version: 66.04
glider: 113
mission: 4
dive: 439
start: 12 16 108 21 37 17
data:
$ID,113
$MISSION,4
$DIVE,439
$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,-40752.438
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,212601,6702.043,-5656.464,36,1.4,42,-37.5
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.4
$GPS2,213621,6702.035,-5656.445,9,1.3,9,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_MID
$TGT_LATLONG,6656.000,-5805.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.084,0.208
$KALMAN_X,-129318.0,-407.9,-515.5,150645.2,3150.3
$KALMAN_Y,-8417.7,1321.2,7.4,20349.1,-3526.6
$MHEAD_RNG_PITCHd_Wd,15.6,50984,-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,-146.0,0.0,0.0,0,146,0.00,0.00,-123.57,0.000,6,0.000,0.000,157,2335,3015
$GC,149,-1.08,-146.0,3.2,-2.6,23,163,8.70,2.35,0.00,0.000,4,0.258,0.061,2192,3749,3019
$GC,319,-0.61,-146.0,31.2,-14.6,52,326,0.40,2.20,0.00,0.000,6,0.168,0.038,2303,2328,3021
$GC,665,-0.61,-146.0,58.1,-6.8,113,671,0.00,2.20,0.00,0.000,4,0.000,0.051,2303,937,3021
$GC,769,-0.56,-146.0,65.5,-7.0,131,775,0.00,2.25,0.00,0.000,6,0.000,0.047,2302,2349,3021
$GC,1114,-0.62,-146.0,89.3,-6.9,192,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2350,3021
$GC,1449,-0.72,-146.0,116.7,-9.4,227,1453,0.00,2.30,0.00,0.000,4,0.000,0.064,2303,3742,3021
$GC,1545,-0.87,-146.0,126.3,-9.7,231,1550,0.20,2.20,0.00,0.000,6,0.079,0.037,2231,2327,3021
$GC,1867,-0.74,-146.0,162.2,-11.0,247,1869,0.17,0.00,0.00,0.000,6,0.157,0.000,2280,2325,3021
$GC,2175,-0.79,-146.0,187.0,-7.8,262,2179,0.00,2.20,0.00,0.000,4,0.000,0.050,2280,940,3022
$GC,2249,-0.79,-146.0,193.0,-8.1,265,2253,0.00,2.22,0.00,0.000,6,0.000,0.047,2280,2341,3021
$GC,2576,-0.88,-146.0,217.8,-7.9,281,2580,0.12,2.35,0.00,0.000,4,0.094,0.062,2234,3753,3021
$GC,2666,-0.83,-146.0,226.6,-9.8,285,2671,0.10,2.20,0.00,0.000,6,0.167,0.037,2257,2341,3021
$GC,2999,-0.83,-146.0,252.2,-6.9,301,3003,0.00,2.22,0.00,0.000,4,0.000,0.051,2257,940,3021
$GC,3094,-0.83,-146.0,259.4,-7.9,305,3098,0.00,2.28,0.00,0.000,6,0.000,0.048,2257,2352,3020
$GC,3422,-0.83,-146.0,279.9,-6.5,321,3426,0.00,2.30,0.00,0.000,4,0.000,0.063,2257,3742,3020
$GC,3530,-0.92,-146.0,287.2,-6.5,325,3536,0.00,2.20,0.00,0.000,6,0.000,0.038,2257,2331,3020
$GC,3846,-0.99,-146.0,305.8,-5.8,341,3848,0.12,0.00,0.00,0.000,6,0.095,0.000,2210,2331,3020
$GC,4156,-0.89,-146.0,329.1,-7.5,356,4161,0.12,2.40,0.00,0.000,4,0.154,0.061,2243,3754,3020
$GC,4223,-0.95,-146.0,333.8,-6.9,359,4227,0.00,2.20,0.00,0.000,6,0.000,0.036,2243,2336,3020
$GC,4551,-0.95,-146.0,356.1,-7.0,375,4554,0.00,2.22,0.00,0.000,4,0.000,0.049,2243,933,3020
$GC,4612,-0.95,-146.0,360.9,-8.1,377,4618,0.00,2.25,0.00,0.000,6,0.000,0.045,2244,2344,3021
$GC,4928,-0.95,-146.0,382.9,-6.7,393,4932,0.00,2.30,0.00,0.000,4,0.000,0.061,2244,3742,3021
$GC,5013,-1.02,-146.0,388.8,-7.1,396,5020,0.12,2.17,0.00,0.000,6,0.092,0.036,2199,2334,3022
$GC,5327,-0.91,-146.0,414.2,-8.0,408,5332,0.15,2.22,0.00,0.000,4,0.150,0.046,2242,937,3022
$GC,5422,-0.91,-146.0,420.8,-7.0,410,5426,0.00,2.25,0.00,0.000,6,0.000,0.045,2242,2350,3023
$GC,5742,-0.91,-146.0,440.5,-6.0,418,5746,0.00,2.30,0.00,0.000,4,0.000,0.060,2242,3752,3023
$GC,5913,-0.98,-146.0,450.9,-6.5,421,5917,0.00,2.17,0.00,0.000,6,0.000,0.035,2241,2340,3023
$GC,6251,-1.03,-146.0,471.0,-6.0,430,6253,0.12,0.00,0.00,0.000,6,0.091,0.000,2193,2340,3024
$GC,6575,-0.91,-146.0,495.9,-7.8,438,6580,0.17,2.35,0.00,0.000,4,0.141,0.060,2243,3741,3025
$GC,6682,-1.00,-146.0,503.1,-6.6,440,6686,0.10,2.17,0.00,0.000,6,0.094,0.035,2206,2329,3025
$GC,7031,-0.92,-146.0,528.9,-7.4,449,7035,0.12,2.17,0.00,0.000,4,0.152,0.046,2241,944,3025
$GC,7087,-0.92,-146.0,532.9,-6.7,450,7090,0.00,2.22,0.00,0.000,6,0.000,0.043,2241,2349,3025
$GC,7407,-0.98,-146.0,552.4,-6.2,458,7411,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3747,3025
$GC,7514,-1.07,-146.0,558.9,-5.6,460,7519,0.15,2.17,0.00,0.000,6,0.087,0.035,2188,2338,3026
$GC,7862,-0.95,-146.0,586.6,-8.0,469,7864,0.15,0.00,0.00,0.000,6,0.146,0.000,2229,2336,3025
$GC,8188,-1.05,-146.0,609.4,-5.9,477,8193,0.10,2.22,0.00,0.000,4,0.094,0.047,2189,934,3027
$STATE,8333,end dive,NO_VERTICAL_VELOCITY
$STATE,8333,begin apogee
$GC,8343,-0.34,0.0,609.3,0.0,480,8476,0.50,0.00,129.90,1.208,6,0.094,0.000,2365,2517,2420
$STATE,8477,end apogee,CONTROL_FINISHED_OK
$STATE,8477,begin climb
$GC,8481,1.08,146.0,608.8,0.0,483,8628,1.00,2.78,139.07,1.120,4,0.091,0.060,2667,3919,1825
$GC,8883,0.83,146.0,573.9,10.1,492,8888,0.20,2.22,0.00,0.000,6,0.143,0.037,2612,2522,1824
$GC,9197,0.83,146.0,551.6,7.7,500,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2522,1823
$GC,9521,0.83,146.0,528.1,7.3,508,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2522,1822
$GC,9847,0.84,148.3,505.1,6.9,516,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2522,1822
$GC,10171,0.86,168.6,483.9,6.3,524,10192,0.00,0.00,19.23,1.124,6,0.000,0.000,2612,2522,1732
$GC,10497,0.94,180.4,462.6,6.6,532,10510,0.10,0.00,11.20,1.045,6,0.084,0.000,2657,2520,1684
$GC,10822,0.87,180.4,434.2,8.9,540,10827,0.12,2.30,0.00,0.000,4,0.135,0.061,2622,3930,1685
$GC,10839,0.82,180.4,432.5,9.0,540,10842,0.00,2.17,0.00,0.000,6,0.000,0.037,2622,2516,1685
$GC,11152,0.87,180.4,408.3,7.5,548,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2516,1685
$GC,11460,0.95,196.2,388.2,6.5,559,11482,0.00,2.25,14.18,1.026,4,0.000,0.048,2622,1123,1620
$GC,11488,1.07,223.5,386.5,6.1,560,11519,0.15,2.22,23.73,1.042,6,0.071,0.044,2682,2533,1509
$GC,11839,0.98,223.5,356.5,8.7,577,11841,0.12,0.00,0.00,0.000,6,0.124,0.000,2646,2533,1509
$GC,12145,0.98,223.5,333.7,7.4,592,12149,0.00,2.25,0.00,0.000,4,0.000,0.048,2646,1112,1509
$GC,12155,0.98,223.5,332.7,7.7,592,12159,0.00,2.20,0.00,0.000,6,0.000,0.043,2646,2523,1509
$GC,12477,0.98,223.5,308.2,7.9,608,12481,0.00,2.22,0.00,0.000,4,0.000,0.047,2646,1115,1509
$GC,12489,0.98,223.5,307.2,7.9,608,12492,0.00,2.20,0.00,0.000,6,0.000,0.042,2646,2519,1509
$GC,12810,0.98,223.5,282.8,7.4,624,12814,0.00,2.22,0.00,0.000,4,0.000,0.047,2646,1110,1509
$GC,12833,1.05,223.5,281.0,7.4,625,12837,0.00,2.22,0.00,0.000,6,0.000,0.042,2646,2529,1509
$GC,13166,1.11,223.5,255.4,8.2,641,13171,0.12,2.25,0.00,0.000,4,0.076,0.045,2703,1111,1510
$GC,13178,1.11,223.5,254.2,8.2,641,13182,0.12,2.22,0.00,0.000,6,0.136,0.042,2668,2529,1510
$GC,13498,1.11,223.5,224.9,8.9,657,13502,0.00,2.25,0.00,0.000,4,0.000,0.047,2669,1110,1511
$GC,13510,1.11,223.5,223.9,8.7,657,13514,0.00,2.22,0.00,0.000,6,0.000,0.042,2668,2528,1511
$GC,13831,1.11,223.5,197.6,7.5,673,13832,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2528,1511
$GC,14141,1.11,223.5,176.7,7.1,688,14142,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2528,1511
$GC,14451,1.11,223.5,153.4,8.1,703,14455,0.00,2.22,0.00,0.000,4,0.000,0.046,2668,1117,1511
$GC,14461,1.11,223.5,152.5,7.9,703,14465,0.00,2.22,0.00,0.000,6,0.000,0.043,2668,2525,1512
$GC,14783,1.16,223.5,128.1,7.4,719,14787,0.00,2.30,0.00,0.000,4,0.000,0.061,2668,3933,1511
$GC,14800,1.16,223.5,126.6,7.4,719,14806,0.00,2.20,0.00,0.000,6,0.000,0.035,2668,2506,1512
$GC,15116,1.16,223.5,102.9,7.8,735,15120,0.00,2.17,0.00,0.000,4,0.000,0.048,2668,1113,1512
$GC,15128,1.21,223.5,101.9,7.7,735,15132,0.12,2.25,0.00,0.000,6,0.077,0.044,2719,2533,1512
$GC,15470,1.09,223.5,72.2,7.9,792,15477,0.17,2.28,0.00,0.000,4,0.125,0.048,2666,1123,1511
$GC,15484,1.01,223.5,71.1,8.1,794,15491,0.00,2.22,0.00,0.000,6,0.000,0.044,2666,2522,1511
$GC,15830,1.18,294.9,54.3,4.6,855,15894,0.10,0.00,58.15,0.923,6,0.084,0.000,2714,2522,1216
$GC,16233,1.18,294.9,19.2,8.9,926,16239,0.00,2.22,0.00,0.000,4,0.000,0.050,2716,1120,1212
$GC,16246,1.18,294.9,18.3,8.8,928,16253,0.10,2.20,0.00,0.000,6,0.128,0.044,2687,2520,1212
$STATE,16459,end climb,SURFACE_DEPTH_REACHED
$STATE,16459,begin surface coast
$FINISH,1.1,1.026768
$STATE,16483,end surface coast,CONTROL_FINISHED_OK
$STATE,16483,begin surface
$SM_CCo,16562,0.00,0.000,0,0,1209,296.81
$SM_GC,1.71,7.15,0.00,0.00,0.072,0.000,0.000,162,2327,1209,-10.39,-0.37,296.81
$RAFOS_CLK,878
$RAFOS,4,1229474667,0.750000,0.740833,107,64,59,55,53,50,709,220,193,121,206,164
$RAFOS,3,1229474052,0.583333,0.570000,61,58,57,55,52,52,208,153,191,139,116,174
$RAFOS,2,1229473443,0.416667,0.400833,75,74,56,52,51,51,659,156,189,178,214,132
$RAFOS,1,1229472874,0.250000,0.242778,60,59,58,57,56,55,203,716,218,141,163,107
$RAFOS,0,1229472246,0.083333,0.068333,57,56,55,53,50,50,201,165,127,218,116,177
$RAFOS_FIX,6703.211426,-5658.238281,171208,000016,2,91,0.23
$IRIDIUM_FIX,6636.54,-5702.96,120398,212104
$TT8_MAMPS,0.027612
$HUMID,1903
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,20.3,80.622
$10V_AH,10.5,36.253
$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,21.250,130.950,395.450,0.000,0.000,55.763,141.456,216.032,0.000,0.000,0.000,10.918,1771.944,12178.673,533.066,1936.642,763.581,33.380,1581.193,0.000,1909.405,1800.000,0.528,0.000
$DEVICE_MAMPS,258.479,63.661,1208.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.482,658.594,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34732,970
$CAP_FILE_SIZE,134329,0
$CFSIZE,260165632,218443776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.8
$GPS,171208,021455,6702.996,-5653.479,42,1.7,42,-37.6