version: 66.04
glider: 113
mission: 4
dive: 264
start: 11 4 108 20 24 28
data:
$ID,113
$MISSION,4
$DIVE,264
$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,-26837.578
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,201702,6701.427,-5701.005,39,1.2,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.4
$GPS2,202333,6701.520,-5700.987,13,1.2,13,-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,0.097,0.202
$KALMAN_X,20727.2,-641.6,-393.7,-2589.0,576.0
$KALMAN_Y,-79259.6,655.6,882.1,90025.8,-3211.8
$MHEAD_RNG_PITCHd_Wd,63.2,9771,-12.9,-7.021
$D_GRID,681
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-119.43,0.000,2,0.000,0.000,165,2321,3010
$GC,143,-1.08,-146.0,3.4,-3.1,21,156,8.73,2.38,0.00,0.000,4,0.259,0.061,2192,3750,3013
$GC,411,-0.70,-146.0,50.4,-15.6,68,418,0.32,2.17,0.00,0.000,6,0.160,0.040,2284,2343,3016
$GC,755,-0.70,-146.0,82.1,-7.8,129,762,0.00,2.30,0.00,0.000,4,0.000,0.064,2284,3752,3016
$GC,954,-0.77,-146.0,97.2,-7.4,164,960,0.00,2.17,0.00,0.000,6,0.000,0.038,2284,2333,3016
$GC,1284,-0.82,-146.0,120.7,-6.9,185,1288,0.10,2.17,0.00,0.000,4,0.093,0.050,2245,939,3015
$GC,1407,-0.70,-146.0,131.5,-8.9,190,1413,0.15,2.22,0.00,0.000,6,0.162,0.048,2285,2352,3015
$GC,1722,-0.80,-146.0,151.4,-5.7,206,1727,0.10,2.25,0.00,0.000,4,0.097,0.064,2247,3750,3014
$GC,1840,-0.80,-146.0,159.4,-7.0,211,1844,0.00,2.17,0.00,0.000,6,0.000,0.038,2246,2331,3014
$GC,2166,-0.80,-146.0,181.6,-6.6,227,2170,0.00,2.33,0.00,0.000,4,0.000,0.064,2247,3756,3013
$GC,2273,-0.80,-146.0,189.3,-6.9,231,2279,0.00,2.17,0.00,0.000,6,0.000,0.038,2246,2334,3014
$GC,2588,-0.80,-146.0,211.0,-7.1,247,2591,0.00,2.17,0.00,0.000,4,0.000,0.050,2246,935,3014
$GC,2633,-0.74,-146.0,214.6,-8.2,249,2638,0.12,2.20,0.00,0.000,6,0.163,0.047,2279,2342,3014
$GC,2966,-0.87,-146.0,234.4,-5.8,265,2970,0.12,2.28,0.00,0.000,4,0.094,0.061,2233,3754,3013
$GC,3072,-0.87,-146.0,242.4,-7.6,270,3076,0.00,2.17,0.00,0.000,6,0.000,0.037,2233,2329,3013
$GC,3404,-0.87,-146.0,267.2,-7.2,286,3408,0.00,2.30,0.00,0.000,4,0.000,0.062,2233,3745,3013
$GC,3460,-0.87,-146.0,271.3,-7.5,288,3464,0.00,2.15,0.00,0.000,6,0.000,0.036,2233,2327,3014
$GC,3780,-0.87,-146.0,294.5,-7.1,304,3784,0.00,2.15,0.00,0.000,4,0.000,0.048,2233,936,3014
$GC,3836,-0.79,-146.0,298.8,-7.6,306,3840,0.12,2.20,0.00,0.000,6,0.164,0.045,2266,2345,3014
$GC,4157,-0.89,-146.0,317.9,-5.6,322,4162,0.10,2.25,0.00,0.000,4,0.104,0.061,2230,3754,3015
$GC,4207,-0.89,-146.0,321.4,-6.9,324,4210,0.00,2.15,0.00,0.000,6,0.000,0.036,2230,2338,3015
$GC,4528,-0.89,-146.0,343.1,-6.9,340,4532,0.00,2.17,0.00,0.000,4,0.000,0.048,2230,932,3015
$GC,4578,-0.82,-146.0,346.8,-7.3,342,4583,0.12,2.20,0.00,0.000,6,0.160,0.045,2262,2343,3015
$GC,4905,-0.91,-146.0,365.3,-5.7,358,4910,0.10,2.25,0.00,0.000,4,0.103,0.059,2225,3743,3016
$GC,4983,-0.91,-146.0,370.8,-6.6,361,4989,0.00,2.15,0.00,0.000,6,0.000,0.036,2225,2333,3016
$GC,5298,-0.91,-146.0,391.7,-6.4,377,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2333,3017
$GC,5605,-0.91,-146.0,411.6,-6.6,388,5609,0.00,2.30,0.00,0.000,4,0.000,0.061,2225,3749,3017
$GC,5651,-0.91,-146.0,414.5,-6.3,389,5655,0.00,2.15,0.00,0.000,6,0.000,0.036,2225,2337,3017
$GC,5980,-0.91,-146.0,435.4,-6.4,397,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2336,3017
$GC,6305,-0.91,-146.0,455.8,-6.2,405,6309,0.00,2.28,0.00,0.000,4,0.000,0.060,2225,3741,3018
$GC,6429,-0.91,-146.0,464.2,-6.4,407,6433,0.00,2.15,0.00,0.000,6,0.000,0.036,2225,2327,3018
$GC,6765,-0.91,-146.0,485.7,-6.3,416,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2327,3018
$GC,7090,-0.91,-146.0,506.0,-6.3,424,7094,0.00,2.30,0.00,0.000,4,0.000,0.061,2225,3745,3018
$GC,7163,-0.91,-146.0,510.8,-6.6,425,7167,0.00,2.12,0.00,0.000,6,0.000,0.036,2225,2340,3018
$GC,7506,-0.91,-146.0,531.5,-5.9,434,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2340,3018
$GC,7831,-0.91,-146.0,550.4,-5.8,442,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2340,3019
$GC,8156,-0.91,-146.0,568.9,-5.7,450,8159,0.00,2.30,0.00,0.000,4,0.000,0.061,2225,3754,3019
$GC,8217,-0.91,-146.0,572.7,-6.1,451,8221,0.00,2.15,0.00,0.000,6,0.000,0.036,2225,2341,3019
$GC,8530,-0.91,-146.0,589.8,-5.4,459,8534,0.00,2.28,0.00,0.000,4,0.000,0.061,2225,3740,3018
$GC,8591,-0.91,-146.0,593.2,-5.7,460,8595,0.00,2.12,0.00,0.000,6,0.000,0.036,2225,2334,3019
$GC,8904,-0.91,-146.0,611.8,-6.0,468,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2334,3019
$GC,9229,-0.91,-146.0,631.2,-5.8,476,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2334,3019
$GC,9554,-1.08,-146.0,646.1,-3.3,484,9559,0.10,2.30,0.00,0.000,4,0.100,0.063,2181,3749,3019
$STATE,9688,end dive,NO_VERTICAL_VELOCITY
$STATE,9688,begin apogee
$GC,9695,-0.34,0.0,646.0,0.0,487,9828,0.52,0.00,129.48,1.224,6,0.109,0.000,2359,2510,2420
$STATE,9828,end apogee,CONTROL_FINISHED_OK
$STATE,9828,begin climb
$GC,9831,1.08,146.0,645.6,0.0,490,9974,1.02,2.58,133.43,1.153,4,0.100,0.047,2668,1112,1824
$GC,10060,0.97,146.0,628.2,9.1,495,10064,0.00,2.38,0.00,0.000,6,0.000,0.043,2668,2523,1822
$GC,10408,0.83,146.0,596.8,9.3,504,10412,0.20,2.28,0.00,0.000,4,0.136,0.060,2610,3927,1821
$GC,10435,0.78,146.0,594.5,8.0,504,10439,0.00,2.20,0.00,0.000,6,0.000,0.037,2610,2502,1821
$GC,10771,0.86,172.3,573.8,6.1,513,10796,0.00,0.00,22.60,1.146,6,0.000,0.000,2610,2501,1717
$GC,11096,0.98,199.2,554.0,6.1,521,11122,0.12,0.00,23.42,1.140,6,0.077,0.000,2664,2501,1608
$GC,11422,0.90,199.2,524.4,9.5,529,11423,0.12,0.00,0.00,0.000,6,0.138,0.000,2628,2501,1606
$GC,11745,0.90,199.2,499.9,7.3,537,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2501,1605
$GC,12070,0.90,199.2,476.5,7.2,545,12074,0.00,2.15,0.00,0.000,4,0.000,0.049,2628,1111,1605
$GC,12099,0.99,201.2,474.6,7.0,545,12103,0.10,2.20,0.00,0.000,6,0.084,0.044,2670,2531,1604
$GC,12441,0.91,201.2,444.9,8.7,554,12442,0.15,0.00,0.00,0.000,6,0.127,0.000,2626,2531,1604
$GC,12766,0.97,206.9,422.2,6.8,562,12780,0.00,2.30,7.53,0.943,4,0.000,0.048,2626,1108,1576
$GC,12792,1.11,240.9,420.3,5.9,562,12828,0.17,2.20,29.17,1.083,6,0.068,0.044,2696,2520,1438
$GC,13140,0.97,240.9,383.3,11.0,574,13142,0.17,0.00,0.00,0.000,6,0.127,0.000,2643,2520,1435
$GC,13447,0.97,240.9,358.1,7.8,589,13451,0.00,2.20,0.00,0.000,4,0.000,0.049,2643,1116,1434
$GC,13492,1.06,240.9,354.7,8.2,591,13497,0.08,2.17,0.00,0.000,6,0.097,0.044,2679,2518,1434
$GC,13826,0.98,240.9,323.4,9.4,607,13828,0.12,0.00,0.00,0.000,6,0.127,0.000,2641,2519,1434
$GC,14134,1.04,241.1,300.5,7.0,622,14138,0.00,2.20,0.00,0.000,4,0.000,0.048,2641,1111,1434
$GC,14190,1.14,241.1,296.5,7.1,624,14194,0.15,2.20,0.00,0.000,6,0.072,0.044,2705,2531,1434
$GC,14511,0.99,241.1,263.6,10.4,640,14513,0.20,0.00,0.00,0.000,6,0.125,0.000,2642,2532,1435
$GC,14819,1.06,241.1,239.6,7.7,655,14824,0.10,2.22,0.00,0.000,4,0.083,0.047,2688,1112,1434
$GC,14864,1.06,241.1,235.5,9.5,657,14868,0.00,2.20,0.00,0.000,6,0.000,0.044,2688,2534,1434
$GC,15197,0.99,241.1,202.3,9.9,673,15202,0.15,2.22,0.00,0.000,4,0.132,0.048,2642,1116,1434
$GC,15214,0.99,241.1,200.8,9.7,674,15217,0.00,2.17,0.00,0.000,6,0.000,0.044,2642,2523,1435
$GC,15546,1.09,244.3,177.6,6.9,690,15556,0.12,2.22,4.43,0.674,4,0.071,0.048,2697,1112,1423
$GC,15580,1.04,244.3,174.9,8.7,691,15585,0.15,2.20,0.00,0.000,6,0.132,0.043,2654,2534,1423
$GC,15901,1.10,244.3,150.2,7.4,707,15904,0.00,2.22,0.00,0.000,4,0.000,0.048,2654,1111,1423
$GC,15940,1.22,250.6,147.4,6.8,708,15953,0.15,2.20,6.93,0.795,6,0.070,0.043,2719,2530,1397
$GC,16276,1.11,250.6,112.2,10.1,725,16277,0.15,0.00,0.00,0.000,6,0.128,0.000,2673,2531,1397
$GC,16596,1.17,250.6,88.8,7.1,761,16601,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2531,1398
$GC,16939,1.27,250.6,64.6,7.4,822,16946,0.15,2.22,0.00,0.000,4,0.072,0.048,2735,1116,1398
$GC,16992,1.19,250.6,59.4,10.8,831,16999,0.15,2.20,0.00,0.000,6,0.128,0.044,2691,2532,1398
$GC,17337,1.31,277.0,34.9,6.1,892,17368,0.12,2.28,22.60,0.891,4,0.075,0.049,2748,1116,1289
$GC,17419,1.31,277.0,28.2,8.8,906,17426,0.12,2.22,0.00,0.000,6,0.134,0.044,2712,2527,1287
$GC,17764,1.32,281.8,3.6,6.9,967,17776,0.00,2.28,4.10,0.617,4,0.000,0.049,2712,1116,1271
$STATE,17786,end climb,SURFACE_DEPTH_REACHED
$STATE,17786,begin surface coast
$FINISH,1.0,1.026160
$STATE,17798,end surface coast,CONTROL_FINISHED_OK
$STATE,17798,begin surface
$SM_CCo,17877,0.00,0.000,0,0,1269,282.34
$SM_GC,1.80,7.00,0.00,0.00,0.064,0.000,0.000,163,2349,1269,-10.38,0.25,282.34
$RAFOS_CLK,929
$RAFOS,4,1225845845,0.750000,0.734722,73,63,58,58,55,54,811,204,228,155,134,146
$RAFOS,3,1225845256,0.583333,0.571111,83,62,61,59,57,57,926,160,141,196,917,121
$RAFOS,2,1225844652,0.416667,0.403333,121,62,57,57,57,54,596,204,161,123,138,224
$RAFOS,1,1225844048,0.250000,0.235556,107,54,53,51,50,48,844,125,192,215,139,116
$RAFOS,0,1225843445,0.083333,0.068056,104,61,59,54,53,52,1030,221,152,197,118,206
$RAFOS,4,1225831445,20.750000,20.734722,74,68,67,61,57,54,213,194,797,171,1431,153
$RAFOS,3,1225830842,20.583334,20.567223,80,66,64,55,52,51,987,219,203,157,126,185
$RAFOS,2,1225830296,20.416666,20.415556,67,66,56,54,54,51,347,155,137,211,112,190
$RAFOS,1,1225829646,20.250000,20.235001,67,60,56,51,51,50,840,166,176,217,189,114
$RAFOS_FIX,6703.748535,-5703.322754,051108,000027,5,98,0.31
$IRIDIUM_FIX,6631.12,-5656.72,290198,141421
$TT8_MAMPS,0.027612
$HUMID,1868
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,21.3,51.176
$10V_AH,10.6,22.014
$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,21.725,137.375,383.675,0.000,0.000,24.077,36.233,199.435,0.500,0.000,0.000,14.773,1855.141,13472.147,522.455,1938.467,531.804,33.381,1576.656,0.000,1908.561,2880.000,0.529,0.000
$DEVICE_MAMPS,259.246,63.661,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.103,660.201,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34696,973
$CAP_FILE_SIZE,140625,0
$CFSIZE,260165632,231251968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.7
$GPS,051108,012438,6703.886,-5658.543,28,1.4,28,-37.6