version: 66.04
glider: 113
mission: 4
dive: 315
start: 11 17 108 2 54 16
data:
$ID,113
$MISSION,4
$DIVE,315
$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,-28687.75
$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
$GPS1,024507,6706.224,-5709.693,32,1.2,32,-37.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.4
$GPS2,025320,6706.255,-5709.874,14,1.4,31,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.205,-0.091
$KALMAN_X,-18913.7,321.5,340.5,28915.6,-2306.1
$KALMAN_Y,-43180.0,331.2,-44.9,63959.8,1104.3
$MHEAD_RNG_PITCHd_Wd,151.5,16907,-12.9,-7.021
$D_GRID,631
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,144,0.00,0.00,-126.00,0.000,2,0.000,0.000,164,2339,3011
$GC,147,-1.08,-146.0,3.6,-2.7,22,161,8.77,2.33,0.00,0.000,4,0.262,0.058,2200,921,3015
$GC,168,1.18,-146.0,10.3,-16.9,25,176,1.75,2.28,0.00,0.000,6,0.181,0.051,2691,2345,3017
$GC,515,0.08,-146.0,29.9,-5.9,86,522,0.70,2.33,0.00,0.000,4,0.104,0.068,2454,3752,3019
$GC,702,-0.77,-146.0,42.3,-6.4,119,709,0.57,2.22,0.00,0.000,6,0.100,0.041,2260,2318,3019
$GC,1047,-0.77,-146.0,68.6,-7.6,180,1053,0.00,2.17,0.00,0.000,4,0.000,0.054,2259,939,3019
$GC,1059,-0.77,-146.0,69.8,-7.9,182,1066,0.00,2.25,0.00,0.000,6,0.000,0.051,2259,2353,3019
$GC,1413,-0.77,-146.0,101.3,-6.8,242,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2353,3018
$GC,1723,-0.77,-146.0,123.6,-7.5,257,1727,0.00,2.28,0.00,0.000,4,0.000,0.067,2260,3743,3019
$GC,1762,-0.83,-146.0,126.7,-7.9,258,1768,0.00,2.17,0.00,0.000,6,0.000,0.040,2259,2340,3019
$GC,2077,-0.83,-146.0,150.2,-7.1,274,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2340,3019
$GC,2387,-0.83,-146.0,171.7,-7.4,289,2391,0.00,2.22,0.00,0.000,4,0.000,0.054,2259,931,3018
$GC,2448,-0.83,-146.0,177.0,-8.7,291,2454,0.00,2.25,0.00,0.000,6,0.000,0.051,2259,2340,3019
$GC,2764,-0.87,-146.0,201.4,-7.4,307,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2340,3018
$GC,3074,-0.93,-146.0,222.0,-6.1,322,3078,0.10,2.30,0.00,0.000,4,0.106,0.068,2221,3742,3018
$GC,3123,-0.93,-146.0,225.6,-7.9,324,3127,0.00,2.20,0.00,0.000,6,0.000,0.041,2221,2326,3017
$GC,3450,-0.87,-146.0,247.4,-6.8,340,3455,0.10,2.38,0.00,0.000,4,0.167,0.067,2245,3748,3017
$GC,3540,-0.93,-146.0,253.3,-5.9,344,3544,0.00,2.20,0.00,0.000,6,0.000,0.041,2245,2331,3017
$GC,3867,-0.93,-146.0,272.9,-6.1,360,3871,0.00,2.35,0.00,0.000,4,0.000,0.067,2245,3745,3017
$GC,3895,-0.99,-146.0,274.7,-7.0,361,3900,0.10,2.20,0.00,0.000,6,0.107,0.040,2210,2330,3017
$GC,4223,-0.91,-146.0,299.3,-7.7,377,4227,0.12,2.35,0.00,0.000,4,0.158,0.066,2243,3750,3017
$GC,4256,-0.97,-146.0,301.8,-7.3,378,4259,0.00,2.20,0.00,0.000,6,0.000,0.040,2243,2333,3017
$GC,4579,-1.02,-146.0,323.4,-6.7,394,4584,0.12,2.35,0.00,0.000,4,0.098,0.065,2194,3746,3017
$GC,4589,-1.02,-146.0,324.3,-6.7,394,4596,0.00,2.17,0.00,0.000,6,0.000,0.039,2193,2340,3017
$GC,4905,-0.90,-146.0,349.5,-8.0,410,4907,0.17,0.00,0.00,0.000,6,0.150,0.000,2243,2340,3017
$GC,5215,-0.96,-146.0,367.8,-5.8,425,5219,0.00,2.33,0.00,0.000,4,0.000,0.066,2243,3743,3017
$GC,5226,-1.01,-146.0,368.4,-5.5,425,5231,0.10,2.17,0.00,0.000,6,0.102,0.039,2206,2338,3017
$GC,5548,-0.94,-146.0,389.8,-6.9,441,5553,0.10,2.35,0.00,0.000,4,0.157,0.064,2231,3752,3017
$GC,5610,-0.99,-146.0,393.9,-6.4,444,5614,0.00,2.20,0.00,0.000,6,0.000,0.039,2231,2329,3017
$GC,5960,-0.99,-146.0,415.9,-6.3,455,5964,0.00,2.35,0.00,0.000,4,0.000,0.064,2231,3753,3017
$GC,5994,-1.04,-146.0,418.0,-6.3,455,5998,0.00,2.20,0.00,0.000,6,0.000,0.038,2231,2330,3017
$GC,6330,-1.04,-146.0,437.2,-5.6,464,6334,0.00,2.35,0.00,0.000,4,0.000,0.064,2231,3753,3018
$GC,6352,-1.04,-146.0,438.5,-5.8,464,6357,0.00,2.20,0.00,0.000,6,0.000,0.038,2231,2327,3018
$GC,6695,-1.04,-146.0,457.4,-5.5,473,6699,0.00,2.35,0.00,0.000,4,0.000,0.063,2231,3753,3018
$GC,6729,-1.10,-146.0,459.5,-5.8,473,6736,0.12,2.20,0.00,0.000,6,0.095,0.038,2187,2326,3019
$GC,7060,-0.98,-146.0,483.5,-7.5,482,7065,0.15,2.38,0.00,0.000,4,0.149,0.064,2229,3755,3019
$GC,7096,-1.03,-146.0,485.9,-6.9,482,7102,0.00,2.20,0.00,0.000,6,0.000,0.038,2229,2328,3019
$GC,7427,-1.03,-146.0,507.2,-6.4,491,7431,0.00,2.35,0.00,0.000,4,0.000,0.062,2229,3756,3020
$GC,7449,-1.03,-146.0,508.7,-6.5,491,7453,0.00,2.20,0.00,0.000,6,0.000,0.037,2229,2327,3020
$GC,7797,-1.03,-146.0,530.9,-6.3,500,7801,0.00,2.33,0.00,0.000,4,0.000,0.063,2229,3745,3021
$GC,7853,-1.09,-146.0,534.5,-6.7,501,7858,0.12,2.17,0.00,0.000,6,0.093,0.038,2184,2330,3021
$GC,8172,-0.96,-146.0,558.8,-7.7,509,8177,0.17,2.35,0.00,0.000,4,0.151,0.063,2232,3747,3022
$GC,8194,-0.96,-146.0,560.3,-7.2,509,8198,0.00,2.17,0.00,0.000,6,0.000,0.038,2232,2333,3022
$GC,8537,-0.96,-146.0,580.5,-5.8,518,8541,0.00,2.33,0.00,0.000,4,0.000,0.064,2232,3745,3022
$GC,8576,-1.02,-146.0,582.9,-5.6,518,8583,0.00,2.17,0.00,0.000,6,0.000,0.038,2232,2336,3022
$GC,8908,-1.07,-146.0,603.2,-6.3,527,8912,0.12,2.33,0.00,0.000,4,0.105,0.064,2188,3749,3022
$GC,8936,-1.01,-146.0,605.3,-8.4,527,8940,0.12,2.17,0.00,0.000,6,0.151,0.038,2220,2333,3022
$GC,9277,-1.01,-146.0,630.4,-7.6,536,9281,0.00,2.35,0.00,0.000,4,0.000,0.064,2220,3756,3022
$STATE,9285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9285,begin apogee
$GC,9293,-0.34,0.0,631.1,7.2,536,9429,0.43,0.00,132.48,1.234,6,0.138,0.000,2356,2515,2420
$STATE,9429,end apogee,CONTROL_FINISHED_OK
$STATE,9429,begin climb
$GC,9432,1.08,146.0,634.8,0.0,539,9583,1.05,0.00,140.62,1.144,6,0.110,0.000,2665,2515,1824
$GC,9881,0.95,146.0,602.7,8.2,550,9886,0.10,2.40,0.00,0.000,4,0.150,0.063,2639,3931,1822
$GC,9937,0.79,146.0,597.9,9.1,551,9942,0.12,2.25,0.00,0.000,6,0.145,0.039,2603,2506,1822
$GC,10250,0.92,198.3,580.3,5.2,559,10297,0.12,0.00,44.47,1.182,6,0.078,0.000,2653,2505,1611
$GC,10614,0.92,198.3,552.0,8.0,568,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2506,1610
$GC,10940,0.92,198.3,526.4,7.9,576,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2505,1610
$GC,11264,0.92,198.3,501.0,7.9,584,11268,0.00,2.17,0.00,0.000,4,0.000,0.051,2653,1116,1609
$GC,11309,0.92,198.3,497.4,7.3,585,11313,0.00,2.22,0.00,0.000,6,0.000,0.046,2653,2535,1608
$GC,11639,0.92,198.3,469.6,8.6,593,11643,0.00,2.25,0.00,0.000,4,0.000,0.061,2653,3930,1608
$GC,11690,0.78,198.3,464.6,11.3,594,11694,0.17,2.17,0.00,0.000,6,0.145,0.039,2602,2517,1608
$GC,12014,0.94,215.6,443.4,6.4,602,12034,0.12,2.22,15.27,1.089,4,0.076,0.050,2653,1116,1541
$GC,12107,0.94,215.6,435.7,8.5,604,12111,0.00,2.22,0.00,0.000,6,0.000,0.046,2653,2521,1540
$GC,12426,0.94,215.6,408.3,8.6,612,12430,0.00,2.28,0.00,0.000,4,0.000,0.062,2654,3936,1540
$GC,12465,0.83,215.6,404.5,9.5,612,12472,0.15,2.17,0.00,0.000,6,0.145,0.038,2611,2518,1540
$GC,12780,0.99,237.7,384.3,6.3,626,12806,0.15,2.28,19.58,1.066,4,0.071,0.051,2678,1119,1450
$GC,12878,0.99,237.7,375.5,9.1,630,12883,0.12,2.22,0.00,0.000,6,0.135,0.045,2642,2528,1449
$GC,13200,1.05,237.7,351.8,7.5,646,13202,0.08,0.00,0.00,0.000,6,0.098,0.000,2679,2528,1449
$GC,13509,0.98,237.7,323.6,9.0,661,13513,0.12,2.22,0.00,0.000,4,0.127,0.049,2641,1122,1449
$GC,13576,1.08,237.7,318.7,7.3,664,13581,0.10,2.20,0.00,0.000,6,0.089,0.045,2682,2529,1449
$GC,13909,1.01,237.7,289.1,9.2,680,13910,0.12,0.00,0.00,0.000,6,0.127,0.000,2645,2529,1450
$GC,14217,1.06,237.7,266.1,7.3,695,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2529,1450
$GC,14527,1.15,248.8,244.9,6.6,710,14541,0.15,0.00,10.95,0.940,6,0.074,0.000,2707,2529,1405
$GC,14836,1.03,248.8,212.8,11.0,725,14838,0.17,0.00,0.00,0.000,6,0.128,0.000,2654,2529,1404
$GC,15146,1.11,248.8,187.7,7.8,740,15150,0.08,2.25,0.00,0.000,4,0.098,0.050,2692,1116,1404
$GC,15195,1.11,248.8,183.2,9.1,742,15199,0.00,2.22,0.00,0.000,6,0.000,0.046,2693,2534,1404
$GC,15522,1.05,248.8,152.8,9.1,758,15524,0.12,0.00,0.00,0.000,6,0.137,0.000,2655,2534,1404
$GC,15832,1.17,260.9,131.2,6.6,773,15854,0.12,2.33,11.52,0.923,4,0.074,0.051,2709,1120,1356
$GC,15881,1.17,260.9,126.9,9.2,775,15885,0.00,2.22,0.00,0.000,6,0.000,0.047,2709,2525,1356
$GC,16199,1.10,260.9,98.4,9.2,792,16206,0.12,2.25,0.00,0.000,4,0.133,0.051,2671,1116,1355
$GC,16258,1.22,260.9,93.8,7.6,802,16265,0.12,2.22,0.00,0.000,6,0.079,0.047,2721,2532,1355
$GC,16604,1.18,270.6,62.5,6.7,863,16622,0.12,2.30,9.48,0.889,4,0.129,0.066,2683,3917,1315
$GC,16691,1.18,270.6,55.9,7.0,878,16697,0.00,2.17,0.00,0.000,6,0.000,0.040,2683,2512,1315
$GC,17035,1.32,287.2,34.6,6.5,939,17055,0.12,2.28,14.40,0.923,4,0.074,0.053,2735,1117,1249
$GC,17113,1.32,292.1,29.0,6.9,952,17126,0.00,2.22,5.85,0.766,6,0.000,0.048,2735,2520,1229
$STATE,17433,end climb,SURFACE_DEPTH_REACHED
$STATE,17433,begin surface coast
$FINISH,0.9,1.014004
$STATE,17458,end surface coast,CONTROL_FINISHED_OK
$STATE,17458,begin surface
$SM_CCo,17536,0.00,0.000,0,0,1225,293.38
$SM_GC,1.69,7.15,0.00,0.00,0.067,0.000,0.000,163,2334,1225,-10.38,-0.17,293.38
$RAFOS_CLK,962
$RAFOS,4,1226897067,4.750000,4.740833,67,62,60,55,55,52,651,216,203,180,120,165
$RAFOS,3,1226896442,4.583333,4.567222,62,61,58,57,53,49,189,201,219,160,178,139
$RAFOS,2,1226895856,4.416667,4.404444,75,68,63,58,57,55,549,182,196,166,141,213
$RAFOS,1,1226895255,4.250000,4.237500,67,59,59,56,56,54,196,175,160,209,230,140
$RAFOS,0,1226894655,4.083333,4.070833,58,55,55,54,52,48,204,153,232,170,214,128
$RAFOS_FIX,6536.750488,-5832.361816,171108,000052,2,74,15.00
$IRIDIUM_FIX,6641.98,-5709.24,110298,020214
$TT8_MAMPS,0.027612
$HUMID,1891
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,20.6,59.407
$10V_AH,10.5,26.051
$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,24.825,153.375,404.625,0.000,0.000,55.901,62.982,159.132,0.000,0.000,0.000,32.734,1863.265,13097.057,582.903,1920.452,560.302,33.376,1625.222,0.000,1869.112,1800.000,0.528,0.000
$DEVICE_MAMPS,261.547,68.263,1234.103,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.398,690.045,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37827,1013
$CAP_FILE_SIZE,144947,0
$CFSIZE,260165632,227483648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.9
$GPS,171108,074857,6706.689,-5711.001,99,1.6,101,-37.7