version: 66.04
glider: 113
mission: 4
dive: 331
start: 11 20 108 13 6 10
data:
$ID,113
$MISSION,4
$DIVE,331
$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,-29186.971
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,125938,6702.150,-5656.524,35,1.3,35,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-64.8
$GPS2,130514,6702.125,-5656.568,8,1.3,13,-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,-0.199,-0.103
$KALMAN_X,-64366.0,312.0,110.1,84245.9,-2982.2
$KALMAN_Y,-25083.0,-732.2,-64.1,39307.2,528.9
$MHEAD_RNG_PITCHd_Wd,280.3,28425,-12.9,-7.021
$D_GRID,655
$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,12,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,125,0.00,0.00,-107.30,0.000,6,0.000,0.000,164,2353,3016
$GC,129,-1.08,-146.0,3.4,-2.5,19,142,8.68,2.30,0.00,0.000,4,0.260,0.059,2201,3749,3020
$GC,373,-0.73,-146.0,43.5,-13.6,62,380,0.25,2.17,0.00,0.000,6,0.160,0.038,2273,2336,3022
$GC,718,-0.65,-146.0,75.5,-8.5,123,725,0.08,2.20,0.00,0.000,4,0.176,0.048,2296,928,3022
$GC,776,-0.65,-146.0,80.6,-8.1,133,783,0.00,2.22,0.00,0.000,6,0.000,0.046,2296,2346,3022
$GC,1132,-0.72,-146.0,105.5,-8.3,188,1136,0.00,2.28,0.00,0.000,4,0.000,0.062,2296,3754,3021
$GC,1250,-0.85,-146.0,114.5,-6.6,193,1254,0.15,2.17,0.00,0.000,6,0.082,0.037,2240,2336,3020
$GC,1577,-0.79,-146.0,143.5,-8.8,209,1582,0.10,2.20,0.00,0.000,4,0.172,0.048,2265,929,3019
$GC,1627,-0.79,-146.0,147.7,-8.0,211,1631,0.00,2.22,0.00,0.000,6,0.000,0.047,2265,2343,3019
$GC,1955,-0.84,-146.0,168.4,-5.6,227,1959,0.00,2.28,0.00,0.000,4,0.000,0.063,2265,3749,3018
$GC,2039,-0.91,-146.0,173.6,-6.0,230,2046,0.10,2.17,0.00,0.000,6,0.105,0.037,2230,2329,3018
$GC,2355,-0.85,-146.0,196.0,-7.3,246,2359,0.00,2.33,0.00,0.000,4,0.000,0.061,2230,3747,3018
$GC,2400,-0.85,-146.0,199.4,-7.7,248,2404,0.00,2.17,0.00,0.000,6,0.000,0.036,2230,2327,3018
$GC,2733,-0.80,-146.0,224.8,-8.0,264,2737,0.12,2.17,0.00,0.000,4,0.156,0.047,2263,933,3018
$GC,2807,-0.80,-146.0,230.2,-7.7,267,2810,0.00,2.22,0.00,0.000,6,0.000,0.044,2263,2355,3019
$GC,3134,-0.89,-146.0,252.1,-6.7,283,3138,0.00,2.25,0.00,0.000,4,0.000,0.060,2262,3752,3020
$GC,3218,-1.00,-146.0,258.0,-6.9,286,3225,0.15,2.17,0.00,0.000,6,0.089,0.035,2209,2324,3020
$GC,3535,-0.90,-146.0,281.4,-7.2,302,3539,0.12,2.33,0.00,0.000,4,0.153,0.060,2242,3743,3020
$GC,3607,-0.96,-146.0,286.1,-6.0,305,3611,0.00,2.15,0.00,0.000,6,0.000,0.035,2243,2333,3020
$GC,3929,-0.96,-146.0,304.8,-5.5,321,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2333,3021
$GC,4238,-0.96,-146.0,321.5,-5.4,336,4241,0.00,2.30,0.00,0.000,4,0.000,0.059,2243,3748,3021
$GC,4294,-1.02,-146.0,324.9,-6.2,338,4299,0.12,2.15,0.00,0.000,6,0.091,0.035,2195,2330,3021
$GC,4616,-0.90,-146.0,346.5,-6.8,354,4620,0.17,2.15,0.00,0.000,4,0.146,0.044,2245,945,3022
$GC,4755,-0.90,-146.0,354.9,-5.9,360,4759,0.00,2.17,0.00,0.000,6,0.000,0.043,2245,2342,3023
$GC,5082,-0.94,-146.0,372.6,-5.6,376,5086,0.00,2.20,0.00,0.000,4,0.000,0.045,2245,933,3023
$GC,5132,-0.94,-146.0,376.1,-6.5,378,5136,0.00,2.20,0.00,0.000,6,0.000,0.043,2245,2344,3023
$GC,5460,-0.99,-146.0,395.3,-5.9,394,5464,0.10,2.25,0.00,0.000,4,0.097,0.058,2205,3743,3024
$GC,5533,-0.94,-146.0,400.6,-7.4,397,5537,0.10,2.15,0.00,0.000,6,0.151,0.035,2229,2327,3024
$GC,5875,-0.94,-146.0,423.2,-6.6,406,5878,0.00,2.30,0.00,0.000,4,0.000,0.059,2230,3742,3024
$GC,5941,-0.94,-146.0,427.7,-7.1,407,5945,0.00,2.12,0.00,0.000,6,0.000,0.034,2230,2339,3024
$GC,6290,-0.94,-146.0,450.2,-6.4,416,6294,0.00,2.17,0.00,0.000,4,0.000,0.045,2230,931,3024
$GC,6340,-0.94,-146.0,453.6,-6.6,417,6344,0.00,2.20,0.00,0.000,6,0.000,0.043,2230,2343,3024
$GC,6663,-0.94,-146.0,473.3,-6.1,425,6667,0.00,2.25,0.00,0.000,4,0.000,0.059,2230,3744,3025
$GC,6743,-0.99,-146.0,478.3,-6.0,426,6747,0.00,2.15,0.00,0.000,6,0.000,0.034,2230,2329,3025
$GC,7080,-0.99,-146.0,497.5,-5.7,435,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2329,3025
$GC,7405,-0.99,-146.0,516.8,-6.0,443,7408,0.00,2.33,0.00,0.000,4,0.000,0.060,2230,3752,3025
$GC,7478,-1.04,-146.0,521.4,-6.4,444,7482,0.00,2.17,0.00,0.000,6,0.000,0.035,2230,2325,3025
$GC,7821,-1.04,-146.0,542.4,-6.2,453,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2325,3025
$GC,8146,-1.04,-146.0,562.9,-6.1,461,8150,0.00,2.33,0.00,0.000,4,0.000,0.059,2230,3752,3025
$GC,8242,-1.10,-146.0,569.0,-6.5,463,8246,0.12,2.15,0.00,0.000,6,0.092,0.034,2185,2336,3025
$GC,8566,-0.98,-146.0,593.2,-7.6,471,8568,0.15,0.00,0.00,0.000,6,0.152,0.000,2227,2333,3025
$GC,8891,-0.98,-146.0,612.8,-5.9,479,8895,0.00,2.30,0.00,0.000,4,0.000,0.059,2227,3745,3026
$GC,8992,-0.98,-146.0,618.9,-6.1,481,8996,0.00,2.15,0.00,0.000,6,0.000,0.034,2227,2330,3025
$GC,9311,-0.98,-146.0,637.5,-5.7,489,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2330,3026
$GC,9636,-1.24,-146.0,651.6,-3.2,497,9641,0.20,2.33,0.00,0.000,4,0.074,0.058,2139,3751,3026
$STATE,9885,end dive,NO_VERTICAL_VELOCITY
$STATE,9885,begin apogee
$GC,9893,-0.34,0.0,651.6,0.0,502,10028,0.65,0.00,131.25,1.213,6,0.107,0.000,2360,2509,2420
$STATE,10028,end apogee,CONTROL_FINISHED_OK
$STATE,10028,begin climb
$GC,10032,1.08,146.0,651.1,0.0,506,10172,1.02,0.00,135.68,1.136,6,0.107,0.000,2666,2509,1824
$GC,10480,0.95,146.0,613.4,9.1,517,10485,0.10,2.33,0.00,0.000,4,0.144,0.057,2639,3927,1824
$GC,10559,0.81,146.0,606.3,9.2,518,10566,0.10,2.17,0.00,0.000,6,0.149,0.036,2611,2514,1824
$GC,10890,0.89,168.5,585.2,6.3,527,10914,0.00,2.22,19.50,1.120,4,0.000,0.047,2611,1114,1732
$GC,10933,1.02,194.2,582.5,6.1,528,10963,0.15,2.22,22.75,1.110,6,0.069,0.042,2675,2528,1628
$GC,11306,0.92,194.2,548.7,9.4,537,11308,0.15,0.00,0.00,0.000,6,0.127,0.000,2630,2528,1628
$GC,11625,0.92,194.2,524.3,7.6,545,11629,0.00,2.22,0.00,0.000,4,0.000,0.047,2630,1108,1627
$GC,11647,1.00,198.5,522.8,6.9,545,11657,0.08,2.20,4.90,0.815,6,0.096,0.042,2665,2526,1610
$GC,11989,0.93,198.5,492.2,9.0,554,11994,0.12,2.22,0.00,0.000,4,0.127,0.045,2628,1109,1612
$GC,12005,0.93,198.5,490.8,8.8,554,12009,0.00,2.17,0.00,0.000,6,0.000,0.042,2627,2521,1612
$GC,12353,0.98,198.5,465.5,7.4,563,12358,0.08,2.20,0.00,0.000,4,0.095,0.046,2666,1117,1612
$GC,12381,0.98,198.5,463.0,9.0,563,12385,0.00,2.20,0.00,0.000,6,0.000,0.041,2666,2549,1611
$GC,12723,0.91,198.5,431.8,9.0,572,12727,0.12,2.25,0.00,0.000,4,0.141,0.045,2630,1112,1612
$GC,12751,0.99,210.8,429.6,6.6,572,12767,0.00,2.17,11.52,1.005,6,0.000,0.042,2630,2520,1560
$GC,13091,1.06,215.9,406.8,6.8,581,13102,0.12,2.22,5.80,0.838,4,0.072,0.046,2689,1109,1540
$GC,13125,0.99,215.9,403.3,9.3,581,13132,0.15,2.20,0.00,0.000,6,0.133,0.042,2645,2524,1541
$GC,13440,0.99,215.9,378.4,8.0,596,13444,0.00,2.20,0.00,0.000,4,0.000,0.046,2645,1114,1542
$GC,13456,1.03,215.9,377.1,7.9,596,13462,0.00,2.17,0.00,0.000,6,0.000,0.041,2644,2518,1542
$GC,13771,1.03,215.9,351.6,8.1,612,13775,0.00,2.20,0.00,0.000,4,0.000,0.046,2644,1109,1542
$GC,13805,1.11,215.9,348.8,8.1,613,13810,0.12,2.20,0.00,0.000,6,0.079,0.042,2694,2526,1542
$GC,14127,0.99,215.9,314.9,10.9,629,14131,0.15,2.22,0.00,0.000,4,0.125,0.046,2649,1109,1542
$GC,14149,0.99,215.9,312.9,8.7,630,14153,0.00,2.20,0.00,0.000,6,0.000,0.042,2649,2528,1542
$GC,14476,0.99,215.9,286.6,8.0,646,14480,0.00,2.20,0.00,0.000,4,0.000,0.045,2649,1117,1542
$GC,14499,1.05,215.9,284.7,8.1,647,14503,0.00,2.17,0.00,0.000,6,0.000,0.041,2649,2523,1543
$GC,14832,1.05,215.9,258.9,7.7,663,14836,0.00,2.20,0.00,0.000,4,0.000,0.045,2650,1116,1543
$GC,14855,1.12,215.9,257.2,7.3,664,14859,0.10,2.17,0.00,0.000,6,0.083,0.041,2692,2521,1542
$GC,15187,1.03,215.9,225.5,9.3,680,15189,0.12,0.00,0.00,0.000,6,0.125,0.000,2655,2522,1542
$GC,15497,1.03,219.4,203.9,6.9,695,15503,0.00,0.00,5.10,0.717,6,0.000,0.000,2655,2522,1525
$GC,15805,1.03,219.4,181.5,7.5,710,15809,0.00,2.20,0.00,0.000,4,0.000,0.046,2655,1119,1527
$GC,15833,1.13,228.9,179.5,6.7,711,15850,0.10,2.20,9.38,0.842,6,0.084,0.041,2699,2535,1486
$GC,16161,1.06,228.9,148.9,10.1,727,16166,0.12,2.22,0.00,0.000,4,0.133,0.045,2663,1120,1488
$GC,16178,1.06,228.9,146.9,10.4,728,16182,0.00,2.20,0.00,0.000,6,0.000,0.043,2663,2533,1488
$GC,16510,1.11,228.9,120.2,7.7,744,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2532,1488
$GC,16820,1.20,255.9,99.7,6.1,759,16851,0.12,2.28,22.80,0.882,4,0.071,0.046,2719,1109,1376
$GC,16875,1.12,255.9,95.2,8.2,768,16881,0.15,2.22,0.00,0.000,6,0.126,0.042,2675,2525,1376
$GC,17220,1.26,286.5,73.8,6.0,829,17251,0.12,2.33,25.30,0.864,4,0.071,0.047,2733,1109,1252
$GC,17264,1.26,286.5,70.5,7.5,836,17271,0.10,2.22,0.00,0.000,6,0.131,0.041,2706,2524,1251
$GC,17609,1.36,305.8,47.4,6.4,897,17634,0.10,2.25,16.85,0.834,4,0.079,0.048,2750,1112,1173
$GC,17646,1.36,305.8,44.3,8.0,903,17652,0.00,2.22,0.00,0.000,6,0.000,0.042,2750,2534,1173
$GC,17990,1.29,305.8,12.8,9.1,964,17997,0.15,2.22,0.00,0.000,4,0.131,0.047,2705,1121,1173
$GC,18009,1.29,305.8,11.4,9.0,967,18016,0.00,2.20,0.00,0.000,6,0.000,0.044,2705,2530,1173
$STATE,18132,end climb,SURFACE_DEPTH_REACHED
$STATE,18132,begin surface coast
$FINISH,1.0,1.002554
$STATE,18164,end surface coast,CONTROL_FINISHED_OK
$STATE,18164,begin surface
$SM_CCo,18241,0.00,0.000,0,0,1172,306.13
$SM_GC,1.87,6.88,0.00,0.00,0.057,0.000,0.000,164,2334,1172,-10.37,-0.17,306.13
$RAFOS_CLK,933
$RAFOS,4,1227199453,16.750000,16.736944,64,56,54,53,53,52,186,760,149,207,162,117
$RAFOS,3,1227198846,16.583334,16.568333,67,59,59,57,55,53,961,205,142,155,215,224
$RAFOS,2,1227198275,16.416666,16.409721,96,65,65,60,56,54,459,214,185,205,134,172
$RAFOS,1,1227197668,16.250000,16.241112,81,58,54,53,53,52,729,207,147,228,164,188
$RAFOS,0,1227197054,16.083334,16.070555,70,59,55,52,51,49,214,203,184,170,224,140
$RAFOS_FIX,6627.069336,-6009.191406,201108,161621,3,82,13.66
$IRIDIUM_FIX,6636.54,-5702.96,140298,080835
$TT8_MAMPS,0.027612
$HUMID,1874
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,20.9,61.853
$10V_AH,10.6,27.256
$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,21.925,168.475,410.825,0.000,0.000,24.608,37.018,140.453,0.500,0.000,0.000,15.252,1912.681,13576.746,550.404,2058.789,514.257,33.383,1676.027,0.000,2017.408,1800.000,0.530,0.000
$DEVICE_MAMPS,260.013,62.894,1212.627,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.684,672.965,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37832,994
$CAP_FILE_SIZE,153067,0
$CFSIZE,260165632,226344960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.9
$GPS,201108,181238,6701.881,-5701.650,63,0.9,63,-37.6