version: 66.04
glider: 113
mission: 4
dive: 275
start: 11 6 108 20 21 34
data:
$ID,113
$MISSION,4
$DIVE,275
$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,-27014.223
$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,44
$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
$GPS1,201138,6705.311,-5700.103,34,1.2,34,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-64.2
$GPS2,202039,6705.413,-5700.308,10,1.3,10,-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,0.194,-0.113
$KALMAN_X,-8501.4,-719.0,7.5,26807.6,-2129.3
$KALMAN_Y,-62561.1,138.0,448.4,81486.8,1318.2
$MHEAD_RNG_PITCHd_Wd,157.9,9948,-12.9,-7.021
$D_GRID,549
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-104.50,0.000,6,0.000,0.000,155,2324,3017
$GC,129,-1.08,-146.0,3.7,-3.7,19,143,8.55,2.22,0.00,0.000,4,0.250,0.051,2201,942,3021
$GC,328,-0.62,-146.0,38.9,-15.8,54,335,0.35,2.20,0.00,0.000,6,0.156,0.048,2304,2338,3022
$GC,673,-0.62,-146.0,68.2,-6.6,115,679,0.00,2.28,0.00,0.000,4,0.000,0.062,2304,3753,3022
$GC,685,-0.62,-146.0,69.0,-6.3,117,692,0.00,2.17,0.00,0.000,6,0.000,0.038,2304,2333,3023
$GC,1029,-0.70,-146.0,91.1,-6.1,178,1035,0.00,2.17,0.00,0.000,4,0.000,0.051,2304,934,3022
$GC,1042,-0.78,-146.0,91.9,-6.4,180,1048,0.15,2.20,0.00,0.000,6,0.089,0.045,2247,2341,3022
$GC,1372,-0.71,-146.0,120.3,-8.9,209,1377,0.15,2.28,0.00,0.000,4,0.160,0.061,2288,3746,3021
$GC,1382,-0.71,-146.0,121.2,-8.8,209,1388,0.00,2.15,0.00,0.000,6,0.000,0.037,2288,2339,3021
$GC,1698,-0.80,-146.0,143.1,-6.9,225,1703,0.10,2.28,0.00,0.000,4,0.108,0.061,2247,3743,3020
$GC,1737,-0.80,-146.0,146.4,-8.9,227,1741,0.00,2.15,0.00,0.000,6,0.000,0.037,2247,2337,3020
$GC,2069,-0.80,-146.0,173.6,-7.6,243,2073,0.00,2.30,0.00,0.000,4,0.000,0.062,2247,3749,3020
$GC,2080,-0.80,-146.0,174.5,-7.4,243,2084,0.00,2.15,0.00,0.000,6,0.000,0.036,2247,2339,3020
$GC,2401,-0.80,-146.0,196.5,-6.8,259,2405,0.00,2.15,0.00,0.000,4,0.000,0.048,2247,938,3020
$GC,2412,-0.80,-146.0,197.3,-6.7,259,2416,0.00,2.20,0.00,0.000,6,0.000,0.045,2247,2344,3020
$GC,2734,-0.80,-146.0,219.0,-6.7,275,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2344,3020
$GC,3042,-0.80,-146.0,240.4,-7.1,290,3046,0.00,2.25,0.00,0.000,4,0.000,0.062,2247,3749,3020
$GC,3057,-0.80,-146.0,241.5,-6.8,290,3064,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2332,3020
$GC,3373,-0.80,-146.0,261.5,-6.2,306,3377,0.00,2.30,0.00,0.000,4,0.000,0.061,2247,3747,3020
$GC,3384,-0.80,-146.0,262.2,-6.1,306,3388,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2334,3021
$GC,3705,-0.80,-146.0,280.1,-5.4,322,3709,0.00,2.30,0.00,0.000,4,0.000,0.061,2247,3747,3021
$GC,3716,-0.80,-146.0,280.8,-5.4,322,3720,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2333,3021
$GC,4037,-0.80,-146.0,299.6,-5.8,338,4041,0.00,2.30,0.00,0.000,4,0.000,0.061,2247,3756,3021
$GC,4047,-0.80,-146.0,300.2,-5.8,338,4051,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2340,3021
$GC,4368,-0.80,-146.0,319.3,-6.1,354,4372,0.00,2.30,0.00,0.000,4,0.000,0.060,2247,3756,3022
$GC,4414,-0.86,-146.0,322.2,-6.2,356,4418,0.00,2.17,0.00,0.000,6,0.000,0.035,2247,2327,3021
$GC,4747,-0.86,-146.0,341.7,-5.6,372,4750,0.00,2.30,0.00,0.000,4,0.000,0.060,2247,3744,3022
$GC,4797,-0.93,-146.0,344.6,-6.1,374,4801,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2331,3022
$GC,5125,-0.98,-146.0,361.9,-5.2,390,5129,0.10,2.30,0.00,0.000,4,0.103,0.059,2206,3756,3023
$GC,5142,-0.98,-146.0,363.0,-5.5,391,5145,0.00,2.15,0.00,0.000,6,0.000,0.035,2206,2338,3022
$GC,5474,-0.89,-146.0,384.7,-6.7,407,5479,0.15,2.30,0.00,0.000,4,0.146,0.060,2248,3745,3023
$GC,5485,-0.83,-146.0,385.4,-6.6,407,5491,0.00,2.15,0.00,0.000,6,0.000,0.035,2248,2330,3023
$GC,5801,-0.89,-146.0,402.3,-5.1,422,5804,0.00,2.30,0.00,0.000,4,0.000,0.061,2248,3746,3024
$GC,5868,-0.98,-146.0,406.0,-5.4,423,5873,0.10,2.15,0.00,0.000,6,0.107,0.035,2211,2329,3024
$GC,6216,-0.91,-146.0,427.4,-6.3,432,6221,0.12,2.33,0.00,0.000,4,0.150,0.060,2244,3753,3025
$GC,6260,-0.99,-146.0,429.9,-5.4,433,6265,0.10,2.15,0.00,0.000,6,0.094,0.035,2206,2338,3024
$GC,6586,-0.91,-146.0,451.6,-6.8,441,6590,0.12,2.30,0.00,0.000,4,0.148,0.061,2241,3748,3025
$GC,6630,-0.99,-146.0,454.2,-5.8,442,6634,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2336,3025
$GC,6954,-1.04,-146.0,470.6,-4.8,450,6959,0.12,2.30,0.00,0.000,4,0.091,0.060,2193,3750,3025
$GC,6988,-0.94,-146.0,472.8,-6.9,450,6992,0.15,2.15,0.00,0.000,6,0.145,0.035,2233,2334,3025
$GC,7324,-0.94,-146.0,491.0,-5.2,459,7328,0.00,2.30,0.00,0.000,4,0.000,0.061,2233,3746,3025
$GC,7346,-0.94,-146.0,492.3,-5.7,459,7350,0.00,2.15,0.00,0.000,6,0.000,0.035,2233,2330,3025
$GC,7694,-0.94,-146.0,510.8,-5.4,468,7698,0.00,2.30,0.00,0.000,4,0.000,0.061,2233,3745,3025
$GC,7705,-0.94,-146.0,511.3,-5.2,468,7709,0.00,2.15,0.00,0.000,6,0.000,0.035,2233,2327,3025
$GC,8024,-0.94,-146.0,528.3,-5.5,476,8028,0.00,2.30,0.00,0.000,4,0.000,0.060,2233,3745,3026
$GC,8058,-0.99,-146.0,530.3,-5.8,476,8062,0.00,2.15,0.00,0.000,6,0.000,0.035,2233,2330,3026
$GC,8395,-1.38,-146.0,538.8,0.0,485,8400,0.28,2.33,0.00,0.000,4,0.071,0.060,2123,3754,3026
$STATE,8470,end dive,NO_VERTICAL_VELOCITY
$STATE,8471,begin apogee
$GC,8478,-0.34,0.0,538.7,0.0,486,8610,0.70,0.00,128.73,1.145,6,0.105,0.000,2360,2510,2420
$STATE,8610,end apogee,CONTROL_FINISHED_OK
$STATE,8611,begin climb
$GC,8613,1.08,146.0,538.0,0.0,490,8752,1.00,2.47,130.70,1.074,4,0.104,0.045,2664,1120,1824
$GC,8822,0.98,146.0,523.3,8.7,495,8826,0.00,2.38,0.00,0.000,6,0.000,0.044,2665,2523,1822
$GC,9146,0.86,146.0,494.5,9.0,503,9150,0.15,2.28,0.00,0.000,4,0.133,0.059,2622,3931,1821
$GC,9268,0.77,146.0,483.7,8.5,505,9275,0.00,2.17,0.00,0.000,6,0.000,0.036,2622,2511,1821
$GC,9600,0.77,146.0,459.8,7.2,514,9604,0.00,2.15,0.00,0.000,4,0.000,0.048,2622,1109,1820
$GC,9661,0.84,146.0,455.4,7.6,515,9665,0.00,2.20,0.00,0.000,6,0.000,0.043,2622,2529,1820
$GC,9973,0.84,146.0,433.0,7.1,523,9977,0.00,2.25,0.00,0.000,4,0.000,0.061,2622,3937,1820
$GC,10019,0.76,146.0,429.3,7.8,524,10023,0.00,2.15,0.00,0.000,6,0.000,0.036,2622,2519,1820
$GC,10349,0.77,153.7,406.3,6.8,532,10363,0.00,2.25,7.32,0.911,4,0.000,0.047,2622,1109,1793
$GC,10408,0.84,157.0,402.4,6.9,533,10418,0.00,2.20,4.57,0.742,6,0.000,0.043,2622,2522,1779
$GC,10745,0.86,167.4,380.4,6.7,548,10760,0.00,2.25,10.18,0.961,4,0.000,0.061,2622,3926,1736
$GC,10811,0.86,167.4,375.3,8.0,551,10815,0.00,2.15,0.00,0.000,6,0.000,0.036,2622,2516,1736
$GC,11144,0.91,174.0,352.9,6.8,567,11157,0.00,2.22,6.95,0.869,4,0.000,0.047,2622,1117,1710
$GC,11216,1.02,174.0,347.9,7.3,570,11221,0.12,2.20,0.00,0.000,6,0.079,0.043,2674,2532,1710
$GC,11542,0.91,174.0,317.6,9.3,586,11547,0.15,2.22,0.00,0.000,4,0.130,0.059,2629,3926,1710
$GC,11620,0.86,174.0,310.8,8.9,589,11626,0.00,2.15,0.00,0.000,6,0.000,0.035,2629,2506,1709
$GC,11936,0.87,180.8,289.3,6.8,605,11949,0.00,2.22,7.25,0.855,4,0.000,0.047,2629,1107,1683
$GC,12003,0.96,183.0,284.8,6.9,608,12012,0.00,2.17,3.60,0.597,6,0.000,0.043,2629,2520,1674
$GC,12334,1.01,183.0,261.2,7.5,624,12339,0.10,2.25,0.00,0.000,4,0.080,0.058,2677,3935,1674
$GC,12389,0.80,183.0,255.4,10.8,626,12396,0.25,2.15,0.00,0.000,6,0.135,0.036,2602,2520,1673
$GC,12705,0.96,190.7,233.7,6.8,642,12720,0.15,2.20,8.07,0.854,4,0.069,0.047,2665,1126,1642
$GC,12804,0.96,190.7,225.0,9.6,646,12808,0.00,2.17,0.00,0.000,6,0.000,0.044,2665,2523,1641
$GC,13126,0.91,190.7,197.2,8.6,662,13130,0.12,2.25,0.00,0.000,4,0.133,0.059,2628,3936,1641
$GC,13203,0.91,190.7,190.5,7.9,665,13207,0.00,2.15,0.00,0.000,6,0.000,0.035,2628,2513,1641
$GC,13525,1.01,193.1,168.2,6.9,681,13535,0.10,2.20,3.85,0.602,4,0.085,0.047,2674,1120,1632
$GC,13602,1.01,193.1,161.7,8.0,684,13606,0.00,2.17,0.00,0.000,6,0.000,0.043,2675,2524,1632
$GC,13924,0.96,193.1,132.8,8.5,700,13928,0.12,2.25,0.00,0.000,4,0.132,0.060,2639,3932,1631
$GC,13984,0.96,193.1,127.9,7.7,702,13990,0.00,2.15,0.00,0.000,6,0.000,0.036,2638,2514,1631
$GC,14300,1.06,201.6,107.4,6.7,718,14315,0.10,2.20,8.35,0.808,4,0.085,0.048,2686,1123,1598
$GC,14360,1.06,201.6,102.3,8.6,720,14367,0.00,2.20,0.00,0.000,6,0.000,0.044,2686,2534,1598
$GC,14699,1.06,201.6,74.5,7.6,775,14705,0.00,2.22,0.00,0.000,4,0.000,0.060,2685,3930,1598
$GC,14796,0.96,201.6,65.9,9.0,792,14803,0.17,2.15,0.00,0.000,6,0.133,0.036,2636,2515,1599
$GC,15142,1.35,267.0,45.1,4.8,853,15202,0.25,2.38,52.65,0.886,4,0.065,0.061,2738,3927,1329
$GC,15256,1.18,267.0,37.3,8.1,872,15263,0.17,2.20,0.00,0.000,6,0.137,0.038,2689,2518,1326
$GC,15601,1.30,277.0,16.7,6.7,933,15615,0.10,2.25,8.60,0.785,4,0.086,0.049,2733,1118,1289
$GC,15706,1.32,291.8,7.8,6.5,951,15725,0.00,2.20,13.27,0.831,6,0.000,0.045,2733,2518,1230
$STATE,15785,end climb,SURFACE_DEPTH_REACHED
$STATE,15785,begin surface coast
$FINISH,0.7,1.024695
$STATE,15822,end surface coast,CONTROL_FINISHED_OK
$STATE,15822,begin surface
$SM_CCo,15899,0.00,0.000,0,0,1225,293.13
$SM_GC,1.59,7.10,0.00,0.00,0.064,0.000,0.000,157,2335,1225,-10.41,-0.14,293.13
$RAFOS_CLK,814
$RAFOS,3,1226018046,0.583333,0.568333,65,58,58,58,54,52,174,156,137,198,214,120
$RAFOS,2,1226017445,0.416667,0.401389,112,60,56,56,49,48,633,206,167,189,133,145
$RAFOS,1,1226016843,0.250000,0.234167,65,63,61,58,58,56,112,182,170,196,209,226
$RAFOS,0,1226016251,0.083333,0.069722,62,58,57,55,53,51,217,181,195,146,205,172
$RAFOS,4,1226004245,20.750000,20.734722,67,59,58,58,58,55,806,797,228,198,216,160
$RAFOS,3,1226003646,20.583334,20.568333,59,56,56,55,54,53,167,220,997,208,130,144
$RAFOS,2,1226003046,20.416666,20.401667,87,66,59,59,57,53,629,162,208,190,176,138
$RAFOS,0,1226001841,20.083334,20.066944,59,58,56,53,52,51,168,135,196,182,217,206
$RAFOS_FIX,6614.548340,-6018.893066,061108,161628,4,88,86.14
$IRIDIUM_FIX,6636.54,-5702.96,310198,202017
$TT8_MAMPS,0.03068
$HUMID,1842
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,21.5,52.614
$10V_AH,10.6,22.757
$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,21.425,182.000,394.100,0.000,0.000,49.085,161.592,143.035,0.500,0.000,0.000,12.308,1798.910,11513.092,541.176,1949.920,634.506,33.375,1629.613,0.000,1915.908,2880.000,0.528,0.000
$DEVICE_MAMPS,250.042,62.127,1145.131,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.016,656.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34699,971
$CAP_FILE_SIZE,148298,0
$CFSIZE,260165632,230539264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.1
$GPS,071108,004756,6705.412,-5658.966,38,1.8,38,-37.6