version: 66.04
glider: 113
mission: 4
dive: 202
start: 10 21 108 13 17 16
data:
$ID,113
$MISSION,4
$DIVE,202
$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,-2
$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,275
$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,-25728.623
$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,26
$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
$GPS1,131037,6644.202,-6001.951,35,0.9,35,-38.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-61.4
$GPS2,131621,6644.152,-6001.745,14,1.1,14,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.213,-0.069
$KALMAN_X,19254.2,53.5,585.3,-134055.2,-1509.4
$KALMAN_Y,8325.9,-336.0,-2109.0,-25736.9,5236.1
$MHEAD_RNG_PITCHd_Wd,290.0,30483,-12.9,-7.021
$D_GRID,625
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-119.00,0.000,2,0.000,0.000,167,2334,2759
$GC,141,-1.08,-146.0,3.3,-2.9,21,166,8.88,2.38,-9.15,0.000,4,0.268,0.083,2200,3743,3017
$GC,324,-0.67,-146.0,37.3,-16.0,53,331,0.32,2.22,0.00,0.000,6,0.170,0.045,2292,2338,3020
$GC,668,-0.63,-146.0,67.2,-8.1,114,674,0.00,2.25,0.00,0.000,4,0.000,0.058,2292,927,3021
$GC,759,-0.56,-146.0,74.9,-8.3,130,766,0.10,2.28,0.00,0.000,6,0.178,0.054,2316,2343,3022
$GC,1104,-0.66,-146.0,97.7,-6.8,191,1111,0.10,2.33,0.00,0.000,4,0.108,0.070,2279,3754,3022
$GC,1206,-0.66,-146.0,106.1,-8.5,199,1210,0.00,2.22,0.00,0.000,6,0.000,0.044,2280,2331,3021
$GC,1526,-0.66,-146.0,130.4,-7.7,215,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2331,3021
$GC,1835,-0.66,-146.0,154.2,-7.8,230,1839,0.00,2.35,0.00,0.000,4,0.000,0.071,2280,3746,3021
$GC,1881,-0.74,-146.0,158.1,-8.5,232,1885,0.00,2.20,0.00,0.000,6,0.000,0.044,2280,2333,3021
$GC,2212,-0.74,-146.0,185.4,-8.1,248,2216,0.00,2.35,0.00,0.000,4,0.000,0.072,2280,3745,3021
$GC,2256,-0.82,-146.0,188.9,-7.7,250,2261,0.00,2.20,0.00,0.000,6,0.000,0.044,2280,2336,3021
$GC,2589,-0.88,-146.0,213.4,-7.1,266,2591,0.12,0.00,0.00,0.000,6,0.102,0.000,2233,2336,3021
$GC,2898,-0.80,-146.0,238.3,-7.9,281,2900,0.12,0.00,0.00,0.000,6,0.173,0.000,2266,2336,3021
$GC,3207,-0.80,-146.0,256.5,-5.8,296,3211,0.00,2.38,0.00,0.000,4,0.000,0.072,2266,3757,3020
$GC,3258,-0.89,-146.0,259.4,-5.7,298,3261,0.00,2.22,0.00,0.000,6,0.000,0.045,2266,2341,3020
$GC,3584,-0.95,-146.0,278.3,-6.0,314,3589,0.12,2.25,0.00,0.000,4,0.104,0.059,2221,934,3021
$GC,3679,-0.82,-146.0,285.9,-7.9,318,3684,0.15,2.28,0.00,0.000,6,0.170,0.055,2259,2350,3020
$GC,4000,-0.82,-146.0,306.1,-6.2,334,4003,0.00,2.33,0.00,0.000,4,0.000,0.074,2259,3753,3020
$GC,4055,-0.90,-146.0,309.9,-7.2,336,4059,0.00,2.22,0.00,0.000,6,0.000,0.044,2259,2327,3020
$GC,4376,-0.95,-146.0,330.2,-6.4,352,4381,0.12,2.38,0.00,0.000,4,0.101,0.071,2215,3748,3020
$GC,4426,-0.88,-146.0,334.1,-8.4,354,4430,0.12,2.20,0.00,0.000,6,0.164,0.044,2245,2340,3020
$GC,4747,-0.88,-146.0,355.1,-6.4,370,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2340,3020
$GC,5055,-0.88,-146.0,374.4,-6.1,385,5059,0.00,2.35,0.00,0.000,4,0.000,0.071,2246,3749,3020
$GC,5101,-0.94,-146.0,377.2,-6.3,387,5105,0.00,2.22,0.00,0.000,6,0.000,0.043,2246,2325,3020
$GC,5433,-0.94,-146.0,397.3,-6.0,403,5437,0.00,2.38,0.00,0.000,4,0.000,0.070,2246,3751,3020
$GC,5495,-1.01,-146.0,401.2,-6.4,405,5499,0.12,2.22,0.00,0.000,6,0.104,0.044,2202,2330,3020
$GC,5807,-0.90,-146.0,424.6,-7.6,413,5812,0.15,2.38,0.00,0.000,4,0.154,0.070,2244,3749,3020
$GC,5875,-0.97,-146.0,429.1,-6.5,414,5879,0.00,2.20,0.00,0.000,6,0.000,0.042,2244,2340,3020
$GC,6217,-0.97,-146.0,450.3,-6.1,423,6221,0.00,2.22,0.00,0.000,4,0.000,0.056,2244,934,3021
$GC,6267,-0.97,-146.0,453.6,-6.6,424,6271,0.00,2.25,0.00,0.000,6,0.000,0.052,2243,2346,3021
$GC,6592,-0.97,-146.0,472.9,-5.9,432,6596,0.00,2.33,0.00,0.000,4,0.000,0.071,2244,3754,3021
$GC,6647,-1.04,-146.0,476.2,-6.1,433,6652,0.12,2.22,0.00,0.000,6,0.099,0.042,2200,2323,3021
$GC,6965,-0.93,-146.0,499.0,-7.2,441,6967,0.12,0.00,0.00,0.000,6,0.157,0.000,2232,2322,3021
$GC,7291,-0.93,-146.0,519.2,-6.2,449,7294,0.00,2.38,0.00,0.000,4,0.000,0.069,2232,3754,3022
$GC,7358,-0.93,-146.0,523.5,-6.4,450,7362,0.00,2.20,0.00,0.000,6,0.000,0.042,2232,2342,3022
$GC,7706,-0.93,-146.0,544.9,-6.3,459,7710,0.00,2.35,0.00,0.000,4,0.000,0.069,2232,3754,3022
$GC,7806,-0.93,-146.0,551.7,-7.3,461,7810,0.00,2.20,0.00,0.000,6,0.000,0.041,2232,2340,3022
$GC,8125,-0.93,-146.0,572.6,-6.5,469,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2340,3023
$GC,8450,-0.93,-146.0,592.8,-6.3,477,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2340,3023
$GC,8775,-0.93,-146.0,613.0,-6.8,485,8779,0.00,2.35,0.00,0.000,4,0.000,0.068,2232,3754,3023
$GC,8853,-0.98,-146.0,618.1,-6.0,486,8857,0.00,2.22,0.00,0.000,6,0.000,0.042,2232,2327,3023
$STATE,9025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9025,begin apogee
$GC,9031,-0.34,0.0,627.5,5.4,491,9165,0.43,0.00,131.20,1.289,6,0.147,0.000,2362,2525,2420
$STATE,9165,end apogee,CONTROL_FINISHED_OK
$STATE,9166,begin climb
$GC,9168,1.08,146.0,630.7,0.0,494,9319,1.08,2.67,136.82,1.187,4,0.110,0.067,2671,3930,1823
$GC,9348,0.82,146.0,619.4,9.4,498,9355,0.25,2.45,0.00,0.000,6,0.141,0.041,2610,2523,1821
$GC,9680,0.97,203.0,600.0,5.1,507,9732,0.12,0.00,49.95,1.207,6,0.081,0.000,2662,2522,1592
$GC,10047,0.90,203.0,566.4,9.2,516,10052,0.12,2.35,0.00,0.000,4,0.133,0.054,2627,1103,1588
$GC,10056,0.90,203.0,565.3,8.4,516,10061,0.00,2.38,0.00,0.000,6,0.000,0.050,2627,2541,1588
$GC,10370,0.97,203.0,542.4,7.2,524,10375,0.00,2.33,0.00,0.000,4,0.000,0.054,2627,1104,1588
$GC,10381,1.05,205.4,541.6,6.9,524,10386,0.12,2.28,0.00,0.000,6,0.083,0.049,2677,2523,1587
$GC,10729,0.95,205.4,511.0,8.8,533,10734,0.15,2.30,0.00,0.000,4,0.127,0.066,2633,3931,1587
$GC,10768,0.89,205.4,507.8,8.3,534,10772,0.00,2.22,0.00,0.000,6,0.000,0.041,2633,2504,1587
$GC,11098,0.96,219.5,486.2,6.5,542,11118,0.00,2.25,14.57,1.159,4,0.000,0.056,2633,1109,1525
$GC,11130,1.06,237.1,484.1,6.4,542,11152,0.12,2.28,16.17,1.137,6,0.084,0.048,2680,2528,1453
$GC,11467,0.99,237.1,454.5,9.0,551,11471,0.12,2.30,0.00,0.000,4,0.132,0.066,2643,3930,1450
$GC,11477,0.93,237.1,453.2,8.9,551,11480,0.00,2.20,0.00,0.000,6,0.000,0.041,2643,2519,1450
$GC,11790,0.99,237.4,430.8,7.0,559,11794,0.00,2.22,0.00,0.000,4,0.000,0.055,2643,1113,1450
$GC,11830,1.09,237.4,428.1,7.1,559,11837,0.10,2.22,0.00,0.000,6,0.091,0.049,2685,2518,1450
$GC,12161,1.00,237.4,398.2,9.3,568,12163,0.12,0.00,0.00,0.000,6,0.133,0.000,2650,2518,1450
$GC,12470,1.00,237.4,374.2,7.5,583,12474,0.00,2.25,0.00,0.000,4,0.000,0.055,2650,1108,1449
$GC,12503,1.10,237.4,371.7,7.1,584,12508,0.10,2.25,0.00,0.000,6,0.088,0.049,2691,2533,1449
$GC,12824,1.01,237.4,340.7,9.8,600,12829,0.15,2.28,0.00,0.000,4,0.127,0.065,2647,3940,1449
$GC,12845,1.01,237.4,338.8,8.4,601,12849,0.00,2.20,0.00,0.000,6,0.000,0.041,2647,2510,1449
$GC,13172,1.10,243.2,316.4,6.8,617,13184,0.10,2.28,6.47,0.941,4,0.092,0.055,2691,1109,1428
$GC,13190,1.10,243.2,315.0,7.2,618,13194,0.00,2.25,0.00,0.000,6,0.000,0.049,2691,2533,1428
$GC,13522,1.02,243.2,286.4,8.5,634,13527,0.12,2.28,0.00,0.000,4,0.136,0.054,2654,1111,1427
$GC,13566,1.15,248.9,283.4,6.8,636,13578,0.12,2.22,6.35,0.923,6,0.081,0.049,2705,2522,1405
$GC,13889,1.05,248.9,253.2,9.8,651,13893,0.15,2.28,0.00,0.000,4,0.132,0.065,2661,3923,1404
$GC,13943,1.05,248.9,247.9,8.4,653,13950,0.00,2.20,0.00,0.000,6,0.000,0.041,2661,2520,1404
$GC,14259,1.13,248.9,224.4,7.1,669,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2520,1404
$GC,14568,1.26,280.8,205.2,5.9,684,14598,0.17,0.00,27.38,1.071,6,0.074,0.000,2732,2520,1275
$GC,14897,1.15,280.8,174.7,9.3,700,14899,0.17,0.00,0.00,0.000,6,0.133,0.000,2680,2520,1271
$GC,15207,1.23,295.9,154.3,6.5,715,15230,0.10,2.30,13.75,1.014,4,0.088,0.058,2721,1120,1212
$GC,15235,1.23,295.9,152.1,8.2,716,15239,0.00,2.28,0.00,0.000,6,0.000,0.053,2721,2531,1212
$GC,15561,1.23,295.9,126.2,7.9,732,15564,0.00,2.30,0.00,0.000,4,0.000,0.058,2721,1107,1210
$GC,15571,1.23,295.9,125.3,7.7,732,15575,0.00,2.28,0.00,0.000,6,0.000,0.051,2721,2532,1210
$GC,15892,1.23,295.9,100.6,7.7,748,15896,0.00,2.28,0.00,0.000,4,0.000,0.057,2721,1119,1209
$GC,15914,1.23,295.9,98.8,7.8,749,15920,0.00,2.25,0.00,0.000,6,0.000,0.052,2721,2529,1209
$GC,16257,1.23,295.9,70.5,8.9,810,16263,0.00,2.28,0.00,0.000,4,0.000,0.058,2721,1112,1208
$GC,16280,1.23,295.9,68.5,8.6,814,16287,0.00,2.25,0.00,0.000,6,0.000,0.053,2720,2522,1208
$GC,16623,1.23,295.9,39.8,8.5,875,16629,0.00,2.28,0.00,0.000,4,0.000,0.058,2721,1109,1208
$GC,16646,1.23,295.9,37.9,8.0,879,16653,0.00,2.25,0.00,0.000,6,0.000,0.053,2721,2522,1208
$GC,16990,1.31,309.6,14.1,6.6,940,17009,0.00,2.28,11.77,0.983,4,0.000,0.058,2721,1119,1157
$GC,17032,1.42,326.7,11.4,6.4,947,17057,0.10,2.28,16.02,0.980,6,0.092,0.054,2761,2533,1086
$STATE,17145,end climb,SURFACE_DEPTH_REACHED
$STATE,17145,begin surface coast
$FINISH,0.9,1.025686
$STATE,17169,end surface coast,CONTROL_FINISHED_OK
$STATE,17169,begin surface
$SM_CCo,17246,0.00,0.000,0,0,1080,328.70
$SM_GC,1.57,7.35,0.00,0.00,0.073,0.000,0.000,166,2338,1080,-10.37,-0.06,328.70
$RAFOS_CLK,978
$RAFOS,4,1224607442,16.750000,16.733889,56,55,53,53,51,51,219,168,207,228,177,822
$RAFOS,3,1224606841,16.583334,16.566944,67,59,57,54,53,53,775,222,186,168,126,153
$RAFOS,2,1224606255,16.416666,16.404167,75,65,60,56,51,51,863,216,154,193,116,204
$RAFOS,1,1224605681,16.250000,16.244722,63,58,56,54,52,51,209,183,490,162,192,119
$RAFOS,0,1224605078,16.083334,16.077223,114,60,58,56,55,55,335,123,222,197,163,211
$RAFOS_FIX,6643.077637,-6000.489258,211008,161656,2,94,0.20
$IRIDIUM_FIX,6614.97,-5956.38,150198,080820
$TT8_MAMPS,0.027612
$HUMID,1891
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.3,41.186
$10V_AH,10.5,17.361
$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,22.100,160.325,430.475,0.000,0.000,30.309,36.315,156.567,0.000,0.000,0.000,16.350,1824.814,12845.741,614.282,1866.791,463.494,33.369,1644.732,0.000,1841.898,1800.000,0.528,0.000
$DEVICE_MAMPS,268.450,82.836,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.156,663.934,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34712,971
$CAP_FILE_SIZE,143977,0
$CFSIZE,260165632,235540480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.8
$GPS,211008,180631,6644.928,-6007.097,38,1.0,38,-38.1