version: 66.04
glider: 113
mission: 4
dive: 371
start: 11 29 108 22 44 4
data:
$ID,113
$MISSION,4
$DIVE,371
$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,-31966.869
$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,38
$R_STBD_OVSHOOT,31
$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
$GPS1,223628,6706.426,-5705.205,34,3.2,53,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.4
$GPS2,224309,6706.423,-5705.313,14,1.3,14,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.175,-0.140
$KALMAN_X,-111541.8,-381.8,469.2,125422.6,-2386.9
$KALMAN_Y,-4758.7,1168.9,-794.8,25762.6,2057.5
$MHEAD_RNG_PITCHd_Wd,166.3,14018,-12.9,-7.021
$D_GRID,581
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,135,0.00,0.00,-116.22,0.000,6,0.000,0.000,159,2327,3016
$GC,139,-1.08,-146.0,3.5,-2.8,21,153,8.55,2.22,0.00,0.000,4,0.253,0.049,2196,935,3020
$GC,289,-0.60,-146.0,30.6,-15.5,47,296,0.40,2.22,0.00,0.000,6,0.170,0.047,2305,2345,3022
$GC,634,-0.60,-146.0,62.1,-8.0,108,640,0.00,2.22,0.00,0.000,4,0.000,0.049,2305,934,3023
$GC,674,-0.60,-146.0,65.5,-8.5,115,681,0.00,2.22,0.00,0.000,6,0.000,0.045,2306,2347,3022
$GC,1020,-0.67,-146.0,90.7,-6.9,176,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2347,3022
$GC,1355,-0.77,-146.0,113.1,-7.3,211,1359,0.12,2.28,0.00,0.000,4,0.091,0.063,2258,3743,3022
$GC,1423,-0.77,-146.0,119.3,-9.0,214,1426,0.00,2.17,0.00,0.000,6,0.000,0.037,2258,2329,3022
$GC,1755,-0.77,-146.0,148.0,-8.4,230,1758,0.00,2.35,0.00,0.000,4,0.000,0.063,2258,3753,3020
$GC,1817,-0.77,-146.0,152.9,-7.9,232,1823,0.00,2.17,0.00,0.000,6,0.000,0.037,2258,2340,3020
$GC,2132,-0.77,-146.0,173.8,-6.0,248,2136,0.00,2.33,0.00,0.000,4,0.000,0.063,2258,3753,3019
$GC,2143,-0.77,-146.0,174.6,-6.0,248,2147,0.00,2.15,0.00,0.000,6,0.000,0.036,2258,2340,3019
$GC,2465,-0.77,-146.0,194.3,-6.2,264,2469,0.00,2.17,0.00,0.000,4,0.000,0.046,2258,936,3019
$GC,2493,-0.77,-146.0,196.3,-7.2,265,2497,0.00,2.22,0.00,0.000,6,0.000,0.044,2258,2349,3020
$GC,2820,-0.77,-146.0,217.7,-6.9,281,2824,0.00,2.22,0.00,0.000,4,0.000,0.047,2258,938,3019
$GC,2831,-0.77,-146.0,218.6,-6.8,281,2835,0.00,2.20,0.00,0.000,6,0.000,0.044,2258,2345,3020
$GC,3153,-0.82,-146.0,239.3,-6.4,297,3157,0.00,2.28,0.00,0.000,4,0.000,0.061,2258,3743,3020
$GC,3165,-0.87,-146.0,240.2,-6.1,297,3168,0.00,2.15,0.00,0.000,6,0.000,0.034,2258,2331,3019
$GC,3486,-0.93,-146.0,260.1,-6.0,313,3488,0.10,0.00,0.00,0.000,6,0.097,0.000,2219,2331,3021
$GC,3796,-0.86,-146.0,282.2,-7.2,328,3801,0.12,2.33,0.00,0.000,4,0.154,0.058,2250,3746,3021
$GC,3808,-0.86,-146.0,283.0,-7.2,328,3814,0.00,2.15,0.00,0.000,6,0.000,0.034,2249,2338,3021
$GC,4123,-0.86,-146.0,303.0,-6.3,344,4127,0.00,2.33,0.00,0.000,4,0.000,0.059,2249,3756,3022
$GC,4158,-0.93,-146.0,305.2,-6.3,345,4162,0.00,2.17,0.00,0.000,6,0.000,0.034,2249,2330,3022
$GC,4479,-0.93,-146.0,325.1,-6.4,361,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2330,3023
$GC,4790,-1.00,-146.0,343.3,-5.7,376,4794,0.12,2.33,0.00,0.000,4,0.101,0.058,2202,3743,3024
$GC,4806,-1.00,-146.0,344.4,-5.5,376,4812,0.00,2.15,0.00,0.000,6,0.000,0.033,2202,2331,3023
$GC,5122,-0.90,-146.0,364.6,-6.2,392,5127,0.15,2.33,0.00,0.000,4,0.146,0.058,2244,3749,3024
$GC,5156,-0.97,-146.0,366.5,-5.2,393,5160,0.00,2.15,0.00,0.000,6,0.000,0.034,2245,2336,3024
$GC,5478,-0.97,-146.0,383.5,-5.7,409,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2336,3025
$GC,5809,-1.02,-146.0,402.7,-5.8,424,5813,0.12,2.30,0.00,0.000,4,0.091,0.058,2192,3746,3025
$GC,5820,-1.02,-146.0,403.4,-5.8,424,5824,0.10,2.15,0.00,0.000,6,0.152,0.033,2216,2332,3025
$GC,6138,-1.02,-146.0,425.0,-6.6,432,6142,0.00,2.33,0.00,0.000,4,0.000,0.058,2216,3756,3025
$GC,6171,-1.02,-146.0,427.4,-7.5,432,6175,0.00,2.15,0.00,0.000,6,0.000,0.034,2216,2340,3025
$GC,6509,-1.02,-146.0,449.4,-6.6,441,6513,0.00,2.30,0.00,0.000,4,0.000,0.059,2216,3744,3025
$GC,6519,-1.02,-146.0,450.3,-6.7,441,6523,0.00,2.12,0.00,0.000,6,0.000,0.032,2216,2333,3025
$GC,6838,-1.02,-146.0,471.6,-6.7,449,6842,0.00,2.33,0.00,0.000,4,0.000,0.059,2217,3755,3025
$GC,6850,-1.02,-146.0,472.5,-6.7,449,6853,0.00,2.15,0.00,0.000,6,0.000,0.032,2216,2340,3025
$GC,7169,-1.02,-146.0,493.6,-6.6,457,7173,0.00,2.30,0.00,0.000,4,0.000,0.059,2216,3748,3026
$GC,7179,-1.02,-146.0,494.4,-6.6,457,7184,0.00,2.12,0.00,0.000,6,0.000,0.033,2216,2340,3026
$GC,7498,-1.02,-146.0,515.7,-6.6,465,7502,0.00,2.30,0.00,0.000,4,0.000,0.059,2217,3749,3026
$GC,7512,-1.02,-146.0,516.4,-6.5,465,7515,0.00,2.15,0.00,0.000,6,0.000,0.033,2216,2336,3026
$GC,7831,-1.02,-146.0,537.1,-6.5,473,7834,0.00,2.30,0.00,0.000,4,0.000,0.058,2216,3746,3026
$GC,7841,-1.02,-146.0,537.9,-6.5,473,7845,0.00,2.15,0.00,0.000,6,0.000,0.033,2216,2333,3026
$GC,8160,-1.02,-146.0,557.9,-6.3,481,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2333,3026
$GC,8486,-1.30,-146.0,570.5,-1.1,489,8491,0.20,2.33,0.00,0.000,4,0.074,0.058,2138,3745,3027
$STATE,8615,end dive,NO_VERTICAL_VELOCITY
$STATE,8615,begin apogee
$GC,8625,-0.34,0.0,570.5,0.0,492,8758,0.70,0.00,129.55,1.162,6,0.101,0.000,2370,2507,2420
$STATE,8758,end apogee,CONTROL_FINISHED_OK
$STATE,8758,begin climb
$GC,8762,1.08,146.0,570.3,0.0,495,8901,0.98,0.00,134.60,1.084,6,0.097,0.000,2670,2507,1825
$GC,9211,0.93,146.0,531.8,9.3,506,9216,0.12,2.35,0.00,0.000,4,0.144,0.059,2636,3940,1824
$GC,9273,0.80,146.0,526.2,8.9,507,9278,0.10,2.20,0.00,0.000,6,0.150,0.035,2608,2508,1824
$GC,9621,0.90,174.2,504.4,6.1,516,9651,0.10,2.25,23.88,1.086,4,0.084,0.048,2653,1120,1710
$GC,9709,0.90,174.2,497.6,7.6,518,9713,0.00,2.22,0.00,0.000,6,0.000,0.044,2653,2533,1711
$GC,10039,0.84,174.2,470.5,8.3,526,10044,0.12,2.25,0.00,0.000,4,0.137,0.059,2615,3934,1711
$GC,10105,0.84,174.2,464.9,8.0,527,10109,0.00,2.17,0.00,0.000,6,0.000,0.036,2615,2506,1710
$GC,10455,0.91,178.5,440.9,6.9,536,10464,0.00,2.17,4.95,0.789,4,0.000,0.047,2615,1116,1692
$GC,10529,1.02,178.5,435.7,7.0,537,10533,0.15,2.20,0.00,0.000,6,0.071,0.044,2678,2523,1694
$GC,10871,0.90,178.5,402.8,9.7,546,10875,0.17,2.28,0.00,0.000,4,0.122,0.058,2625,3936,1694
$GC,10972,0.90,178.5,393.8,8.8,549,10975,0.00,2.17,0.00,0.000,6,0.000,0.035,2624,2509,1694
$GC,11293,0.96,182.0,370.9,6.9,565,11303,0.00,2.17,5.00,0.774,4,0.000,0.046,2625,1114,1677
$GC,11378,1.05,182.0,365.0,7.1,568,11385,0.15,2.20,0.00,0.000,6,0.073,0.042,2690,2530,1678
$GC,11693,0.90,182.0,334.8,9.4,584,11698,0.20,2.25,0.00,0.000,4,0.120,0.058,2624,3929,1678
$GC,11817,0.90,182.0,324.6,8.3,589,11820,0.00,2.15,0.00,0.000,6,0.000,0.035,2623,2515,1678
$GC,12138,1.02,212.9,304.2,6.0,605,12170,0.12,2.22,25.95,0.993,4,0.075,0.046,2680,1114,1552
$GC,12237,1.02,212.9,295.9,8.2,609,12244,0.10,2.22,0.00,0.000,6,0.136,0.043,2652,2534,1553
$GC,12553,1.02,212.9,271.6,7.9,625,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2534,1552
$GC,12862,1.02,212.9,248.2,7.3,640,12866,0.00,2.22,0.00,0.000,4,0.000,0.046,2653,1110,1552
$GC,12924,1.08,213.0,243.7,7.0,642,12930,0.00,2.20,0.00,0.000,6,0.000,0.042,2652,2523,1552
$GC,13239,1.08,213.0,220.5,7.3,658,13244,0.00,2.25,0.00,0.000,4,0.000,0.059,2652,3932,1552
$GC,13279,1.02,213.0,217.2,8.9,659,13285,0.00,2.15,0.00,0.000,6,0.000,0.035,2652,2517,1552
$GC,13594,1.02,213.0,194.0,7.6,675,13598,0.00,2.17,0.00,0.000,4,0.000,0.046,2652,1110,1552
$GC,13662,1.08,213.0,189.0,7.5,678,13667,0.00,2.17,0.00,0.000,6,0.000,0.041,2652,2522,1552
$GC,13995,1.09,220.7,165.8,6.8,694,14005,0.00,0.00,8.02,0.802,6,0.000,0.000,2653,2522,1520
$GC,14322,1.15,220.7,141.4,7.9,710,14324,0.12,0.00,0.00,0.000,6,0.072,0.000,2708,2522,1522
$GC,14630,1.05,220.7,109.1,9.9,725,14632,0.15,0.00,0.00,0.000,6,0.122,0.000,2662,2522,1522
$GC,14955,1.17,243.9,87.8,6.2,764,14979,0.10,0.00,20.35,0.858,6,0.079,0.000,2709,2523,1425
$GC,15318,1.17,243.9,59.0,7.2,828,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2523,1426
$GC,15661,1.17,243.9,33.5,7.8,889,15667,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2523,1424
$GC,16004,1.17,243.9,7.4,7.4,950,16010,0.00,2.28,0.00,0.000,4,0.000,0.061,2709,3926,1424
$STATE,16065,end climb,SURFACE_DEPTH_REACHED
$STATE,16065,begin surface coast
$FINISH,0.8,1.026485
$STATE,16083,end surface coast,CONTROL_FINISHED_OK
$STATE,16083,begin surface
$SM_CCo,16165,0.00,0.000,0,0,1423,244.56
$SM_GC,1.87,7.05,0.00,0.00,0.063,0.000,0.000,164,2335,1423,-10.38,-0.14,244.56
$RAFOS_CLK,824
$RAFOS,4,1228005844,0.750000,0.734444,67,65,62,60,59,59,793,175,196,161,216,803
$RAFOS,3,1228005276,0.583333,0.576667,64,59,58,58,57,56,178,817,217,192,122,150
$RAFOS,2,1228004657,0.416667,0.404722,99,58,57,56,56,53,555,197,228,161,125,216
$RAFOS,1,1228004057,0.250000,0.238056,59,59,58,57,56,56,121,213,155,785,222,139
$RAFOS,0,1228003442,0.083333,0.067222,57,57,57,56,54,53,180,213,1031,167,222,191
$RAFOS_FIX,6700.551758,-5704.857910,291108,121220,2,90,0.54
$IRIDIUM_FIX,6636.54,-5712.23,230298,171731
$TT8_MAMPS,0.027612
$HUMID,1909
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.30
$XPDR_PINGS,1
$24V_AH,20.7,68.573
$10V_AH,10.6,30.439
$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,20.450,142.325,352.300,0.000,0.000,29.182,37.554,192.548,0.250,0.000,0.000,16.179,1772.156,11862.283,498.069,1855.765,571.755,33.379,1514.115,0.000,1828.594,1800.000,0.530,0.000
$DEVICE_MAMPS,253.110,62.894,1162.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.222,653.820,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34666,964
$CAP_FILE_SIZE,133465,0
$CFSIZE,260165632,223490048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,301108,031456,6706.938,-5704.915,41,1.0,41,-37.7