version: 66.04
glider: 113
mission: 4
dive: 249
start: 11 1 108 1 54 57
data:
$ID,113
$MISSION,4
$DIVE,249
$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,-26552.143
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,014801,6648.099,-5750.616,37,0.9,37,-37.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-62.5
$GPS2,015403,6648.117,-5750.426,8,1.3,8,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD4_EB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.027,0.223
$KALMAN_X,25778.9,-91.9,221.8,-44720.9,1375.5
$KALMAN_Y,-68408.9,116.4,-677.3,56459.5,-2872.9
$MHEAD_RNG_PITCHd_Wd,30.6,23044,-12.9,-7.021
$D_GRID,692
$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,16,-1.08,-146.0,0.0,0.0,0,129,0.00,0.00,-110.18,0.000,2,0.000,0.000,157,2338,2759
$GC,132,-1.08,-146.0,3.2,-2.4,19,158,8.90,2.30,-9.35,0.000,4,0.265,0.073,2199,928,3018
$GC,344,-0.69,-146.0,40.8,-15.6,56,351,0.30,2.30,0.00,0.000,6,0.166,0.054,2284,2350,3022
$GC,688,-0.69,-146.0,73.1,-8.5,117,694,0.00,2.30,0.00,0.000,4,0.000,0.058,2284,921,3022
$GC,773,-0.63,-146.0,80.6,-8.8,132,780,0.00,2.28,0.00,0.000,6,0.000,0.054,2284,2341,3022
$GC,1113,-0.63,-146.0,108.6,-8.0,179,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2341,3022
$GC,1422,-0.63,-146.0,132.2,-7.4,194,1426,0.00,2.33,0.00,0.000,4,0.000,0.072,2284,3749,3022
$GC,1500,-0.72,-146.0,137.9,-6.9,197,1504,0.00,2.22,0.00,0.000,6,0.000,0.044,2284,2323,3022
$GC,1822,-0.78,-146.0,157.9,-5.9,213,1826,0.00,2.38,0.00,0.000,4,0.000,0.070,2284,3753,3021
$GC,1872,-0.89,-146.0,161.3,-6.9,215,1877,0.15,2.22,0.00,0.000,6,0.087,0.044,2231,2330,3021
$GC,2199,-0.79,-146.0,188.5,-8.1,231,2203,0.12,2.22,0.00,0.000,4,0.164,0.058,2263,939,3021
$GC,2382,-0.79,-146.0,203.2,-8.0,239,2386,0.00,2.25,0.00,0.000,6,0.000,0.055,2263,2341,3021
$GC,2710,-0.79,-146.0,225.4,-6.5,255,2714,0.00,2.33,0.00,0.000,4,0.000,0.071,2263,3753,3021
$GC,2856,-0.87,-146.0,234.4,-5.9,261,2859,0.00,2.22,0.00,0.000,6,0.000,0.044,2263,2327,3021
$GC,3177,-0.92,-146.0,250.4,-4.7,277,3182,0.12,2.22,0.00,0.000,4,0.103,0.057,2220,932,3020
$GC,3272,-0.79,-146.0,256.7,-7.0,281,3277,0.17,2.28,0.00,0.000,6,0.167,0.054,2266,2348,3020
$GC,3599,-0.86,-146.0,273.1,-5.2,297,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2348,3020
$GC,3908,-0.95,-146.0,290.1,-5.7,312,3910,0.15,0.00,0.00,0.000,6,0.099,0.000,2213,2348,3020
$GC,4217,-0.86,-146.0,314.4,-7.8,327,4219,0.15,0.00,0.00,0.000,6,0.161,0.000,2254,2348,3020
$GC,4527,-0.91,-146.0,333.1,-5.8,342,4531,0.00,2.30,0.00,0.000,4,0.000,0.070,2254,3746,3021
$GC,4588,-1.01,-146.0,336.8,-5.8,344,4595,0.15,2.20,0.00,0.000,6,0.091,0.042,2201,2331,3021
$GC,4904,-0.90,-146.0,359.3,-7.1,360,4909,0.15,2.22,0.00,0.000,4,0.155,0.054,2243,933,3021
$GC,4965,-0.90,-146.0,363.3,-5.9,362,4972,0.00,2.25,0.00,0.000,6,0.000,0.052,2243,2346,3021
$GC,5281,-0.90,-146.0,380.5,-5.4,378,5285,0.00,2.30,0.00,0.000,4,0.000,0.068,2243,3747,3021
$GC,5404,-0.96,-146.0,387.2,-5.4,383,5408,0.00,2.20,0.00,0.000,6,0.000,0.041,2243,2330,3021
$GC,5724,-0.96,-146.0,404.5,-5.4,397,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2330,3022
$GC,6049,-0.96,-146.0,422.7,-5.7,405,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2330,3022
$GC,6375,-0.96,-146.0,442.0,-6.1,413,6379,0.00,2.35,0.00,0.000,4,0.000,0.067,2243,3746,3023
$GC,6447,-1.03,-146.0,446.6,-6.1,414,6452,0.12,2.20,0.00,0.000,6,0.097,0.041,2198,2327,3023
$GC,6789,-0.92,-146.0,472.0,-7.6,423,6793,0.15,2.22,0.00,0.000,4,0.157,0.054,2240,927,3023
$GC,6851,-0.92,-146.0,476.6,-7.0,424,6855,0.00,2.25,0.00,0.000,6,0.000,0.050,2240,2348,3023
$GC,7163,-0.92,-146.0,497.4,-6.8,432,7167,0.00,2.28,0.00,0.000,4,0.000,0.067,2240,3746,3023
$GC,7263,-1.00,-146.0,504.5,-7.6,434,7267,0.00,2.17,0.00,0.000,6,0.000,0.040,2240,2338,3023
$GC,7582,-1.00,-146.0,523.6,-5.8,442,7586,0.00,2.20,0.00,0.000,4,0.000,0.054,2240,935,3024
$GC,7643,-1.00,-146.0,527.5,-6.0,443,7647,0.00,2.25,0.00,0.000,6,0.000,0.050,2240,2348,3023
$GC,7956,-1.00,-146.0,546.6,-6.0,451,7960,0.00,2.30,0.00,0.000,4,0.000,0.068,2240,3746,3024
$GC,8063,-1.07,-146.0,553.4,-6.5,453,8068,0.15,2.20,0.00,0.000,6,0.093,0.041,2188,2327,3024
$GC,8377,-0.95,-146.0,576.7,-7.6,461,8379,0.15,0.00,0.00,0.000,6,0.153,0.000,2229,2327,3024
$GC,8700,-0.95,-146.0,597.7,-6.4,469,8705,0.00,2.35,0.00,0.000,4,0.000,0.067,2229,3747,3024
$GC,8802,-1.00,-146.0,604.5,-7.0,471,8806,0.00,2.17,0.00,0.000,6,0.000,0.041,2229,2343,3024
$GC,9115,-1.00,-146.0,624.8,-6.5,479,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2342,3024
$GC,9440,-1.00,-146.0,644.4,-6.0,487,9444,0.00,2.33,0.00,0.000,4,0.000,0.067,2229,3745,3024
$GC,9698,-1.05,-146.0,661.9,-8.0,492,9702,0.10,2.20,0.00,0.000,6,0.104,0.041,2193,2327,3024
$GC,10035,-0.96,-146.0,687.3,-7.6,501,10037,0.12,0.00,0.00,0.000,6,0.155,0.000,2227,2326,3024
$STATE,10113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10113,begin apogee
$GC,10119,-0.34,0.0,692.6,7.0,503,10256,0.45,0.00,134.30,1.316,6,0.143,0.000,2365,2527,2420
$STATE,10257,end apogee,CONTROL_FINISHED_OK
$STATE,10257,begin climb
$GC,10259,1.08,146.0,694.3,0.0,506,10443,1.02,0.00,148.70,1.156,6,0.107,0.000,2665,2527,1824
$GC,10747,0.93,146.0,656.9,8.4,518,10749,0.12,0.00,0.00,0.000,6,0.146,0.000,2633,2527,1820
$GC,11071,0.93,146.0,632.8,7.3,526,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2527,1821
$GC,11396,0.93,146.0,609.6,7.1,534,11400,0.00,2.30,0.00,0.000,4,0.000,0.068,2632,3930,1819
$GC,11430,0.82,146.0,606.9,8.7,534,11434,0.00,2.20,0.00,0.000,6,0.000,0.041,2632,2515,1819
$GC,11765,0.82,146.0,581.7,7.5,543,11769,0.00,2.35,0.00,0.000,4,0.000,0.067,2632,3943,1818
$GC,11793,0.72,146.0,579.4,8.0,543,11798,0.15,2.22,0.00,0.000,6,0.149,0.041,2591,2507,1819
$GC,12136,0.88,177.4,559.2,5.9,552,12165,0.12,0.00,26.75,1.241,6,0.081,0.000,2640,2506,1696
$GC,12459,0.88,177.4,534.6,7.5,560,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2507,1696
$GC,12784,0.88,177.4,510.9,7.3,568,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2506,1695
$GC,13110,0.89,184.8,487.9,6.8,576,13119,0.00,0.00,7.70,1.049,6,0.000,0.000,2640,2506,1666
$GC,13434,0.92,206.0,466.8,6.3,584,13455,0.00,0.00,18.83,1.170,6,0.000,0.000,2640,2506,1580
$GC,13759,0.95,228.5,446.5,6.3,592,13782,0.00,0.00,20.42,1.154,6,0.000,0.000,2640,2506,1488
$GC,14085,1.03,252.6,426.7,6.2,600,14111,0.00,2.28,21.33,1.143,4,0.000,0.055,2640,1109,1389
$GC,14118,1.12,261.8,424.5,6.7,600,14133,0.15,2.30,9.48,1.012,6,0.079,0.048,2700,2529,1352
$GC,14453,1.01,261.8,392.5,9.9,610,14457,0.17,2.28,0.00,0.000,4,0.130,0.055,2649,1120,1348
$GC,14488,1.11,262.2,389.8,7.0,611,14492,0.10,2.25,0.00,0.000,6,0.090,0.049,2691,2536,1348
$GC,14808,1.02,262.2,360.2,9.4,627,14813,0.12,2.28,0.00,0.000,4,0.127,0.055,2654,1116,1348
$GC,14848,1.11,262.2,357.0,7.0,629,14852,0.10,2.22,0.00,0.000,6,0.089,0.048,2693,2528,1348
$GC,15180,1.03,262.2,325.3,9.8,645,15184,0.12,2.25,0.00,0.000,4,0.133,0.054,2657,1119,1347
$GC,15252,1.12,262.2,319.4,8.5,648,15257,0.10,2.20,0.00,0.000,6,0.091,0.048,2697,2522,1347
$GC,15579,1.04,262.2,286.4,10.6,664,15583,0.15,2.22,0.00,0.000,4,0.133,0.054,2653,1119,1347
$GC,15634,1.14,262.2,281.5,7.6,666,15638,0.12,2.20,0.00,0.000,6,0.082,0.048,2705,2521,1348
$GC,15955,1.04,262.2,248.2,10.5,682,15959,0.17,2.25,0.00,0.000,4,0.128,0.054,2652,1114,1348
$GC,15970,1.04,262.2,246.6,9.9,682,15976,0.00,2.22,0.00,0.000,6,0.000,0.048,2652,2533,1347
$GC,16286,1.16,283.4,225.1,6.3,698,16312,0.12,2.35,18.27,1.028,4,0.078,0.054,2707,1112,1264
$GC,16357,1.16,283.4,219.3,8.5,701,16360,0.00,2.25,0.00,0.000,6,0.000,0.048,2708,2524,1263
$GC,16683,1.10,283.4,190.6,8.7,717,16688,0.12,2.28,0.00,0.000,4,0.134,0.054,2669,1108,1262
$GC,16727,1.21,283.4,187.3,7.6,719,16731,0.10,2.22,0.00,0.000,6,0.083,0.048,2709,2520,1263
$GC,17054,1.15,283.4,157.8,9.6,735,17058,0.10,2.25,0.00,0.000,4,0.138,0.054,2681,1115,1263
$GC,17109,1.22,283.4,152.9,8.6,737,17113,0.08,2.22,0.00,0.000,6,0.099,0.048,2718,2529,1263
$GC,17430,1.16,283.4,122.5,8.8,753,17434,0.12,2.28,0.00,0.000,4,0.132,0.054,2681,1106,1263
$GC,17479,1.27,283.4,118.9,7.0,755,17484,0.12,2.25,0.00,0.000,6,0.078,0.048,2732,2532,1263
$GC,17806,1.19,283.4,91.4,9.4,781,17813,0.15,2.28,0.00,0.000,4,0.127,0.054,2686,1111,1263
$GC,17830,1.19,283.4,89.1,8.7,785,17836,0.00,2.22,0.00,0.000,6,0.000,0.049,2686,2521,1263
$GC,18175,1.28,288.1,63.4,6.9,846,18188,0.10,2.25,5.82,0.828,4,0.087,0.056,2731,1110,1246
$GC,18211,1.28,288.1,60.4,8.0,852,18218,0.00,2.25,0.00,0.000,6,0.000,0.051,2731,2531,1245
$GC,18555,1.29,290.3,31.6,6.9,913,18561,0.00,2.28,0.00,0.000,4,0.000,0.057,2731,1115,1244
$GC,18567,1.31,305.9,30.9,6.5,915,18592,0.00,2.22,16.33,0.976,6,0.000,0.050,2731,2521,1170
$GC,18929,1.33,321.2,7.9,6.5,979,18948,0.00,2.35,13.23,0.944,4,0.000,0.057,2731,1111,1109
$GC,18961,1.41,340.9,6.0,6.3,984,18985,0.00,2.28,17.23,0.932,6,0.000,0.051,2731,2528,1029
$STATE,19017,end climb,SURFACE_DEPTH_REACHED
$STATE,19017,begin surface coast
$FINISH,0.8,1.009144
$STATE,19046,end surface coast,CONTROL_FINISHED_OK
$STATE,19046,begin surface
$SM_CCo,19124,0.00,0.000,0,0,1024,342.44
$SM_GC,1.62,7.20,0.00,0.00,0.066,0.000,0.000,165,2342,1024,-10.38,0.06,342.44
$RAFOS_CLK,1071
$RAFOS,4,1225514650,4.750000,4.736111,67,58,57,56,50,49,187,217,199,154,125,165
$RAFOS,3,1225514042,4.583333,4.567222,63,51,51,51,50,50,208,145,125,219,84,184
$RAFOS,2,1225513447,4.416667,4.401945,61,59,56,54,51,51,198,575,168,150,221,116
$RAFOS,1,1225512870,4.250000,4.241667,61,59,55,55,51,51,123,199,143,221,181,580
$RAFOS,0,1225512248,4.083333,4.068889,70,64,62,60,57,55,859,205,189,214,123,225
$RAFOS_FIX,6655.387207,-5826.440918,311008,000028,3,83,1.31
$IRIDIUM_FIX,6620.33,-5750.99,250198,202046
$TT8_MAMPS,0.027612
$HUMID,1876
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.40
$XPDR_PINGS,2
$24V_AH,20.6,48.767
$10V_AH,10.5,20.804
$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,22.600,149.675,458.375,0.000,0.000,27.681,41.019,169.914,0.500,0.000,0.000,10.318,1895.097,14387.308,643.957,2042.773,512.491,33.368,1752.359,0.000,2017.455,1800.000,0.529,0.000
$DEVICE_MAMPS,264.615,73.632,1316.172,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.057,684.837,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37838,999
$CAP_FILE_SIZE,150157,0
$CFSIZE,260165632,232366080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1452.2
$GPS,011108,071502,6648.585,-5750.110,36,1.5,36,-37.5