version: 66.04
glider: 113
mission: 4
dive: 320
start: 11 18 108 4 46 17
data:
$ID,113
$MISSION,4
$DIVE,320
$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,-28837.916
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,043555,6705.871,-5709.187,87,1.3,87,-37.7
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,3
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-53.2
$GPS2,044521,6705.855,-5709.424,23,1.4,23,-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,0.213,-0.070
$KALMAN_X,-35670.9,595.3,407.9,45652.9,-4458.4
$KALMAN_Y,-34091.6,84.5,86.9,54253.5,1461.8
$MHEAD_RNG_PITCHd_Wd,145.8,16350,-12.9,-7.021
$D_GRID,641
$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,-146.0,0.0,0.0,0,172,0.00,0.00,-152.60,0.000,6,0.000,0.000,159,2336,3017
$GC,175,-1.08,-146.0,3.8,-4.0,27,189,8.65,2.30,0.00,0.000,4,0.255,0.056,2198,929,3020
$GC,344,-0.60,-146.0,38.7,-17.2,56,351,0.38,2.25,0.00,0.000,6,0.170,0.051,2305,2339,3022
$GC,689,-0.60,-146.0,69.1,-6.1,117,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2339,3024
$GC,1033,-0.67,-146.0,90.6,-6.5,178,1039,0.00,2.30,0.00,0.000,4,0.000,0.067,2305,3748,3024
$GC,1046,-0.75,-146.0,91.4,-6.4,180,1053,0.12,2.20,0.00,0.000,6,0.094,0.039,2259,2319,3024
$GC,1382,-0.71,-146.0,119.5,-8.4,210,1384,0.10,0.00,0.00,0.000,6,0.167,0.000,2284,2319,3023
$GC,1692,-0.76,-146.0,144.5,-8.0,225,1696,0.00,2.17,0.00,0.000,4,0.000,0.054,2285,938,3023
$GC,1708,-0.76,-146.0,145.7,-7.6,225,1714,0.00,2.25,0.00,0.000,6,0.000,0.051,2284,2352,3023
$GC,2024,-0.83,-146.0,165.3,-6.2,241,2029,0.12,2.25,0.00,0.000,4,0.091,0.052,2237,939,3022
$GC,2035,-0.83,-146.0,166.2,-6.5,241,2039,0.00,2.25,0.00,0.000,6,0.000,0.050,2236,2353,3022
$GC,2356,-0.75,-146.0,192.3,-8.4,257,2358,0.15,0.00,0.00,0.000,6,0.166,0.000,2277,2353,3022
$GC,2666,-0.84,-146.0,212.2,-6.7,272,2670,0.10,2.28,0.00,0.000,4,0.109,0.065,2242,3742,3021
$GC,2693,-0.84,-146.0,214.5,-8.4,273,2697,0.00,2.17,0.00,0.000,6,0.000,0.040,2242,2340,3021
$GC,3019,-0.84,-146.0,240.4,-7.5,289,3023,0.00,2.33,0.00,0.000,4,0.000,0.067,2242,3744,3021
$GC,3029,-0.84,-146.0,241.2,-7.1,289,3033,0.00,2.17,0.00,0.000,6,0.000,0.039,2242,2340,3021
$GC,3350,-0.84,-146.0,262.9,-6.4,305,3355,0.00,2.33,0.00,0.000,4,0.000,0.066,2242,3753,3021
$GC,3374,-0.84,-146.0,264.5,-6.7,306,3377,0.00,2.20,0.00,0.000,6,0.000,0.039,2242,2330,3021
$GC,3706,-0.84,-146.0,285.7,-6.3,322,3710,0.00,2.35,0.00,0.000,4,0.000,0.067,2242,3746,3020
$GC,3739,-0.84,-146.0,288.0,-7.3,323,3743,0.00,2.17,0.00,0.000,6,0.000,0.039,2242,2340,3021
$GC,4060,-0.84,-146.0,308.0,-6.5,339,4064,0.00,2.33,0.00,0.000,4,0.000,0.065,2242,3747,3020
$GC,4116,-0.84,-146.0,311.8,-6.4,341,4120,0.00,2.17,0.00,0.000,6,0.000,0.039,2242,2338,3020
$GC,4437,-0.84,-146.0,332.1,-5.9,357,4441,0.00,2.33,0.00,0.000,4,0.000,0.064,2242,3748,3021
$GC,4488,-0.89,-146.0,335.3,-5.8,359,4492,0.00,2.17,0.00,0.000,6,0.000,0.038,2242,2337,3021
$GC,4814,-0.89,-146.0,354.5,-6.1,375,4818,0.00,2.33,0.00,0.000,4,0.000,0.063,2242,3752,3021
$GC,4854,-0.94,-146.0,357.0,-6.4,376,4861,0.00,2.17,0.00,0.000,6,0.000,0.038,2242,2337,3021
$GC,5170,-0.94,-146.0,376.9,-6.5,392,5174,0.00,2.33,0.00,0.000,4,0.000,0.063,2242,3753,3022
$GC,5186,-0.94,-146.0,378.1,-6.5,392,5193,0.00,2.17,0.00,0.000,6,0.000,0.037,2242,2336,3022
$GC,5503,-0.94,-146.0,398.6,-6.3,408,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2336,3023
$GC,5828,-0.94,-146.0,417.9,-5.8,417,5831,0.00,2.33,0.00,0.000,4,0.000,0.062,2242,3754,3024
$GC,5839,-0.94,-146.0,418.5,-5.7,417,5843,0.00,2.17,0.00,0.000,6,0.000,0.037,2242,2336,3024
$GC,6158,-0.94,-146.0,437.9,-6.3,425,6161,0.00,2.33,0.00,0.000,4,0.000,0.062,2242,3749,3024
$GC,6169,-0.94,-146.0,438.7,-6.3,425,6173,0.00,2.17,0.00,0.000,6,0.000,0.037,2242,2323,3024
$GC,6487,-0.94,-146.0,457.9,-5.9,433,6491,0.00,2.35,0.00,0.000,4,0.000,0.063,2242,3753,3025
$GC,6515,-1.00,-146.0,459.9,-6.8,433,6520,0.10,2.17,0.00,0.000,6,0.100,0.036,2204,2326,3025
$GC,6858,-0.92,-146.0,485.4,-7.5,442,6863,0.12,2.33,0.00,0.000,4,0.150,0.061,2239,3750,3026
$GC,6908,-0.99,-146.0,488.9,-7.3,443,6912,0.00,2.17,0.00,0.000,6,0.000,0.036,2239,2329,3026
$GC,7227,-0.99,-146.0,509.6,-6.5,451,7231,0.00,2.33,0.00,0.000,4,0.000,0.063,2239,3746,3026
$GC,7250,-1.05,-146.0,511.2,-7.0,451,7254,0.12,2.15,0.00,0.000,6,0.094,0.036,2193,2338,3026
$GC,7598,-0.93,-146.0,538.4,-7.8,460,7602,0.15,2.33,0.00,0.000,4,0.149,0.061,2234,3750,3026
$GC,7619,-0.93,-146.0,539.8,-6.8,460,7623,0.00,2.17,0.00,0.000,6,0.000,0.036,2234,2328,3026
$GC,7962,-0.93,-146.0,562.3,-6.3,469,7966,0.00,2.33,0.00,0.000,4,0.000,0.061,2234,3746,3027
$GC,8002,-0.99,-146.0,564.8,-6.6,469,8008,0.00,2.15,0.00,0.000,6,0.000,0.036,2234,2340,3027
$GC,8333,-0.99,-146.0,586.0,-6.4,478,8337,0.00,2.30,0.00,0.000,4,0.000,0.061,2234,3746,3027
$GC,8384,-1.05,-146.0,589.6,-6.7,479,8388,0.12,2.17,0.00,0.000,6,0.098,0.036,2190,2326,3027
$GC,8708,-0.93,-146.0,615.9,-8.1,487,8713,0.15,2.35,0.00,0.000,4,0.144,0.061,2232,3750,3028
$GC,8741,-0.98,-146.0,618.2,-6.4,487,8747,0.00,2.17,0.00,0.000,6,0.000,0.036,2232,2331,3028
$STATE,9070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9070,begin apogee
$GC,9077,-0.34,0.0,641.9,7.7,496,9213,0.43,0.00,133.75,1.226,6,0.134,0.000,2366,2522,2420
$STATE,9214,end apogee,CONTROL_FINISHED_OK
$STATE,9214,begin climb
$GC,9217,1.08,146.0,643.8,0.0,499,9370,1.02,2.65,139.48,1.136,4,0.105,0.048,2668,1123,1824
$GC,9456,0.95,146.0,625.9,10.6,504,9461,0.12,2.40,0.00,0.000,6,0.142,0.044,2638,2529,1823
$GC,9793,0.95,146.0,601.7,7.3,513,9797,0.00,2.28,0.00,0.000,4,0.000,0.063,2638,3928,1822
$GC,9876,0.81,146.0,594.4,9.2,514,9883,0.10,2.17,0.00,0.000,6,0.153,0.038,2611,2517,1822
$GC,10209,0.91,181.4,574.3,5.8,523,10244,0.08,2.25,30.25,1.164,4,0.100,0.049,2650,1124,1680
$GC,10284,0.91,181.4,568.7,7.8,523,10290,0.00,2.25,0.00,0.000,6,0.000,0.045,2650,2536,1678
$GC,10615,0.91,181.4,543.2,7.8,532,10619,0.00,2.22,0.00,0.000,4,0.000,0.061,2650,3929,1677
$GC,10677,0.77,181.4,537.5,9.1,533,10682,0.17,2.15,0.00,0.000,6,0.137,0.038,2599,2522,1678
$GC,10990,0.97,221.5,519.9,5.7,541,11032,0.15,2.30,33.80,1.152,4,0.071,0.050,2664,1123,1516
$GC,11096,0.97,221.5,511.3,8.6,543,11100,0.00,2.22,0.00,0.000,6,0.000,0.044,2664,2522,1516
$GC,11409,0.92,221.5,484.4,8.7,551,11413,0.12,2.28,0.00,0.000,4,0.134,0.061,2627,3939,1515
$GC,11447,0.92,221.5,480.9,8.9,551,11453,0.00,2.17,0.00,0.000,6,0.000,0.038,2627,2512,1515
$GC,11779,1.02,221.5,455.7,7.8,560,11783,0.10,2.17,0.00,0.000,4,0.087,0.049,2672,1109,1514
$GC,11850,1.02,221.5,448.8,9.2,561,11854,0.00,2.20,0.00,0.000,6,0.000,0.044,2672,2522,1514
$GC,12194,0.95,221.5,415.9,9.3,570,12199,0.12,2.28,0.00,0.000,4,0.143,0.061,2637,3936,1514
$GC,12238,0.95,221.5,411.9,8.9,571,12242,0.00,2.17,0.00,0.000,6,0.000,0.038,2637,2511,1514
$GC,12565,1.01,221.5,388.4,7.3,582,12568,0.00,2.17,0.00,0.000,4,0.000,0.048,2637,1109,1514
$GC,12649,1.11,221.5,382.2,7.2,585,12656,0.15,2.20,0.00,0.000,6,0.072,0.044,2699,2522,1514
$GC,12965,0.97,221.5,350.9,9.9,601,12969,0.20,2.28,0.00,0.000,4,0.128,0.060,2634,3936,1515
$GC,13019,0.97,221.5,346.3,8.6,603,13026,0.00,2.17,0.00,0.000,6,0.000,0.038,2634,2510,1515
$GC,13336,1.08,235.2,326.3,6.6,619,13358,0.12,2.25,12.18,0.974,4,0.080,0.049,2691,1119,1461
$GC,13426,1.02,235.2,318.2,9.6,623,13431,0.12,2.20,0.00,0.000,6,0.135,0.044,2655,2522,1462
$GC,13759,1.02,235.2,292.4,7.5,639,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2522,1461
$GC,14068,1.02,235.2,269.9,7.2,654,14071,0.00,2.20,0.00,0.000,4,0.000,0.048,2655,1121,1462
$GC,14123,1.10,235.2,265.6,8.1,656,14127,0.00,2.20,0.00,0.000,6,0.000,0.044,2655,2533,1462
$GC,14445,1.15,235.2,242.5,7.1,672,14447,0.12,0.00,0.00,0.000,6,0.073,0.000,2709,2533,1463
$GC,14754,1.05,235.2,211.3,10.6,687,14756,0.17,0.00,0.00,0.000,6,0.126,0.000,2654,2533,1463
$GC,15064,1.13,235.2,187.1,7.3,702,15068,0.10,2.25,0.00,0.000,4,0.085,0.048,2701,1109,1464
$GC,15113,1.13,235.2,182.9,8.4,704,15117,0.00,2.22,0.00,0.000,6,0.000,0.045,2701,2533,1464
$GC,15440,1.07,235.2,155.7,8.9,720,15445,0.12,2.25,0.00,0.000,4,0.133,0.061,2665,3926,1464
$GC,15491,1.07,235.2,150.7,9.7,722,15495,0.00,2.15,0.00,0.000,6,0.000,0.038,2664,2516,1464
$GC,15818,1.17,253.3,126.5,6.4,738,15841,0.10,2.28,16.92,0.943,4,0.084,0.051,2709,1120,1387
$GC,15914,1.17,253.3,119.8,7.2,742,15918,0.00,2.22,0.00,0.000,6,0.000,0.046,2709,2530,1386
$GC,16235,1.17,253.3,94.0,8.8,765,16241,0.00,2.25,0.00,0.000,4,0.000,0.064,2709,3922,1385
$GC,16299,1.04,253.3,87.5,10.7,776,16306,0.17,2.15,0.00,0.000,6,0.134,0.039,2656,2522,1385
$GC,16644,1.41,312.0,65.0,5.0,837,16698,0.22,2.45,48.40,0.957,4,0.071,0.066,2748,3924,1147
$GC,16745,1.29,312.0,56.9,9.7,854,16752,0.12,2.22,0.00,0.000,6,0.145,0.041,2714,2516,1143
$GC,17091,1.35,317.8,30.4,6.8,915,17104,0.00,2.25,5.07,0.726,4,0.000,0.053,2714,1118,1124
$GC,17178,1.45,317.8,24.2,7.9,930,17185,0.12,2.22,0.00,0.000,6,0.080,0.048,2761,2529,1123
$STATE,17380,end climb,SURFACE_DEPTH_REACHED
$STATE,17380,begin surface coast
$FINISH,0.6,1.015339
$STATE,17398,end surface coast,CONTROL_FINISHED_OK
$STATE,17398,begin surface
$SM_CCo,17476,0.00,0.000,0,0,1120,319.14
$SM_GC,1.43,7.20,0.00,0.00,0.066,0.000,0.000,157,2342,1120,-10.40,0.06,319.14
$RAFOS_CLK,935
$RAFOS,4,1226997854,8.750000,8.737223,63,60,57,55,55,51,228,207,189,177,159,132
$RAFOS,3,1226997250,8.583333,8.569445,64,60,55,54,53,52,173,216,118,200,148,182
$RAFOS,2,1226996641,8.416667,8.400278,64,58,53,52,51,50,616,189,248,219,163,151
$RAFOS,1,1226996056,8.250000,8.237778,62,56,51,49,49,47,170,213,1394,146,113,194
$RAFOS,0,1226995442,8.083333,8.067223,58,56,56,55,55,51,235,205,161,173,191,148
$RAFOS_FIX,7544.612793,-8455.451172,171108,161633,3,77,94.26
$IRIDIUM_FIX,6636.54,-5712.23,110298,232358
$TT8_MAMPS,0.027612
$HUMID,1911
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,20.7,60.172
$10V_AH,10.5,26.432
$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,21.900,175.800,419.850,0.000,0.000,29.430,34.041,356.302,0.000,0.000,0.000,26.457,1804.101,12942.699,609.430,1946.522,732.710,33.381,1704.716,0.000,1907.107,1800.000,0.528,0.000
$DEVICE_MAMPS,255.411,67.496,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.454,657.312,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34662,969
$CAP_FILE_SIZE,150909,0
$CFSIZE,260165632,227127296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.1
$GPS,181108,093937,6705.937,-5709.684,80,0.8,80,-37.7