version: 66.04
glider: 113
mission: 4
dive: 43
start: 9 11 108 8 28 52
data:
$ID,113
$MISSION,4
$DIVE,43
$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,412
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$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,375
$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,-22832.951
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,2330
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2610
$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
$GPS1,082308,6645.996,-5935.947,39,0.9,39,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.3
$GPS2,082827,6645.978,-5935.878,13,1.0,13,-37.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,56.6,21013,-14.7,-8.010
$D_GRID,875
$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,15,-1.20,-146.0,0.0,0.0,0,132,0.00,0.00,-114.05,0.000,2,0.000,0.000,165,2315,2764
$GC,134,-1.20,-146.0,3.5,-3.7,18,162,8.68,2.33,-13.32,0.000,4,0.280,0.071,2170,921,3208
$GC,399,-0.89,-146.0,53.5,-15.3,64,407,0.28,2.28,0.00,0.000,6,0.188,0.053,2244,2333,3214
$GC,744,-0.89,-146.0,91.2,-10.8,125,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2333,3215
$GC,1078,-0.89,-146.0,125.4,-10.2,164,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2334,3215
$GC,1397,-0.96,-146.0,155.7,-8.9,194,1401,0.00,2.30,0.00,0.000,4,0.000,0.074,2244,3739,3215
$GC,1441,-1.10,-146.0,159.9,-9.3,198,1446,0.17,2.20,0.00,0.000,6,0.100,0.044,2185,2323,3215
$GC,1771,-1.00,-146.0,196.0,-10.8,229,1773,0.12,0.00,0.00,0.000,6,0.189,0.000,2215,2323,3215
$GC,2089,-1.00,-146.0,225.4,-8.8,259,2093,0.00,2.35,0.00,0.000,4,0.000,0.076,2215,3746,3214
$GC,2146,-1.07,-146.0,230.3,-8.7,264,2150,0.00,2.20,0.00,0.000,6,0.000,0.044,2215,2328,3214
$GC,2477,-1.11,-146.0,258.0,-8.1,295,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2327,3213
$GC,2795,-1.17,-146.0,284.7,-8.7,325,2797,0.12,0.00,0.00,0.000,6,0.107,0.000,2173,2327,3212
$GC,3114,-1.09,-146.0,317.9,-10.6,355,3119,0.10,2.33,0.00,0.000,4,0.189,0.074,2196,3741,3212
$GC,3152,-1.15,-146.0,321.7,-10.0,358,3156,0.00,2.17,0.00,0.000,6,0.000,0.044,2196,2330,3211
$GC,3483,-1.15,-146.0,352.3,-9.2,389,3486,0.00,2.20,0.00,0.000,4,0.000,0.058,2196,918,3212
$GC,3554,-1.15,-146.0,359.7,-10.2,395,3561,0.00,2.25,0.00,0.000,6,0.000,0.054,2196,2327,3212
$GC,3879,-1.15,-146.0,389.8,-8.8,426,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2328,3212
$GC,4199,-1.15,-146.0,418.1,-8.9,442,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2328,3212
$GC,4523,-1.15,-146.0,445.6,-8.3,450,4527,0.00,2.28,0.00,0.000,4,0.000,0.071,2196,3739,3212
$GC,4578,-1.23,-146.0,450.5,-9.1,451,4583,0.08,2.20,0.00,0.000,6,0.102,0.043,2164,2326,3212
$GC,4897,-1.16,-146.0,480.1,-9.2,459,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2326,3212
$GC,5221,-1.09,-146.0,508.6,-8.6,467,5226,0.15,2.33,0.00,0.000,4,0.174,0.074,2202,3744,3212
$GC,5288,-1.20,-146.0,513.6,-7.4,468,5293,0.12,2.17,0.00,0.000,6,0.107,0.042,2161,2327,3212
$GC,5630,-1.12,-146.0,543.5,-8.9,477,5632,0.12,0.00,0.00,0.000,6,0.178,0.000,2191,2328,3212
$GC,5955,-1.12,-146.0,568.0,-7.5,485,5959,0.00,2.30,0.00,0.000,4,0.000,0.073,2191,3739,3213
$GC,6004,-1.21,-146.0,571.9,-7.6,486,6009,0.00,2.17,0.00,0.000,6,0.000,0.042,2191,2321,3213
$GC,6328,-1.21,-146.0,596.7,-7.6,494,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2321,3213
$GC,6653,-1.21,-146.0,622.0,-7.8,502,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2321,3213
$GC,6978,-1.21,-146.0,648.2,-8.0,510,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2321,3213
$GC,7303,-1.25,-146.0,673.9,-7.9,518,7308,0.12,2.30,0.00,0.000,4,0.114,0.073,2149,3742,3213
$GC,7369,-1.19,-146.0,680.2,-10.0,519,7374,0.05,2.20,0.00,0.000,6,0.162,0.042,2175,2326,3213
$GC,7716,-1.19,-146.0,708.3,-8.0,528,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2326,3213
$GC,8041,-1.19,-146.0,733.9,-7.9,536,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2326,3213
$GC,8366,-1.19,-146.0,760.0,-8.4,544,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2325,3214
$GC,8691,-1.19,-146.0,787.6,-8.4,552,8695,0.00,2.30,0.00,0.000,4,0.000,0.074,2175,3743,3214
$GC,8751,-1.24,-146.0,792.9,-8.1,553,8755,0.00,2.20,0.00,0.000,6,0.000,0.043,2175,2324,3214
$GC,9065,-1.24,-146.0,818.1,-8.0,561,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2324,3214
$GC,9389,-1.24,-146.0,845.1,-8.3,569,9393,0.00,2.30,0.00,0.000,4,0.000,0.072,2175,3742,3214
$GC,9461,-1.29,-146.0,851.2,-8.7,570,9465,0.00,2.20,0.00,0.000,6,0.000,0.043,2175,2329,3214
$STATE,9761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9761,begin apogee
$GC,9765,-0.34,0.0,876.3,8.3,578,9899,0.60,0.00,130.75,1.492,6,0.153,0.000,2363,2577,2610
$STATE,9900,end apogee,CONTROL_FINISHED_OK
$STATE,9900,begin climb
$GC,9902,1.20,146.0,879.3,0.0,581,10048,1.15,2.62,136.15,1.399,4,0.107,0.070,2702,3940,2013
$GC,10070,0.80,146.0,865.8,12.6,585,10076,0.38,2.38,0.00,0.000,6,0.159,0.041,2608,2584,2013
$GC,10412,0.82,157.5,840.5,7.6,594,10426,0.00,0.00,11.15,1.277,6,0.000,0.000,2608,2583,1967
$GC,10740,0.85,180.0,816.3,7.1,602,10765,0.00,2.40,20.58,1.373,4,0.000,0.072,2608,3937,1876
$GC,10792,0.75,180.0,811.9,8.7,603,10797,0.00,2.28,0.00,0.000,6,0.000,0.041,2608,2578,1874
$GC,11105,0.76,186.2,787.8,7.8,611,11119,0.00,2.40,6.68,1.156,4,0.000,0.073,2608,3938,1850
$GC,11129,0.76,186.2,785.7,8.9,611,11134,0.00,2.22,0.00,0.000,6,0.000,0.042,2608,2579,1850
$GC,11472,0.77,190.8,759.3,7.8,620,11479,0.00,0.00,5.38,1.067,6,0.000,0.000,2608,2578,1832
$GC,11797,0.77,190.8,732.5,8.2,628,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2577,1832
$GC,12121,0.77,195.0,706.5,7.9,636,12131,0.00,2.30,5.30,1.058,4,0.000,0.073,2608,3947,1815
$GC,12153,0.77,195.0,703.7,8.6,636,12162,0.00,2.20,0.00,0.000,6,0.000,0.042,2608,2569,1815
$GC,12485,0.79,205.9,678.6,7.6,645,12501,0.00,2.33,11.05,1.280,4,0.000,0.074,2608,3938,1770
$GC,12511,0.83,232.8,676.4,7.0,645,12541,0.00,2.17,23.75,1.339,6,0.000,0.041,2608,2585,1661
$GC,12850,0.90,234.2,649.8,8.0,654,12854,0.10,2.28,0.00,0.000,4,0.107,0.055,2644,1165,1659
$GC,12893,0.90,234.2,645.7,9.4,655,12897,0.00,2.30,0.00,0.000,6,0.000,0.053,2644,2583,1659
$GC,13223,0.85,234.2,612.6,10.2,663,13227,0.10,2.28,0.00,0.000,4,0.167,0.054,2620,1172,1659
$GC,13243,0.85,234.2,610.5,9.6,663,13248,0.00,2.30,0.00,0.000,6,0.000,0.052,2620,2580,1659
$GC,13585,0.85,234.2,580.3,8.9,672,13589,0.00,2.25,0.00,0.000,4,0.000,0.055,2620,1173,1659
$GC,13601,0.90,234.2,579.0,8.9,672,13605,0.00,2.28,0.00,0.000,6,0.000,0.053,2620,2597,1659
$GC,13915,0.95,234.2,552.3,8.4,680,13920,0.08,2.28,0.00,0.000,4,0.116,0.054,2652,1170,1659
$GC,13937,0.95,234.2,550.2,8.6,680,13940,0.00,2.25,0.00,0.000,6,0.000,0.054,2652,2579,1658
$GC,14279,0.89,234.2,516.0,10.0,689,14283,0.10,2.25,0.00,0.000,4,0.162,0.055,2626,1165,1659
$GC,14293,0.89,234.2,514.4,10.0,689,14298,0.00,2.28,0.00,0.000,6,0.000,0.052,2626,2579,1659
$GC,14641,0.89,234.2,483.2,9.0,698,14645,0.00,2.22,0.00,0.000,4,0.000,0.055,2626,1174,1659
$GC,14652,0.94,234.2,482.4,9.1,698,14656,0.00,2.22,0.00,0.000,6,0.000,0.051,2626,2583,1659
$GC,14969,0.94,234.2,452.2,9.5,706,14971,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2583,1659
$GC,15294,0.94,234.2,423.2,8.8,714,15296,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2583,1658
$GC,15600,0.99,234.2,397.6,8.3,723,15605,0.10,2.22,0.00,0.000,4,0.098,0.054,2665,1174,1658
$GC,15610,0.99,234.2,396.7,8.3,723,15616,0.00,2.25,0.00,0.000,6,0.000,0.051,2665,2580,1658
$GC,15934,0.91,234.2,364.3,10.3,754,15936,0.12,0.00,0.00,0.000,6,0.156,0.000,2631,2580,1658
$GC,16254,0.91,236.0,338.1,7.9,784,16265,0.00,0.00,4.15,0.823,6,0.000,0.000,2631,2580,1647
$GC,16583,1.00,259.9,312.8,7.1,815,16609,0.10,2.33,20.33,1.165,4,0.104,0.055,2668,1183,1550
$GC,16615,1.00,259.9,310.0,8.4,818,16618,0.00,2.28,0.00,0.000,6,0.000,0.051,2668,2582,1550
$GC,16945,1.00,259.9,279.0,9.2,849,16946,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2582,1549
$GC,17262,1.00,259.9,248.9,9.5,879,17266,0.00,2.25,0.00,0.000,4,0.000,0.054,2668,1176,1549
$GC,17318,1.00,259.9,244.0,9.4,884,17322,0.00,2.25,0.00,0.000,6,0.000,0.051,2667,2591,1549
$GC,17648,1.00,259.9,215.3,8.8,915,17649,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2591,1549
$GC,17966,1.00,259.9,188.9,8.3,945,17969,0.00,2.25,0.00,0.000,4,0.000,0.055,2668,1173,1550
$GC,17976,1.00,260.5,188.0,8.0,946,17980,0.00,2.22,0.00,0.000,6,0.000,0.052,2668,2579,1549
$GC,18307,1.00,260.5,159.6,8.8,977,18308,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2579,1549
$GC,18624,1.00,260.5,132.0,8.9,1007,18625,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2579,1549
$GC,18944,1.06,260.5,104.9,8.2,1037,18946,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2579,1549
$GC,19277,1.11,261.3,78.5,8.0,1091,19283,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2579,1549
$GC,19622,1.22,290.9,52.2,6.9,1152,19654,0.12,0.00,25.60,1.092,6,0.093,0.000,2717,2579,1423
$GC,19993,1.36,341.4,20.8,6.1,1217,20042,0.00,0.00,41.72,1.053,6,0.000,0.000,2716,2579,1217
$STATE,20311,end climb,SURFACE_DEPTH_REACHED
$STATE,20311,begin surface coast
$FINISH,0.6,1.011991
$STATE,20345,end surface coast,CONTROL_FINISHED_OK
$STATE,20345,begin surface
$SM_CCo,20360,25.20,1.019,0,0,1080,375.06
$SM_GC,1.88,0.00,0.00,25.20,0.000,0.000,1.019,163,2323,1080,-10.46,-0.20,375.06
$RAFOS_CLK,1151
$RAFOS,4,1221137066,12.750000,12.740556,63,58,56,55,51,50,215,202,225,179,146,240
$RAFOS,3,1221136456,12.583333,12.571111,83,60,57,55,53,51,664,215,137,186,153,165
$RAFOS,2,1221135846,12.416667,12.401667,60,59,58,51,49,43,119,194,215,143,158,82
$RAFOS,1,1221135275,12.250000,12.243055,56,56,55,54,52,51,163,206,190,222,131,148
$RAFOS,0,1221134646,12.083333,12.068334,61,58,58,58,56,50,143,161,196,215,173,230
$RAFOS,4,1221122649,8.750000,8.735833,66,57,56,55,51,47,223,189,206,150,167,176
$RAFOS,3,1221122044,8.583333,8.567778,106,72,58,57,56,56,722,212,222,136,166,176
$RAFOS_FIX,6616.671875,-5944.775879,110908,080804,4,74,0.00
$IRIDIUM_FIX,6620.33,-5948.93,061297,020203
$TT8_MAMPS,0.027612
$HUMID,1926
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,21.6,14.892
$10V_AH,10.6,4.784
$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,20.450,118.875,442.575,25.200,0.000,24.480,34.499,151.246,0.000,0.000,0.000,14.643,2472.478,15107.826,631.261,2206.246,387.979,0.000,1797.309,0.000,2189.734,2520.000,0.528,0.000
$DEVICE_MAMPS,279.955,75.933,1491.815,1018.576,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.822,878.614,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47214,1279
$CAP_FILE_SIZE,149250,0
$CFSIZE,260165632,249077760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$CURRENT,0.011, 11.4,1
$GPS,110908,141138,6648.698,-5933.393,37,1.0,37,-38.0