version: 66.04
glider: 113
mission: 4
dive: 281
start: 11 7 108 23 1 8
data:
$ID,113
$MISSION,4
$DIVE,281
$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,-27173.928
$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,46
$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
$GPS1,225218,6703.932,-5657.818,54,4.5,73,-37.6
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-53.6
$GPS2,230014,6703.931,-5657.940,34,1.6,45,-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,-0.204,-0.094
$KALMAN_X,-23070.6,-291.6,-226.1,42904.9,-1134.0
$KALMAN_Y,-56137.7,637.7,691.0,71575.4,42.9
$MHEAD_RNG_PITCHd_Wd,282.9,28348,-12.9,-7.021
$D_GRID,612
$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,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,136,0.00,0.00,-117.62,0.000,2,0.000,0.000,159,2323,2936
$GC,139,-1.08,-146.0,3.6,-4.0,21,158,8.85,2.35,-2.40,0.000,4,0.264,0.077,2201,3752,3018
$GC,344,-0.73,-146.0,45.7,-14.5,57,351,0.28,2.17,0.00,0.000,6,0.158,0.038,2281,2338,3020
$GC,688,-0.73,-146.0,80.4,-8.4,118,694,0.00,2.17,0.00,0.000,4,0.000,0.051,2282,939,3020
$GC,819,-0.73,-146.0,91.2,-8.2,141,825,0.00,2.20,0.00,0.000,6,0.000,0.048,2281,2343,3020
$GC,1157,-0.73,-146.0,113.0,-6.1,174,1161,0.00,2.25,0.00,0.000,4,0.000,0.062,2281,3745,3019
$GC,1203,-0.82,-146.0,115.9,-7.0,176,1207,0.10,2.17,0.00,0.000,6,0.095,0.038,2245,2323,3019
$GC,1535,-0.77,-146.0,139.5,-6.9,192,1540,0.10,2.33,0.00,0.000,4,0.168,0.063,2270,3743,3019
$GC,1614,-0.83,-146.0,144.4,-5.9,195,1620,0.00,2.15,0.00,0.000,6,0.000,0.038,2271,2338,3019
$GC,1930,-0.88,-146.0,162.9,-5.9,211,1931,0.10,0.00,0.00,0.000,6,0.094,0.000,2232,2338,3019
$GC,2239,-0.82,-146.0,187.5,-8.0,226,2240,0.10,0.00,0.00,0.000,6,0.164,0.000,2258,2337,3019
$GC,2548,-0.82,-146.0,208.3,-6.5,241,2552,0.00,2.17,0.00,0.000,4,0.000,0.049,2258,938,3019
$GC,2604,-0.82,-146.0,212.3,-7.2,243,2608,0.00,2.20,0.00,0.000,6,0.000,0.046,2258,2343,3019
$GC,2926,-0.87,-146.0,231.2,-5.7,259,2929,0.00,2.28,0.00,0.000,4,0.000,0.063,2258,3755,3019
$GC,3027,-0.95,-146.0,237.1,-5.6,263,3032,0.12,2.17,0.00,0.000,6,0.091,0.036,2213,2330,3018
$GC,3348,-0.86,-146.0,258.2,-6.4,279,3350,0.15,0.00,0.00,0.000,6,0.152,0.000,2255,2327,3019
$GC,3658,-0.92,-146.0,274.9,-5.5,294,3662,0.00,2.33,0.00,0.000,4,0.000,0.063,2255,3749,3019
$GC,3714,-1.00,-146.0,278.4,-5.9,296,3719,0.12,2.15,0.00,0.000,6,0.088,0.037,2207,2342,3019
$GC,4035,-0.90,-146.0,299.5,-6.4,312,4037,0.12,0.00,0.00,0.000,6,0.150,0.000,2241,2340,3019
$GC,4344,-0.90,-146.0,316.1,-5.1,327,4348,0.00,2.30,0.00,0.000,4,0.000,0.061,2242,3750,3020
$GC,4400,-0.96,-146.0,319.1,-5.0,329,4403,0.00,2.15,0.00,0.000,6,0.000,0.036,2242,2338,3020
$GC,4721,-0.96,-146.0,335.6,-5.4,345,4725,0.00,2.17,0.00,0.000,4,0.000,0.048,2242,932,3021
$GC,4755,-0.96,-146.0,337.6,-6.1,346,4759,0.00,2.20,0.00,0.000,6,0.000,0.044,2242,2342,3021
$GC,5077,-0.96,-146.0,355.1,-5.4,362,5080,0.00,2.25,0.00,0.000,4,0.000,0.060,2241,3749,3021
$GC,5195,-1.01,-146.0,361.8,-5.9,367,5200,0.10,2.12,0.00,0.000,6,0.094,0.035,2204,2336,3021
$GC,5523,-0.91,-146.0,383.5,-6.7,383,5525,0.12,0.00,0.00,0.000,6,0.148,0.000,2239,2334,3022
$GC,5852,-0.91,-146.0,402.4,-5.7,398,5856,0.00,2.30,0.00,0.000,4,0.000,0.060,2239,3753,3023
$GC,5949,-0.97,-146.0,408.2,-6.1,400,5953,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2327,3022
$GC,6273,-0.97,-146.0,427.3,-6.0,408,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2327,3023
$GC,6597,-0.97,-146.0,445.8,-5.7,416,6601,0.00,2.30,0.00,0.000,4,0.000,0.059,2240,3742,3024
$GC,6665,-1.03,-146.0,449.9,-5.9,417,6669,0.12,2.15,0.00,0.000,6,0.091,0.035,2193,2328,3024
$GC,7013,-0.91,-146.0,475.0,-7.5,426,7017,0.17,2.33,0.00,0.000,4,0.143,0.060,2243,3750,3024
$GC,7074,-0.98,-146.0,478.9,-6.2,427,7078,0.00,2.15,0.00,0.000,6,0.000,0.035,2243,2330,3024
$GC,7387,-1.03,-146.0,496.2,-5.4,435,7389,0.12,0.00,0.00,0.000,6,0.093,0.000,2194,2330,3024
$GC,7712,-0.92,-146.0,517.6,-6.6,443,7717,0.15,2.33,0.00,0.000,4,0.146,0.060,2236,3748,3024
$GC,7813,-0.99,-146.0,524.0,-6.3,445,7817,0.00,2.15,0.00,0.000,6,0.000,0.035,2236,2335,3024
$GC,8132,-0.99,-146.0,542.0,-5.7,453,8136,0.00,2.17,0.00,0.000,4,0.000,0.047,2236,932,3025
$GC,8210,-0.99,-146.0,546.9,-6.3,454,8214,0.00,2.20,0.00,0.000,6,0.000,0.044,2236,2343,3024
$GC,8547,-0.99,-146.0,565.8,-5.6,463,8551,0.00,2.25,0.00,0.000,4,0.000,0.061,2236,3746,3024
$GC,8648,-1.06,-146.0,571.7,-5.9,465,8652,0.12,2.15,0.00,0.000,6,0.097,0.035,2191,2331,3024
$GC,8967,-0.93,-146.0,593.3,-7.0,473,8972,0.15,2.33,0.00,0.000,4,0.142,0.060,2233,3751,3025
$GC,9035,-1.15,-146.0,597.0,-3.8,474,9039,0.17,2.15,0.00,0.000,6,0.076,0.035,2164,2338,3025
$STATE,9171,end dive,NO_VERTICAL_VELOCITY
$STATE,9171,begin apogee
$GC,9178,-0.34,0.0,597.1,0.0,478,9311,0.60,0.00,130.05,1.190,6,0.100,0.000,2367,2515,2420
$STATE,9312,end apogee,CONTROL_FINISHED_OK
$STATE,9312,begin climb
$GC,9314,1.08,146.0,596.8,0.0,481,9455,1.02,0.00,133.23,1.116,6,0.097,0.000,2677,2515,1823
$GC,9780,0.92,146.0,555.4,9.6,493,9785,0.15,2.33,0.00,0.000,4,0.134,0.061,2634,3929,1821
$GC,9849,0.80,146.0,549.3,9.3,494,9853,0.10,2.17,0.00,0.000,6,0.151,0.037,2608,2524,1820
$GC,10191,0.91,170.7,527.3,6.2,503,10215,0.10,0.00,21.17,1.108,6,0.086,0.000,2652,2523,1724
$GC,10516,0.86,170.7,500.0,8.5,511,10520,0.12,2.20,0.00,0.000,4,0.137,0.048,2615,1114,1722
$GC,10531,0.86,170.7,498.8,8.4,511,10536,0.00,2.20,0.00,0.000,6,0.000,0.044,2615,2525,1722
$GC,10845,0.93,170.7,476.7,7.1,519,10847,0.08,0.00,0.00,0.000,6,0.097,0.000,2653,2525,1721
$GC,11170,0.88,170.7,447.6,9.2,527,11172,0.10,0.00,0.00,0.000,6,0.133,0.000,2624,2525,1721
$GC,11494,0.88,170.7,422.3,7.8,535,11499,0.00,2.20,0.00,0.000,4,0.000,0.048,2624,1118,1721
$GC,11516,0.95,170.7,420.5,7.9,535,11520,0.00,2.20,0.00,0.000,6,0.000,0.044,2624,2534,1721
$GC,11845,0.95,170.7,395.4,7.6,545,11848,0.00,2.22,0.00,0.000,4,0.000,0.048,2624,1109,1720
$GC,11868,1.02,173.3,393.7,6.9,546,11873,0.12,2.20,0.00,0.000,6,0.081,0.044,2676,2526,1720
$GC,12200,0.91,173.3,362.6,9.5,562,12205,0.15,2.25,0.00,0.000,4,0.125,0.059,2631,3940,1720
$GC,12239,0.85,173.3,359.1,8.8,563,12245,0.00,2.17,0.00,0.000,6,0.000,0.036,2630,2508,1720
$GC,12555,0.86,185.3,337.0,6.6,579,12577,0.00,2.22,13.10,0.987,4,0.000,0.048,2631,1113,1664
$GC,12583,0.94,196.6,335.0,6.6,580,12600,0.00,2.22,10.88,0.941,6,0.000,0.043,2631,2534,1617
$GC,12910,1.02,210.3,313.5,6.6,596,12932,0.10,2.30,12.45,0.956,4,0.085,0.047,2677,1120,1561
$GC,12955,1.02,210.3,309.7,7.8,598,12959,0.00,2.20,0.00,0.000,6,0.000,0.043,2677,2520,1561
$GC,13287,0.95,210.3,280.2,9.0,614,13289,0.15,0.00,0.00,0.000,6,0.128,0.000,2632,2520,1560
$GC,13597,1.02,210.3,258.0,7.3,629,13602,0.10,2.20,0.00,0.000,4,0.087,0.046,2677,1117,1561
$GC,13646,1.02,210.3,253.6,9.2,631,13650,0.00,2.17,0.00,0.000,6,0.000,0.043,2677,2521,1561
$GC,13974,0.96,210.3,222.6,9.3,647,13976,0.12,0.00,0.00,0.000,6,0.133,0.000,2640,2522,1561
$GC,14283,1.03,210.3,198.2,8.2,662,14287,0.00,2.17,0.00,0.000,4,0.000,0.048,2640,1116,1561
$GC,14310,1.13,210.3,196.1,7.7,663,14315,0.15,2.17,0.00,0.000,6,0.073,0.043,2704,2520,1561
$GC,14638,1.01,210.3,161.7,11.0,679,14640,0.17,0.00,0.00,0.000,6,0.124,0.000,2651,2520,1562
$GC,14946,1.06,210.3,137.4,7.8,694,14950,0.00,2.20,0.00,0.000,4,0.000,0.048,2651,1114,1562
$GC,14974,1.15,210.3,135.3,7.9,695,14979,0.12,2.20,0.00,0.000,6,0.077,0.042,2704,2533,1562
$GC,15301,1.06,210.3,103.2,10.0,711,15306,0.15,2.22,0.00,0.000,4,0.124,0.047,2661,1118,1563
$GC,15316,1.06,210.3,101.6,9.8,711,15323,0.00,2.17,0.00,0.000,6,0.000,0.044,2661,2518,1563
$GC,15658,1.18,246.8,79.2,5.8,769,15694,0.10,0.00,30.73,0.900,6,0.079,0.000,2708,2518,1412
$GC,16032,1.22,282.5,54.1,5.8,835,16068,0.00,2.28,28.90,0.888,4,0.000,0.048,2708,1110,1267
$GC,16086,1.33,323.9,50.9,5.6,844,16128,0.00,2.25,34.85,0.858,6,0.000,0.044,2708,2521,1098
$GC,16467,1.71,541.3,25.5,-0.4,911,16643,0.28,0.00,171.80,0.831,2,0.060,0.000,2824,2523,232
$STATE,16646,end climb,SURFACE_DEPTH_REACHED
$STATE,16647,begin surface coast
$FINISH,0.8,1.026186
$STATE,16657,end surface coast,CONTROL_FINISHED_OK
$STATE,16657,begin surface
$SM_CCo,16735,0.00,0.000,0,0,228,537.70
$SM_GC,1.41,7.90,0.00,0.00,0.059,0.000,0.000,157,2335,228,-10.40,-0.14,537.70
$RAFOS_CLK,865
$RAFOS,4,1226105056,0.750000,0.737778,62,57,56,54,51,51,206,131,217,148,166,177
$RAFOS,3,1226104448,0.583333,0.568889,59,58,56,52,51,48,169,187,137,205,215,117
$RAFOS,2,1226103859,0.416667,0.405278,62,59,59,58,54,53,190,211,549,134,173,116
$RAFOS,1,1226103243,0.250000,0.234167,58,55,52,50,49,48,203,220,149,124,180,168
$RAFOS,0,1226102652,0.083333,0.070000,55,54,53,53,51,51,215,230,137,151,190,110
$RAFOS_FIX,-22612.656250,3250.732910,071108,161652,2,76,3420.54
$IRIDIUM_FIX,6636.54,-5702.96,010298,181828
$TT8_MAMPS,0.027612
$HUMID,1842
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,21.3,53.451
$10V_AH,10.6,23.169
$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,23.200,129.125,587.150,0.000,0.000,24.722,37.193,251.144,0.250,0.000,0.000,47.272,1701.240,12376.021,701.553,1846.020,581.666,33.381,1711.538,0.000,1791.626,1800.000,0.528,0.000
$DEVICE_MAMPS,263.848,76.700,1189.617,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,732.797,635.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34719,943
$CAP_FILE_SIZE,138299,0
$CFSIZE,260165632,230158336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,081108,034126,6703.436,-5701.527,38,1.5,38,-37.6