version: 66.04
glider: 113
mission: 4
dive: 270
start: 11 5 108 22 9 21
data:
$ID,113
$MISSION,4
$DIVE,270
$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,-26941.305
$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,37
$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
$GPS1,220208,6706.065,-5700.552,27,1.4,27,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-62.9
$GPS2,220826,6706.114,-5700.528,10,1.8,15,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,-0.117
$KALMAN_X,6689.4,-1009.1,-330.1,12095.3,-1167.4
$KALMAN_Y,-69885.4,541.4,411.6,89737.8,676.4
$MHEAD_RNG_PITCHd_Wd,159.2,10729,-12.9,-7.021
$D_GRID,532
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.08,-146.0,0.0,0.0,0,149,0.00,0.00,-128.93,0.000,6,0.000,0.000,162,2335,3016
$GC,152,-1.08,-146.0,3.3,-3.0,23,166,8.68,2.35,0.00,0.000,4,0.258,0.061,2200,3743,3020
$GC,309,-0.67,-146.0,31.9,-14.8,50,315,0.32,2.17,0.00,0.000,6,0.163,0.039,2295,2336,3022
$GC,653,-0.67,-146.0,63.6,-6.8,111,659,0.00,2.30,0.00,0.000,4,0.000,0.064,2294,3744,3022
$GC,693,-0.67,-146.0,66.3,-6.8,118,700,0.00,2.17,0.00,0.000,6,0.000,0.038,2295,2326,3022
$GC,1037,-0.72,-146.0,93.2,-8.5,179,1043,0.00,2.33,0.00,0.000,4,0.000,0.064,2295,3752,3022
$GC,1133,-0.81,-146.0,100.7,-7.4,195,1138,0.12,2.17,0.00,0.000,6,0.087,0.038,2248,2334,3022
$GC,1460,-0.74,-146.0,129.3,-9.0,211,1465,0.12,2.33,0.00,0.000,4,0.165,0.064,2281,3751,3021
$GC,1470,-0.74,-146.0,130.3,-8.8,211,1476,0.00,2.17,0.00,0.000,6,0.000,0.038,2281,2333,3022
$GC,1787,-0.82,-146.0,152.5,-6.5,227,1791,0.10,2.17,0.00,0.000,4,0.101,0.050,2243,939,3020
$GC,1797,-0.82,-146.0,153.3,-6.4,227,1801,0.00,2.20,0.00,0.000,6,0.000,0.048,2244,2345,3020
$GC,2118,-0.82,-146.0,175.9,-6.9,243,2122,0.00,2.25,0.00,0.000,4,0.000,0.064,2244,3742,3020
$GC,2129,-0.82,-146.0,176.6,-6.6,243,2133,0.00,2.15,0.00,0.000,6,0.000,0.037,2244,2334,3020
$GC,2450,-0.82,-146.0,197.2,-6.6,259,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2334,3020
$GC,2759,-0.82,-146.0,217.5,-6.4,274,2762,0.00,2.30,0.00,0.000,4,0.000,0.063,2244,3746,3020
$GC,2769,-0.82,-146.0,218.2,-6.2,274,2773,0.00,2.15,0.00,0.000,6,0.000,0.037,2244,2327,3020
$GC,3091,-0.82,-146.0,237.8,-5.7,290,3095,0.00,2.30,0.00,0.000,4,0.000,0.062,2243,3743,3020
$GC,3102,-0.82,-146.0,238.6,-5.6,290,3106,0.00,2.15,0.00,0.000,6,0.000,0.037,2244,2336,3020
$GC,3423,-0.82,-146.0,256.3,-5.5,306,3427,0.00,2.30,0.00,0.000,4,0.000,0.062,2244,3753,3020
$GC,3434,-0.82,-146.0,256.9,-5.5,306,3438,0.00,2.17,0.00,0.000,6,0.000,0.037,2244,2329,3020
$GC,3755,-0.82,-146.0,274.2,-5.4,322,3759,0.00,2.30,0.00,0.000,4,0.000,0.061,2244,3744,3021
$GC,3794,-0.87,-146.0,276.4,-5.2,323,3800,0.00,2.15,0.00,0.000,6,0.000,0.036,2244,2334,3020
$GC,4110,-0.87,-146.0,294.4,-5.9,339,4114,0.00,2.30,0.00,0.000,4,0.000,0.061,2244,3749,3021
$GC,4121,-0.87,-146.0,295.1,-6.0,339,4124,0.00,2.15,0.00,0.000,6,0.000,0.036,2244,2334,3021
$GC,4442,-0.87,-146.0,314.8,-6.2,355,4445,0.00,2.30,0.00,0.000,4,0.000,0.061,2244,3751,3021
$GC,4470,-0.92,-146.0,316.6,-6.6,356,4473,0.00,2.15,0.00,0.000,6,0.000,0.036,2244,2338,3021
$GC,4797,-0.92,-146.0,337.7,-6.6,372,4800,0.00,2.28,0.00,0.000,4,0.000,0.061,2244,3744,3021
$GC,4824,-0.97,-146.0,339.7,-7.3,373,4828,0.00,2.15,0.00,0.000,6,0.000,0.035,2243,2330,3021
$GC,5151,-0.97,-146.0,360.3,-6.3,389,5155,0.00,2.30,0.00,0.000,4,0.000,0.061,2244,3748,3022
$GC,5179,-1.03,-146.0,362.3,-6.9,390,5184,0.12,2.15,0.00,0.000,6,0.087,0.035,2195,2332,3022
$GC,5506,-0.90,-146.0,387.9,-7.7,406,5511,0.17,2.30,0.00,0.000,4,0.144,0.061,2244,3753,3023
$GC,5528,-0.90,-146.0,389.4,-6.9,407,5532,0.00,2.15,0.00,0.000,6,0.000,0.036,2244,2332,3023
$GC,5873,-0.95,-146.0,410.1,-5.9,420,5876,0.00,2.30,0.00,0.000,4,0.000,0.061,2244,3749,3024
$GC,5895,-1.02,-146.0,411.4,-6.1,420,5899,0.12,2.15,0.00,0.000,6,0.092,0.035,2198,2333,3024
$GC,6243,-0.91,-146.0,436.5,-7.3,429,6248,0.15,2.30,0.00,0.000,4,0.153,0.060,2240,3745,3024
$GC,6253,-0.82,-146.0,437.2,-7.0,429,6257,0.00,2.12,0.00,0.000,6,0.000,0.035,2241,2337,3024
$GC,6565,-0.82,-146.0,454.0,-5.3,437,6569,0.00,2.28,0.00,0.000,4,0.000,0.060,2240,3746,3025
$GC,6627,-0.90,-146.0,457.4,-5.3,438,6631,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2333,3025
$GC,6940,-0.90,-146.0,473.4,-4.9,446,6944,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3756,3025
$GC,6979,-0.97,-146.0,475.2,-4.8,446,6985,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2340,3025
$GC,7311,-1.02,-146.0,491.7,-5.1,455,7315,0.10,2.30,0.00,0.000,4,0.100,0.061,2203,3750,3025
$GC,7379,-0.96,-146.0,496.5,-7.5,456,7383,0.10,2.15,0.00,0.000,6,0.154,0.035,2228,2331,3025
$GC,7726,-0.96,-146.0,517.4,-6.0,465,7730,0.00,2.28,0.00,0.000,4,0.000,0.060,2229,3743,3026
$GC,7817,-1.01,-146.0,522.8,-6.0,467,7820,0.00,2.12,0.00,0.000,6,0.000,0.035,2229,2343,3026
$GC,8147,-1.38,-146.0,528.8,-0.0,475,8152,0.25,2.30,0.00,0.000,4,0.067,0.060,2125,3754,3026
$STATE,8184,end dive,NO_VERTICAL_VELOCITY
$STATE,8184,begin apogee
$GC,8192,-0.34,0.0,528.8,0.0,476,8324,0.73,0.00,128.55,1.141,6,0.110,0.000,2363,2511,2420
$STATE,8324,end apogee,CONTROL_FINISHED_OK
$STATE,8325,begin climb
$GC,8327,1.08,146.0,528.5,0.0,479,8465,1.00,2.47,130.73,1.071,4,0.100,0.045,2668,1126,1824
$GC,8563,0.98,146.0,510.0,9.4,484,8567,0.00,2.35,0.00,0.000,6,0.000,0.043,2668,2526,1821
$GC,8905,0.84,146.0,479.2,8.9,493,8910,0.17,2.25,0.00,0.000,4,0.133,0.058,2615,3929,1820
$GC,8983,0.80,146.0,472.8,7.6,494,8986,0.00,2.17,0.00,0.000,6,0.000,0.036,2615,2511,1820
$GC,9323,0.81,157.8,450.3,6.6,503,9338,0.00,2.17,10.82,0.986,4,0.000,0.047,2615,1120,1775
$GC,9394,0.91,160.5,445.3,6.9,504,9406,0.00,2.20,3.97,0.679,6,0.000,0.043,2615,2530,1765
$GC,9731,0.98,164.9,422.6,6.9,513,9742,0.12,2.25,5.50,0.820,4,0.073,0.061,2667,3934,1747
$GC,9810,0.78,164.9,414.6,10.9,514,9817,0.22,2.17,0.00,0.000,6,0.136,0.037,2600,2512,1745
$GC,10122,0.92,188.0,394.8,6.2,524,10147,0.12,2.20,19.95,1.035,4,0.074,0.048,2653,1120,1652
$GC,10221,0.92,188.0,386.9,8.2,528,10224,0.00,2.20,0.00,0.000,6,0.000,0.044,2653,2519,1652
$GC,10541,0.92,188.0,359.3,8.6,544,10545,0.00,2.25,0.00,0.000,4,0.000,0.060,2653,3936,1652
$GC,10597,0.79,188.0,353.8,10.7,546,10602,0.17,2.17,0.00,0.000,6,0.136,0.037,2600,2506,1652
$GC,10919,0.96,203.2,332.6,6.5,562,10941,0.15,2.20,13.65,0.973,4,0.070,0.048,2664,1122,1591
$GC,11014,0.96,203.2,324.1,9.7,566,11018,0.00,2.20,0.00,0.000,6,0.000,0.044,2664,2526,1590
$GC,11340,0.96,203.2,294.5,8.9,582,11344,0.00,2.22,0.00,0.000,4,0.000,0.059,2664,3927,1589
$GC,11401,0.81,203.2,288.2,10.2,584,11408,0.20,2.15,0.00,0.000,6,0.130,0.036,2604,2512,1589
$GC,11717,0.99,220.8,268.0,6.4,600,11740,0.15,2.17,15.82,0.956,4,0.069,0.047,2666,1119,1518
$GC,11818,0.99,220.8,259.0,8.9,604,11822,0.00,2.20,0.00,0.000,6,0.000,0.043,2665,2529,1517
$GC,12140,0.99,220.8,229.0,9.6,620,12144,0.00,2.22,0.00,0.000,4,0.000,0.060,2665,3930,1517
$GC,12185,0.88,220.8,224.2,10.7,622,12190,0.15,2.15,0.00,0.000,6,0.132,0.037,2622,2517,1516
$GC,12518,1.03,226.7,199.8,6.8,638,12529,0.12,2.17,6.30,0.779,4,0.076,0.047,2679,1110,1495
$GC,12614,1.03,226.7,191.3,8.9,642,12618,0.00,2.20,0.00,0.000,6,0.000,0.043,2679,2528,1495
$GC,12935,1.03,226.7,161.8,9.1,658,12938,0.00,2.22,0.00,0.000,4,0.000,0.060,2679,3929,1494
$GC,12996,0.90,226.7,155.7,10.6,660,13003,0.17,2.15,0.00,0.000,6,0.130,0.036,2626,2513,1495
$GC,13312,1.10,257.7,136.0,6.0,676,13343,0.17,2.22,25.90,0.913,4,0.066,0.048,2703,1109,1368
$GC,13442,1.10,257.7,124.3,9.7,682,13446,0.12,2.22,0.00,0.000,6,0.132,0.043,2668,2529,1367
$GC,13773,1.17,257.7,98.7,7.3,698,13779,0.08,0.00,0.00,0.000,6,0.094,0.000,2706,2529,1366
$GC,14117,1.17,257.7,67.7,8.7,759,14123,0.00,2.22,0.00,0.000,4,0.000,0.048,2706,1110,1367
$GC,14208,1.17,257.7,59.8,8.4,775,14214,0.00,2.20,0.00,0.000,6,0.000,0.044,2706,2522,1367
$GC,14552,1.18,265.4,34.9,6.8,836,14564,0.00,0.00,7.70,0.790,6,0.000,0.000,2706,2522,1337
$GC,14902,1.27,278.2,12.0,6.6,898,14919,0.00,0.00,11.50,0.844,6,0.000,0.000,2707,2522,1285
$STATE,15043,end climb,SURFACE_DEPTH_REACHED
$STATE,15043,begin surface coast
$FINISH,0.7,1.016548
$STATE,15070,end surface coast,CONTROL_FINISHED_OK
$STATE,15070,begin surface
$SM_CCo,15147,0.00,0.000,0,0,1282,279.15
$SM_GC,1.67,6.93,0.00,0.00,0.058,0.000,0.000,162,2327,1282,-10.38,-0.37,279.15
$RAFOS_CLK,778
$RAFOS,4,1225932277,0.750000,0.743611,82,59,58,55,54,54,636,178,208,187,132,142
$RAFOS,3,1225931660,0.583333,0.572222,74,63,61,60,57,56,909,191,219,203,144,177
$RAFOS,2,1225931064,0.416667,0.406667,75,67,60,57,53,52,528,189,219,204,237,179
$RAFOS,1,1225930481,0.250000,0.244722,89,62,58,58,57,51,665,207,141,165,223,455
$RAFOS,0,1225929858,0.083333,0.071667,91,70,66,59,55,52,962,218,203,192,164,145
$RAFOS_FIX,6705.705078,-5703.263672,061108,000027,5,82,0.26
$IRIDIUM_FIX,6636.54,-5650.71,300198,181827
$TT8_MAMPS,0.027612
$HUMID,1873
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,21.5,51.950
$10V_AH,10.6,22.409
$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,21.175,159.925,380.400,0.000,0.000,27.751,31.607,194.616,0.500,0.000,0.000,16.686,1740.013,10902.948,536.699,1851.274,505.113,33.372,1564.382,0.000,1818.380,1800.000,0.529,0.000
$DEVICE_MAMPS,257.712,63.661,1141.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,715.686,627.895,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34707,928
$CAP_FILE_SIZE,136845,0
$CFSIZE,260165632,230875136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.4
$GPS,061108,022326,6705.621,-5659.165,40,1.6,40,-37.6