version: 66.04
glider: 113
mission: 4
dive: 272
start: 11 6 108 6 59 33
data:
$ID,113
$MISSION,4
$DIVE,272
$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,-26971.561
$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,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
$GPS1,064725,6705.439,-5659.135,24,1.0,41,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.4
$GPS2,065838,6705.516,-5659.427,11,1.0,11,-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,0.211,-0.076
$KALMAN_X,-303.0,894.8,2.6,17651.5,-3621.3
$KALMAN_Y,-66253.9,-94.2,152.3,85897.5,1388.8
$MHEAD_RNG_PITCHd_Wd,147.3,9476,-12.9,-7.021
$D_GRID,529
$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,-146.0,0.0,0.0,0,140,0.00,0.00,-119.82,0.000,2,0.000,0.000,161,2331,3012
$GC,143,-1.08,-146.0,3.5,-3.3,21,155,8.80,0.00,0.00,0.000,6,0.262,0.000,2197,2331,3015
$GC,493,-0.74,-146.0,56.5,-10.7,83,499,0.25,0.00,0.00,0.000,6,0.171,0.000,2272,2331,3017
$GC,836,-0.74,-146.0,84.2,-7.8,144,842,0.00,2.33,0.00,0.000,4,0.000,0.065,2272,3749,3017
$GC,893,-0.74,-146.0,88.8,-8.2,154,899,0.00,2.17,0.00,0.000,6,0.000,0.039,2272,2335,3017
$GC,1233,-0.74,-146.0,113.9,-7.4,190,1237,0.00,2.30,0.00,0.000,4,0.000,0.062,2272,3744,3016
$GC,1244,-0.74,-146.0,114.8,-7.2,190,1248,0.00,2.15,0.00,0.000,6,0.000,0.038,2272,2340,3016
$GC,1564,-0.74,-146.0,137.4,-6.9,206,1568,0.00,2.30,0.00,0.000,4,0.000,0.063,2272,3749,3015
$GC,1592,-0.80,-146.0,139.3,-7.2,207,1596,0.00,2.17,0.00,0.000,6,0.000,0.039,2272,2333,3016
$GC,1919,-0.87,-146.0,160.6,-6.3,223,1924,0.10,2.30,0.00,0.000,4,0.102,0.062,2233,3751,3014
$GC,1968,-0.87,-146.0,164.4,-8.0,225,1973,0.00,2.17,0.00,0.000,6,0.000,0.038,2233,2328,3014
$GC,2290,-0.87,-146.0,188.8,-7.4,241,2294,0.00,2.33,0.00,0.000,4,0.000,0.064,2233,3750,3014
$GC,2305,-0.87,-146.0,190.1,-7.8,241,2312,0.00,2.17,0.00,0.000,6,0.000,0.038,2233,2329,3014
$GC,2621,-0.82,-146.0,213.3,-7.2,257,2626,0.10,2.33,0.00,0.000,4,0.170,0.062,2258,3753,3014
$GC,2643,-0.82,-146.0,214.9,-7.1,258,2647,0.00,2.15,0.00,0.000,6,0.000,0.037,2258,2337,3014
$GC,2969,-0.88,-146.0,236.6,-6.7,274,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2337,3014
$GC,3279,-0.94,-146.0,257.0,-6.5,289,3283,0.12,2.30,0.00,0.000,4,0.093,0.061,2210,3749,3015
$GC,3289,-0.94,-146.0,257.8,-6.5,289,3295,0.00,2.15,0.00,0.000,6,0.000,0.036,2210,2337,3014
$GC,3605,-0.86,-146.0,283.2,-7.8,305,3609,0.15,2.30,0.00,0.000,4,0.156,0.061,2250,3748,3015
$GC,3615,-0.80,-146.0,284.0,-7.8,305,3619,0.00,2.15,0.00,0.000,6,0.000,0.037,2249,2338,3015
$GC,3936,-0.85,-146.0,305.0,-6.2,321,3940,0.00,2.30,0.00,0.000,4,0.000,0.061,2250,3756,3015
$GC,3970,-0.91,-146.0,307.3,-6.5,322,3974,0.00,2.17,0.00,0.000,6,0.000,0.037,2249,2329,3016
$GC,4291,-0.91,-146.0,327.6,-6.3,338,4295,0.00,2.30,0.00,0.000,4,0.000,0.062,2249,3742,3017
$GC,4303,-0.96,-146.0,328.2,-6.3,338,4307,0.10,2.15,0.00,0.000,6,0.107,0.035,2213,2330,3017
$GC,4624,-0.89,-146.0,350.6,-6.8,354,4628,0.12,2.33,0.00,0.000,4,0.154,0.060,2246,3755,3017
$GC,4657,-0.97,-146.0,352.7,-6.2,355,4664,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2340,3018
$GC,4973,-1.01,-146.0,370.2,-5.5,371,4978,0.12,2.30,0.00,0.000,4,0.104,0.061,2200,3750,3018
$GC,4996,-1.01,-146.0,371.6,-6.4,372,5000,0.00,2.15,0.00,0.000,6,0.000,0.035,2200,2333,3018
$GC,5329,-0.91,-146.0,394.5,-6.9,388,5334,0.15,2.30,0.00,0.000,4,0.148,0.060,2243,3745,3019
$GC,5374,-0.99,-146.0,397.3,-6.2,390,5378,0.00,2.12,0.00,0.000,6,0.000,0.035,2243,2336,3019
$GC,5723,-1.03,-146.0,417.2,-5.6,400,5727,0.12,2.30,0.00,0.000,4,0.092,0.061,2193,3745,3020
$GC,5784,-0.93,-146.0,421.8,-7.2,401,5788,0.15,2.15,0.00,0.000,6,0.146,0.035,2233,2330,3020
$GC,6131,-0.93,-146.0,444.5,-6.7,410,6135,0.00,2.30,0.00,0.000,4,0.000,0.061,2234,3747,3021
$GC,6158,-0.93,-146.0,446.4,-7.1,410,6162,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2331,3020
$GC,6502,-0.93,-146.0,468.4,-6.3,419,6506,0.00,2.30,0.00,0.000,4,0.000,0.061,2234,3756,3021
$GC,6529,-0.98,-146.0,470.3,-7.1,419,6533,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2340,3021
$GC,6872,-0.98,-146.0,491.5,-6.3,428,6875,0.00,2.30,0.00,0.000,4,0.000,0.060,2234,3757,3021
$GC,6928,-1.03,-146.0,494.9,-6.3,429,6933,0.10,2.15,0.00,0.000,6,0.105,0.035,2199,2336,3021
$GC,7247,-0.95,-146.0,517.2,-7.1,437,7252,0.12,2.30,0.00,0.000,4,0.154,0.060,2231,3747,3021
$GC,7257,-0.89,-146.0,517.9,-6.9,437,7261,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2330,3021
$STATE,7453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7453,begin apogee
$GC,7460,-0.34,0.0,530.0,6.1,442,7590,0.43,0.00,127.72,1.146,6,0.140,0.000,2364,2523,2420
$STATE,7591,end apogee,CONTROL_FINISHED_OK
$STATE,7591,begin climb
$GC,7594,1.08,146.0,532.4,0.0,445,7736,1.02,2.53,131.25,1.075,4,0.102,0.045,2671,1123,1823
$GC,7792,0.97,146.0,518.2,8.8,450,7796,0.12,2.38,0.00,0.000,6,0.140,0.043,2640,2521,1821
$GC,8110,0.92,146.0,495.0,7.2,458,8114,0.00,2.28,0.00,0.000,4,0.000,0.061,2640,3929,1820
$GC,8171,0.78,146.0,489.8,9.2,459,8176,0.15,2.17,0.00,0.000,6,0.140,0.037,2597,2518,1821
$GC,8484,0.94,190.2,472.3,5.5,467,8527,0.15,2.33,36.55,1.087,4,0.069,0.048,2662,1111,1644
$GC,8573,0.94,190.2,465.1,8.6,469,8577,0.10,2.25,0.00,0.000,6,0.135,0.044,2636,2524,1642
$GC,8902,0.94,190.2,440.3,7.5,477,8906,0.00,2.25,0.00,0.000,4,0.000,0.061,2636,3939,1641
$GC,8957,0.86,190.2,435.3,9.1,478,8961,0.00,2.17,0.00,0.000,6,0.000,0.036,2636,2512,1640
$GC,9275,0.86,190.2,411.0,7.6,486,9279,0.00,2.15,0.00,0.000,4,0.000,0.048,2636,1118,1640
$GC,9337,0.92,190.2,406.2,7.8,487,9341,0.00,2.20,0.00,0.000,6,0.000,0.044,2636,2534,1640
$GC,9653,0.92,191.2,383.0,7.0,500,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2535,1640
$GC,9962,0.92,191.2,360.9,7.2,515,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2535,1640
$GC,10272,0.92,191.2,338.6,7.2,530,10275,0.00,2.22,0.00,0.000,4,0.000,0.048,2636,1109,1640
$GC,10322,1.00,191.2,335.1,7.3,532,10325,0.00,2.20,0.00,0.000,6,0.000,0.043,2636,2528,1640
$GC,10648,1.00,192.1,312.5,7.0,548,10652,0.00,2.22,0.00,0.000,4,0.000,0.059,2636,3929,1640
$GC,10682,0.95,192.1,309.8,8.5,549,10686,0.00,2.15,0.00,0.000,6,0.000,0.035,2636,2510,1640
$GC,11003,0.98,211.8,288.8,6.4,565,11026,0.00,2.25,18.23,0.975,4,0.000,0.048,2636,1114,1556
$GC,11089,1.11,230.3,283.5,6.4,568,11111,0.15,2.20,16.50,0.948,6,0.073,0.043,2695,2521,1481
$GC,11423,0.99,230.3,250.9,10.8,584,11427,0.15,2.25,0.00,0.000,4,0.123,0.058,2652,3929,1479
$GC,11478,0.94,230.3,245.0,9.8,586,11481,0.00,2.15,0.00,0.000,6,0.000,0.036,2651,2520,1479
$GC,11799,0.94,230.3,217.4,8.7,602,11803,0.00,2.17,0.00,0.000,4,0.000,0.048,2651,1110,1479
$GC,11889,1.02,230.3,209.8,8.2,606,11893,0.00,2.20,0.00,0.000,6,0.000,0.044,2651,2532,1479
$GC,12222,1.08,230.3,182.6,8.0,622,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2532,1479
$GC,12532,1.17,241.9,160.9,6.6,637,12548,0.12,2.22,10.98,0.863,4,0.074,0.046,2708,1119,1433
$GC,12616,1.09,241.9,153.4,8.4,640,12621,0.15,2.17,0.00,0.000,6,0.129,0.043,2664,2518,1432
$GC,12949,1.14,241.9,130.0,7.1,656,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2518,1432
$GC,13258,1.25,270.0,110.6,6.1,671,13289,0.15,2.28,23.58,0.900,4,0.070,0.048,2730,1120,1319
$GC,13328,1.17,270.0,104.3,9.1,674,13333,0.15,2.22,0.00,0.000,6,0.130,0.043,2687,2534,1318
$GC,13667,1.17,270.0,79.0,7.5,727,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2534,1317
$GC,14010,1.24,270.0,55.4,8.1,788,14016,0.00,2.22,0.00,0.000,4,0.000,0.048,2687,1115,1316
$GC,14063,1.38,270.0,51.2,7.9,797,14070,0.17,2.20,0.00,0.000,6,0.071,0.044,2760,2528,1317
$GC,14408,1.26,270.0,16.6,9.5,858,14415,0.17,2.25,0.00,0.000,4,0.130,0.061,2707,3929,1316
$GC,14505,1.26,270.0,8.0,8.7,875,14512,0.00,2.15,0.00,0.000,6,0.000,0.038,2707,2517,1315
$STATE,14594,end climb,SURFACE_DEPTH_REACHED
$STATE,14594,begin surface coast
$FINISH,0.7,1.014278
$STATE,14629,end surface coast,CONTROL_FINISHED_OK
$STATE,14629,begin surface
$SM_CCo,14706,0.00,0.000,0,0,1313,271.55
$SM_GC,1.65,6.95,0.00,0.00,0.062,0.000,0.000,164,2337,1313,-10.37,-0.08,271.55
$RAFOS_CLK,768
$RAFOS,4,1225961068,8.750000,8.741111,91,62,58,57,51,50,679,151,216,184,119,166
$RAFOS,3,1225960452,8.583333,8.570000,91,59,59,57,56,54,948,192,118,138,152,225
$RAFOS,2,1225959851,8.416667,8.403055,131,63,61,58,58,56,597,212,190,167,139,181
$RAFOS,1,1225959249,8.250000,8.235833,74,67,65,57,55,54,836,210,144,199,220,119
$RAFOS,0,1225958644,8.083333,8.067778,67,62,61,54,53,53,1037,230,219,148,194,123
$RAFOS_FIX,6705.825195,-5704.603027,061108,080828,4,97,0.68
$IRIDIUM_FIX,6636.54,-5652.31,310198,070757
$TT8_MAMPS,0.027612
$HUMID,1873
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,21.5,52.223
$10V_AH,10.6,22.545
$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,20.675,143.275,364.800,0.000,0.000,84.898,83.840,253.308,0.500,0.000,0.000,13.030,1679.975,10778.230,518.919,1741.569,669.891,33.372,1476.363,0.000,1711.430,1800.000,0.530,0.000
$DEVICE_MAMPS,262.314,65.195,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.803,607.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31579,897
$CAP_FILE_SIZE,132236,0
$CFSIZE,260165632,230760448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.0
$GPS,061108,110611,6705.272,-5659.921,32,1.6,35,-37.6