version: 66.04
glider: 113
mission: 4
dive: 412
start: 12 9 108 21 27 53
data:
$ID,113
$MISSION,4
$DIVE,412
$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,-32760.252
$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,36
$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
$GPS1,212038,6703.778,-5659.443,39,1.5,39,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-55.9
$GPS2,212657,6703.791,-5659.482,14,1.9,14,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_MID
$TGT_LATLONG,6656.000,-5805.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.220,-0.041
$KALMAN_X,-139722.5,-316.5,466.6,157773.1,-1167.4
$KALMAN_Y,2481.6,719.8,-24.7,13330.2,-813.1
$MHEAD_RNG_PITCHd_Wd,297.0,49682,-12.9,-7.021
$D_GRID,630
$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,-146.0,0.0,0.0,0,149,0.00,0.00,-128.20,0.000,2,0.000,0.000,165,2332,3007
$GC,152,-1.08,-146.0,3.0,-3.7,23,166,8.40,2.35,0.00,0.000,4,0.245,0.061,2202,3750,3011
$GC,408,-0.71,-146.0,37.7,-12.6,68,415,0.28,2.17,0.00,0.000,6,0.160,0.035,2282,2323,3013
$GC,754,-0.71,-146.0,67.3,-8.1,129,760,0.00,2.15,0.00,0.000,4,0.000,0.048,2282,941,3013
$GC,818,-0.64,-146.0,72.7,-8.6,140,824,0.00,2.20,0.00,0.000,6,0.000,0.044,2282,2346,3014
$GC,1163,-0.64,-146.0,96.5,-6.3,201,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2347,3012
$GC,1494,-0.64,-146.0,115.9,-6.0,225,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2347,3012
$GC,1803,-0.70,-146.0,133.7,-5.7,240,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2347,3011
$GC,2113,-0.78,-146.0,149.5,-4.8,255,2116,0.00,2.25,0.00,0.000,4,0.000,0.059,2282,3743,3011
$GC,2187,-0.89,-146.0,153.5,-5.5,258,2191,0.15,2.15,0.00,0.000,6,0.079,0.035,2228,2334,3010
$GC,2514,-0.79,-146.0,177.9,-7.9,274,2518,0.15,2.20,0.00,0.000,4,0.154,0.045,2269,929,3011
$GC,2563,-0.79,-146.0,181.7,-7.5,276,2567,0.00,2.22,0.00,0.000,6,0.000,0.043,2269,2348,3011
$GC,2891,-0.85,-146.0,203.2,-6.6,292,2895,0.00,2.25,0.00,0.000,4,0.000,0.059,2269,3743,3011
$GC,2987,-0.94,-146.0,209.5,-6.9,296,2991,0.15,2.15,0.00,0.000,6,0.079,0.033,2215,2328,3011
$GC,3314,-0.83,-146.0,234.8,-7.8,312,3316,0.15,0.00,0.00,0.000,6,0.150,0.000,2257,2324,3012
$GC,3623,-0.83,-146.0,254.0,-6.0,327,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2324,3012
$GC,3932,-0.83,-146.0,271.8,-5.8,342,3936,0.00,2.30,0.00,0.000,4,0.000,0.057,2257,3744,3013
$GC,4028,-0.91,-146.0,277.4,-6.2,346,4032,0.00,2.15,0.00,0.000,6,0.000,0.033,2257,2330,3013
$GC,4356,-0.97,-146.0,296.6,-6.1,362,4360,0.12,2.17,0.00,0.000,4,0.091,0.044,2207,932,3013
$GC,4447,-0.81,-146.0,303.9,-8.5,366,4452,0.20,2.22,0.00,0.000,6,0.152,0.043,2261,2354,3013
$GC,4774,-0.88,-146.0,323.0,-5.7,382,4778,0.00,2.25,0.00,0.000,4,0.000,0.057,2261,3753,3013
$GC,4876,-0.98,-146.0,328.8,-5.7,386,4881,0.15,2.15,0.00,0.000,6,0.091,0.032,2205,2331,3013
$GC,5198,-0.86,-146.0,351.2,-6.8,402,5202,0.15,2.17,0.00,0.000,4,0.143,0.044,2247,940,3014
$GC,5253,-0.86,-146.0,354.9,-6.1,404,5258,0.00,2.20,0.00,0.000,6,0.000,0.043,2247,2342,3013
$GC,5576,-0.86,-146.0,372.8,-5.5,420,5579,0.00,2.28,0.00,0.000,4,0.000,0.058,2247,3749,3014
$GC,5632,-0.93,-146.0,375.9,-5.5,422,5636,0.00,2.12,0.00,0.000,6,0.000,0.033,2247,2342,3014
$GC,5954,-0.93,-146.0,393.6,-5.5,438,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2342,3014
$GC,6280,-0.93,-146.0,412.9,-6.1,449,6284,0.00,2.28,0.00,0.000,4,0.000,0.058,2247,3743,3013
$GC,6341,-1.01,-146.0,416.8,-6.1,450,6346,0.12,2.15,0.00,0.000,6,0.099,0.034,2203,2332,3013
$GC,6656,-0.91,-146.0,438.5,-6.9,458,6658,0.12,0.00,0.00,0.000,6,0.148,0.000,2238,2328,3014
$GC,6980,-0.91,-146.0,456.6,-5.5,466,6984,0.00,2.33,0.00,0.000,4,0.000,0.058,2238,3752,3014
$GC,7065,-0.97,-146.0,461.3,-5.1,467,7071,0.00,2.15,0.00,0.000,6,0.000,0.034,2238,2340,3014
$GC,7397,-0.97,-146.0,478.8,-5.4,476,7401,0.00,2.17,0.00,0.000,4,0.000,0.047,2238,943,3014
$GC,7459,-0.97,-146.0,482.4,-6.0,477,7462,0.00,2.20,0.00,0.000,6,0.000,0.044,2238,2345,3014
$GC,7772,-0.97,-146.0,500.0,-5.5,485,7776,0.00,2.28,0.00,0.000,4,0.000,0.059,2238,3749,3013
$GC,7870,-1.03,-146.0,505.7,-5.8,487,7874,0.10,2.15,0.00,0.000,6,0.103,0.033,2203,2337,3014
$GC,8195,-0.95,-146.0,526.9,-6.4,495,8199,0.10,2.20,0.00,0.000,4,0.153,0.045,2229,933,3014
$GC,8261,-0.95,-146.0,531.3,-6.4,496,8265,0.00,2.22,0.00,0.000,6,0.000,0.042,2229,2354,3014
$GC,8611,-0.95,-146.0,551.8,-5.9,505,8615,0.00,2.22,0.00,0.000,4,0.000,0.056,2229,3750,3014
$GC,8702,-0.95,-146.0,557.2,-5.9,507,8706,0.00,2.15,0.00,0.000,6,0.000,0.033,2229,2335,3014
$GC,9032,-0.95,-146.0,575.9,-5.7,515,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2336,3014
$GC,9358,-0.95,-146.0,594.6,-5.7,523,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2336,3014
$GC,9682,-0.95,-146.0,613.4,-5.9,531,9685,0.00,2.33,0.00,0.000,4,0.000,0.060,2229,3742,3015
$GC,9744,-1.15,-146.0,616.9,-5.0,532,9749,0.15,2.15,0.00,0.000,6,0.077,0.035,2173,2332,3015
$STATE,9886,end dive,NO_VERTICAL_VELOCITY
$STATE,9886,begin apogee
$GC,9894,-0.34,0.0,617.0,0.0,536,10024,0.57,0.00,126.95,1.193,6,0.102,0.000,2364,2529,2420
$STATE,10024,end apogee,CONTROL_FINISHED_OK
$STATE,10025,begin climb
$GC,10028,1.08,146.0,616.8,0.0,539,10177,1.00,2.67,137.15,1.112,4,0.104,0.044,2665,1130,1825
$GC,10379,0.99,146.0,589.5,8.6,547,10383,0.00,2.22,0.00,0.000,6,0.000,0.043,2665,2524,1823
$GC,10710,0.88,146.0,561.8,8.3,555,10714,0.15,2.25,0.00,0.000,4,0.134,0.058,2622,3927,1822
$GC,10760,0.81,146.0,557.8,8.0,556,10764,0.00,2.15,0.00,0.000,6,0.000,0.035,2622,2515,1822
$GC,11079,0.82,153.0,536.6,6.8,564,11087,0.00,0.00,6.57,0.927,6,0.000,0.000,2622,2515,1796
$GC,11406,0.85,171.7,515.2,6.4,572,11430,0.00,2.40,17.08,1.092,4,0.000,0.059,2622,3932,1719
$GC,11437,0.87,190.0,512.9,6.4,572,11458,0.00,2.17,16.50,1.062,6,0.000,0.035,2622,2520,1645
$GC,11777,0.96,204.1,490.7,6.5,581,11797,0.10,2.25,12.88,1.040,4,0.084,0.047,2664,1116,1587
$GC,11815,0.96,204.1,487.2,8.2,581,11821,0.00,2.20,0.00,0.000,6,0.000,0.042,2665,2524,1587
$GC,12147,0.90,204.1,458.0,8.7,590,12149,0.12,0.00,0.00,0.000,6,0.136,0.000,2628,2524,1588
$GC,12472,0.97,210.3,435.4,6.8,598,12485,0.00,2.28,6.65,0.894,4,0.000,0.045,2628,1117,1562
$GC,12498,1.10,230.9,433.7,6.3,598,12524,0.15,2.20,18.50,1.044,6,0.071,0.042,2691,2533,1478
$GC,12846,0.98,230.9,400.2,10.0,607,12851,0.15,2.20,0.00,0.000,4,0.123,0.044,2647,1123,1477
$GC,12857,0.91,230.9,399.0,9.9,607,12861,0.00,2.17,0.00,0.000,6,0.000,0.042,2648,2520,1477
$GC,13181,0.91,233.5,376.3,6.9,622,13190,0.00,2.25,3.65,0.627,4,0.000,0.046,2648,1113,1467
$GC,13208,1.01,259.5,374.5,6.1,623,13237,0.00,2.20,22.75,1.025,6,0.000,0.041,2647,2532,1361
$GC,13556,1.08,259.5,349.8,7.2,640,13560,0.08,2.22,0.00,0.000,4,0.093,0.044,2691,1110,1361
$GC,13617,1.08,259.5,344.0,9.2,642,13623,0.00,2.20,0.00,0.000,6,0.000,0.042,2691,2525,1361
$GC,13933,1.01,259.5,311.9,10.4,658,13938,0.15,2.22,0.00,0.000,4,0.128,0.045,2647,1110,1361
$GC,13949,1.01,259.5,310.4,9.7,658,13956,0.00,2.20,0.00,0.000,6,0.000,0.041,2647,2526,1361
$GC,14265,1.11,259.5,285.2,8.2,674,14270,0.10,2.22,0.00,0.000,4,0.077,0.044,2696,1111,1362
$GC,14305,1.11,259.5,281.3,10.0,675,14311,0.00,2.20,0.00,0.000,6,0.000,0.041,2696,2525,1361
$GC,14621,1.06,259.5,244.7,11.9,691,14625,0.12,2.20,0.00,0.000,4,0.135,0.046,2660,1123,1361
$GC,14637,1.06,259.5,242.9,11.2,691,14643,0.00,2.20,0.00,0.000,6,0.000,0.042,2660,2533,1361
$GC,14953,1.12,259.5,212.7,9.2,707,14957,0.00,2.22,0.00,0.000,4,0.000,0.045,2660,1116,1361
$GC,14999,1.21,259.5,208.5,9.0,709,15004,0.12,2.20,0.00,0.000,6,0.078,0.042,2711,2523,1360
$GC,15332,1.11,259.5,172.7,10.4,725,15336,0.12,2.22,0.00,0.000,4,0.132,0.046,2674,1118,1359
$GC,15348,1.11,259.5,171.2,9.9,725,15355,0.00,2.20,0.00,0.000,6,0.000,0.041,2674,2529,1359
$GC,15664,1.11,259.5,146.8,7.1,741,15668,0.00,2.22,0.00,0.000,4,0.000,0.045,2674,1114,1359
$GC,15687,1.19,272.0,145.2,6.6,742,15703,0.00,2.20,10.98,0.867,6,0.000,0.042,2674,2523,1311
$GC,16017,1.25,276.0,122.6,6.9,757,16027,0.12,2.22,5.10,0.694,4,0.071,0.045,2731,1115,1294
$GC,16050,1.16,276.0,119.2,9.8,758,16057,0.17,2.20,0.00,0.000,6,0.127,0.041,2679,2532,1295
$GC,16377,1.16,276.0,90.4,10.1,786,16384,0.00,2.22,0.00,0.000,4,0.000,0.045,2679,1111,1295
$GC,16425,1.25,276.0,85.2,10.8,794,16432,0.10,2.20,0.00,0.000,6,0.086,0.041,2720,2524,1295
$GC,16770,1.18,276.0,50.0,10.1,855,16777,0.12,2.28,0.00,0.000,4,0.127,0.058,2683,3933,1296
$GC,16785,1.13,276.0,48.4,10.3,857,16791,0.00,2.17,0.00,0.000,6,0.000,0.035,2683,2508,1296
$GC,17130,1.31,333.1,18.0,5.1,918,17184,0.12,2.25,46.88,0.852,4,0.072,0.047,2735,1109,1061
$GC,17220,1.31,333.1,10.3,7.8,933,17226,0.00,2.22,0.00,0.000,6,0.000,0.041,2734,2527,1058
$STATE,17303,end climb,SURFACE_DEPTH_REACHED
$STATE,17303,begin surface coast
$FINISH,0.6,1.015229
$STATE,17321,end surface coast,CONTROL_FINISHED_OK
$STATE,17321,begin surface
$SM_CCo,17400,0.00,0.000,0,0,1055,334.59
$SM_GC,1.22,7.03,0.00,0.00,0.061,0.000,0.000,157,2324,1055,-10.39,-0.45,334.59
$RAFOS_CLK,884
$RAFOS,4,1228869841,0.750000,0.733611,61,59,57,54,54,54,224,134,212,196,125,150
$RAFOS,3,1228869270,0.583333,0.575000,56,54,53,51,50,49,224,207,146,119,182,238
$RAFOS,2,1228868657,0.416667,0.404722,115,54,54,53,51,48,546,201,191,148,126,117
$RAFOS,1,1228868079,0.250000,0.244167,59,57,56,55,51,51,191,205,146,125,174,214
$RAFOS,0,1228867467,0.083333,0.074167,62,62,61,56,51,49,179,204,147,121,225,214
$RAFOS_FIX,6702.995605,-5722.701172,091208,000052,3,95,0.49
$IRIDIUM_FIX,6636.54,-5658.34,050398,161604
$TT8_MAMPS,0.027612
$HUMID,1883
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.90
$XPDR_PINGS,2
$24V_AH,20.4,75.362
$10V_AH,10.5,33.744
$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,21.125,156.025,431.625,0.000,0.000,22.208,31.819,176.747,0.500,0.000,0.000,16.095,1782.600,12851.486,579.612,1969.724,591.242,33.373,1673.333,0.000,1932.622,1800.000,0.530,0.000
$DEVICE_MAMPS,244.673,62.894,1193.452,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.431,643.987,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34641,951
$CAP_FILE_SIZE,146563,0
$CFSIZE,260165632,220459008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.3
$GPS,101208,021907,6704.518,-5707.208,27,1.1,27,-37.7