.99,213.0,302.4,8.0,590,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2534,1549
$GC,12263,0.99,213.0,277.9,7.8,605,12267,0.00,2.22,0.00,0.000,4,0.000,0.047,2649,1108,1549
$GC,12337,1.04,213.0,272.3,7.7,608,12341,0.00,2.20,0.00,0.000,6,0.000,0.042,2649,2529,1549
$GC,12664,1.04,213.0,247.1,7.5,624,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2530,1548
$GC,12973,1.04,213.0,223.3,7.7,639,12977,0.00,2.20,0.00,0.000,4,0.000,0.047,2649,1118,1549
$GC,13041,1.12,213.0,217.9,7.7,642,13046,0.12,2.17,0.00,0.000,6,0.076,0.043,2704,2524,1549
$GC,13374,1.00,213.0,184.4,10.1,658,13378,0.17,2.25,0.00,0.000,4,0.123,0.059,2651,3936,1548
$GC,13436,0.95,213.0,178.8,9.0,661,13440,0.00,2.15,0.00,0.000,6,0.000,0.036,2651,2514,1549
$GC,13769,1.01,213.0,154.3,7.1,677,13772,0.00,2.15,0.00,0.000,4,0.000,0.047,2651,1119,1549
$GC,13847,1.12,221.8,149.0,6.7,680,13863,0.10,2.17,8.85,0.832,6,0.085,0.043,2692,2522,1514
$GC,14192,1.06,221.8,121.1,7.9,697,14196,0.12,2.22,0.00,0.000,4,0.130,0.060,2655,3923,1514
$GC,14269,1.06,221.8,115.1,7.8,700,14273,0.00,2.12,0.00,0.000,6,0.000,0.036,2654,2523,1513
$GC,14592,1.20,255.4,95.8,5.9,724,14628,0.15,2.25,27.90,0.910,4,0.070,0.049,2719,1110,1377
$GC,14721,1.20,255.4,85.2,9.0,746,14728,0.10,2.22,0.00,0.000,6,0.133,0.044,2691,2522,1375
$GC,15066,1.20,255.4,57.0,7.9,807,15072,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2522,1375
$GC,15410,1.29,255.4,30.3,8.0,868,15416,0.10,2.22,0.00,0.000,4,0.082,0.048,2736,1110,1374
$GC,15468,1.29,255.4,24.7,9.9,878,15474,0.00,2.20,0.00,0.000,6,0.000,0.046,2736,2520,1374
$GC,15813,1.52,378.5,5.4,2.8,939,15861,0.10,0.00,45.12,0.903,2,0.087,0.000,2777,2522,1147
$STATE,15862,end climb,SURFACE_DEPTH_REACHED
$STATE,15862,begin surface coast
$FINISH,0.7,1.019822
$STATE,15883,end surface coast,CONTROL_FINISHED_OK
$STATE,15883,begin surface
$SM_CCo,15961,0.00,0.000,0,0,1139,313.98
$SM_GC,1.62,7.40,0.00,0.00,0.070,0.000,0.000,162,2325,1139,-10.38,-0.40,313.98
$RAFOS_CLK,835
$RAFOS,4,1226090653,20.750000,20.736944,58,57,55,55,50,47,227,122,214,142,165,1915
$RAFOS,3,1226090078,20.583334,20.577223,70,58,54,53,52,51,194,206,150,176,136,216
$RAFOS,2,1226089462,20.416666,20.406111,65,60,57,55,55,52,172,202,133,119,151,223
$RAFOS,1,1226088843,20.250000,20.234167,58,55,53,52,51,50,187,141,120,151,215,197
$RAFOS,0,1226088243,20.083334,20.067499,60,59,59,57,57,50,215,195,122,155,179,234
$RAFOS_FIX,-22612.656250,3250.732910,071108,161652,2,76,3420.54
$IRIDIUM_FIX,6636.54,-5658.34,010298,181802
$TT8_MAMPS,0.027612
$HUMID,1861
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.30
$XPDR_PINGS,1
$24V_AH,21.4,53.267
$10V_AH,10.6,23.098
$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,20.925,160.550,401.325,0.000,0.000,82.612,99.013,469.383,0.250,0.000,0.000,37.034,1750.071,11758.073,521.655,1923.708,933.140,33.375,1570.514,0.000,1866.190,1800.000,0.531,0.000
$DEVICE_MAMPS,253.110,77.467,1156.636,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,732.123,643.794,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34767,951
$CAP_FILE_SIZE,147066,0
$CFSIZE,260165632,230219776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.8
$GPS,071108,225218,6703.932,-5657.818,54,4.5,73,-37.6