version: 66.04
glider: 113
mission: 4
dive: 324
start: 11 19 108 1 53 40
data:
$ID,113
$MISSION,4
$DIVE,324
$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,-29087.439
$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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,014016,6705.567,-5706.673,40,3.5,59,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-51.4
$GPS2,015245,6705.531,-5706.519,13,1.6,13,-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,0.166,-0.151
$KALMAN_X,-47150.0,201.9,499.0,59536.4,-2567.1
$KALMAN_Y,-28000.3,501.9,-1125.2,48355.5,2532.3
$MHEAD_RNG_PITCHd_Wd,170.0,14171,-12.9,-7.021
$D_GRID,616
$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,16,-1.08,-146.0,0.0,0.0,0,208,0.00,0.00,-188.38,0.000,6,0.000,0.000,155,2336,3017
$GC,212,-1.08,-146.0,3.4,-2.4,33,226,8.65,2.38,0.00,0.000,4,0.255,0.064,2200,3749,3021
$GC,238,1.02,-146.0,10.3,-17.7,37,246,1.60,2.20,0.00,0.000,6,0.178,0.040,2652,2334,3023
$GC,584,-0.06,-146.0,36.2,-8.0,98,591,0.68,2.22,0.00,0.000,4,0.102,0.051,2422,924,3026
$GC,844,-0.76,-146.0,54.1,-5.8,144,851,0.45,2.22,0.00,0.000,6,0.085,0.048,2263,2340,3029
$GC,1189,-0.76,-146.0,82.4,-8.4,205,1195,0.00,2.22,0.00,0.000,4,0.000,0.052,2263,933,3028
$GC,1230,-0.76,-146.0,86.2,-9.5,212,1236,0.00,2.22,0.00,0.000,6,0.000,0.048,2263,2344,3029
$GC,1571,-0.76,-146.0,113.2,-7.5,251,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2344,3029
$GC,1880,-0.76,-146.0,136.6,-7.8,266,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2343,3029
$GC,2191,-0.76,-146.0,158.1,-6.5,281,2194,0.00,2.25,0.00,0.000,4,0.000,0.053,2263,926,3029
$GC,2218,-0.76,-146.0,160.1,-7.2,282,2222,0.00,2.25,0.00,0.000,6,0.000,0.049,2263,2347,3029
$GC,2545,-0.81,-146.0,182.2,-6.6,298,2549,0.00,2.25,0.00,0.000,4,0.000,0.052,2263,929,3027
$GC,2556,-0.81,-146.0,183.0,-6.5,298,2560,0.00,2.25,0.00,0.000,6,0.000,0.049,2263,2348,3027
$GC,2877,-0.87,-146.0,201.3,-5.3,314,2881,0.00,2.25,0.00,0.000,4,0.000,0.051,2263,926,3027
$GC,2889,-0.92,-146.0,202.1,-5.4,314,2893,0.10,2.25,0.00,0.000,6,0.114,0.048,2230,2351,3027
$GC,3210,-0.92,-146.0,224.1,-7.0,330,3214,0.00,2.28,0.00,0.000,4,0.000,0.064,2230,3749,3026
$GC,3220,-0.92,-146.0,224.9,-6.7,330,3224,0.00,2.17,0.00,0.000,6,0.000,0.037,2230,2333,3026
$GC,3541,-0.92,-146.0,247.9,-7.3,346,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2333,3026
$GC,3851,-0.92,-146.0,271.2,-7.6,361,3855,0.00,2.33,0.00,0.000,4,0.000,0.063,2230,3752,3027
$GC,3866,-0.92,-146.0,272.7,-8.1,361,3873,0.00,2.17,0.00,0.000,6,0.000,0.037,2230,2330,3027
$GC,4182,-0.92,-146.0,297.3,-7.7,377,4186,0.00,2.33,0.00,0.000,4,0.000,0.063,2229,3748,3027
$GC,4209,-0.92,-146.0,299.6,-8.5,378,4213,0.00,2.17,0.00,0.000,6,0.000,0.036,2230,2325,3027
$GC,4536,-0.92,-146.0,323.8,-7.1,394,4540,0.00,2.33,0.00,0.000,4,0.000,0.063,2230,3745,3027
$GC,4546,-0.92,-146.0,324.6,-7.3,394,4550,0.00,2.17,0.00,0.000,6,0.000,0.035,2229,2309,3028
$GC,4868,-0.92,-146.0,346.9,-6.7,410,4871,0.00,2.35,0.00,0.000,4,0.000,0.061,2230,3747,3028
$GC,4907,-0.92,-146.0,349.6,-6.8,411,4913,0.00,2.17,0.00,0.000,6,0.000,0.036,2230,2325,3028
$GC,5223,-0.92,-146.0,370.8,-6.8,427,5227,0.00,2.33,0.00,0.000,4,0.000,0.061,2230,3750,3029
$GC,5234,-0.92,-146.0,371.5,-6.8,427,5238,0.00,2.15,0.00,0.000,6,0.000,0.035,2230,2328,3029
$GC,5555,-0.92,-146.0,392.0,-6.2,443,5559,0.00,2.33,0.00,0.000,4,0.000,0.062,2230,3752,3030
$GC,5583,-0.92,-146.0,393.8,-6.1,444,5587,0.00,2.17,0.00,0.000,6,0.000,0.035,2230,2324,3030
$GC,5906,-0.92,-146.0,412.6,-5.8,455,5910,0.00,2.33,0.00,0.000,4,0.000,0.061,2230,3750,3031
$GC,5917,-0.92,-146.0,413.4,-5.9,455,5921,0.00,2.15,0.00,0.000,6,0.000,0.035,2229,2338,3031
$GC,6237,-0.92,-146.0,432.7,-6.1,463,6241,0.00,2.30,0.00,0.000,4,0.000,0.060,2229,3752,3031
$GC,6248,-0.92,-146.0,433.5,-6.1,463,6251,0.00,2.15,0.00,0.000,6,0.000,0.035,2230,2341,3031
$GC,6566,-0.92,-146.0,452.3,-6.0,471,6570,0.00,2.30,0.00,0.000,4,0.000,0.061,2230,3749,3032
$GC,6578,-0.92,-146.0,453.0,-5.8,471,6581,0.00,2.15,0.00,0.000,6,0.000,0.035,2229,2337,3032
$GC,6896,-0.92,-146.0,471.1,-5.8,479,6900,0.00,2.30,0.00,0.000,4,0.000,0.060,2230,3749,3033
$GC,6909,-0.92,-146.0,471.8,-5.8,479,6913,0.00,2.15,0.00,0.000,6,0.000,0.035,2229,2336,3033
$GC,7228,-0.92,-146.0,489.5,-5.5,487,7231,0.00,2.30,0.00,0.000,4,0.000,0.061,2230,3743,3033
$GC,7239,-0.92,-146.0,490.1,-5.4,487,7243,0.00,2.12,0.00,0.000,6,0.000,0.034,2229,2336,3033
$GC,7557,-0.92,-146.0,507.4,-5.3,495,7561,0.00,2.30,0.00,0.000,4,0.000,0.060,2230,3748,3033
$GC,7579,-0.92,-146.0,508.6,-5.4,495,7582,0.00,2.15,0.00,0.000,6,0.000,0.035,2229,2334,3033
$GC,7927,-0.92,-146.0,525.7,-4.8,504,7931,0.00,2.30,0.00,0.000,4,0.000,0.061,2230,3743,3034
$GC,7966,-0.92,-146.0,527.7,-5.8,504,7972,0.00,2.15,0.00,0.000,6,0.000,0.035,2230,2331,3034
$GC,8298,-0.92,-146.0,543.3,-4.6,513,8301,0.00,2.33,0.00,0.000,4,0.000,0.061,2229,3756,3034
$GC,8326,-0.92,-146.0,544.8,-5.8,513,8329,0.00,2.17,0.00,0.000,6,0.000,0.035,2229,2326,3034
$GC,8669,-0.92,-146.0,563.9,-5.7,522,8672,0.00,2.33,0.00,0.000,4,0.000,0.060,2230,3750,3034
$GC,8679,-0.92,-146.0,564.5,-5.6,522,8683,0.00,2.15,0.00,0.000,6,0.000,0.035,2229,2340,3034
$GC,8998,-0.92,-146.0,582.6,-5.7,530,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2340,3035
$GC,9324,-0.92,-146.0,601.2,-5.9,538,9327,0.00,2.30,0.00,0.000,4,0.000,0.060,2230,3743,3035
$GC,9346,-0.92,-146.0,602.6,-6.0,538,9349,0.00,2.15,0.00,0.000,6,0.000,0.035,2230,2335,3035
$STATE,9609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9609,begin apogee
$GC,9616,-0.34,0.0,617.9,5.8,545,9803,0.43,0.00,164.07,1.066,6,0.134,0.000,2361,2529,2421
$STATE,9804,end apogee,CONTROL_FINISHED_OK
$STATE,9804,begin climb
$GC,9807,1.08,146.0,621.7,0.0,549,9955,1.02,0.00,138.38,1.107,6,0.102,0.000,2667,2529,1825
$GC,10258,0.92,146.0,583.9,9.1,560,10263,0.12,2.30,0.00,0.000,4,0.146,0.060,2633,3927,1828
$GC,10326,0.79,146.0,577.4,9.3,561,10330,0.10,2.17,0.00,0.000,6,0.153,0.037,2607,2520,1828
$GC,10668,0.88,170.1,555.1,6.2,570,10694,0.00,2.25,20.92,1.113,4,0.000,0.047,2607,1108,1726
$GC,10752,1.02,183.5,549.8,6.6,572,10772,0.17,2.22,12.75,1.048,6,0.067,0.044,2678,2529,1671
$GC,11080,0.89,183.5,519.0,9.5,580,11084,0.17,2.25,0.00,0.000,4,0.125,0.061,2625,3931,1675
$GC,11180,0.83,183.5,510.5,8.0,582,11184,0.00,2.17,0.00,0.000,6,0.000,0.037,2625,2510,1675
$GC,11499,0.87,214.3,490.7,6.0,590,11530,0.00,2.22,26.25,1.108,4,0.000,0.048,2625,1115,1547
$GC,11598,1.03,260.4,484.9,5.5,592,11643,0.12,2.22,39.22,1.098,6,0.080,0.044,2678,2523,1358
$GC,11953,0.97,260.4,455.3,8.5,601,11955,0.12,0.00,0.00,0.000,6,0.125,0.000,2641,2524,1360
$GC,12276,1.07,289.3,434.7,6.0,609,12306,0.10,2.28,24.38,1.067,4,0.084,0.049,2688,1116,1241
$GC,12391,1.07,289.3,425.2,8.5,611,12395,0.00,2.22,0.00,0.000,6,0.000,0.043,2688,2532,1242
$GC,12714,1.00,289.3,396.3,9.1,620,12718,0.12,2.22,0.00,0.000,4,0.133,0.048,2652,1119,1243
$GC,12769,1.10,291.9,392.1,6.9,622,12781,0.10,2.17,3.75,0.642,6,0.088,0.043,2694,2519,1231
$GC,13090,1.02,291.9,361.5,9.9,638,13092,0.15,0.00,0.00,0.000,6,0.127,0.000,2649,2520,1233
$GC,13399,1.09,291.9,338.2,7.6,653,13403,0.10,2.20,0.00,0.000,4,0.082,0.048,2694,1117,1234
$GC,13483,1.09,291.9,330.1,9.6,656,13489,0.00,2.17,0.00,0.000,6,0.000,0.043,2694,2521,1234
$GC,13799,1.01,291.9,297.7,10.5,672,13803,0.15,2.22,0.00,0.000,4,0.128,0.048,2650,1110,1234
$GC,13848,1.13,291.9,293.4,7.6,674,13853,0.12,2.20,0.00,0.000,6,0.075,0.043,2705,2526,1234
$GC,14176,1.03,291.9,257.3,11.7,690,14180,0.17,2.22,0.00,0.000,4,0.121,0.047,2651,1112,1234
$GC,14226,1.15,291.9,252.7,8.4,692,14230,0.12,2.20,0.00,0.000,6,0.075,0.042,2706,2532,1234
$GC,14553,1.05,291.9,216.5,10.9,708,14554,0.15,0.00,0.00,0.000,6,0.123,0.000,2660,2533,1234
$GC,14861,1.12,291.9,190.8,7.9,723,14865,0.00,2.22,0.00,0.000,4,0.000,0.048,2659,1112,1235
$GC,14968,1.23,291.9,182.7,7.8,727,14974,0.15,2.20,0.00,0.000,6,0.071,0.043,2721,2529,1235
$GC,15284,1.11,291.9,147.1,11.2,743,15288,0.17,2.22,0.00,0.000,4,0.122,0.047,2667,1117,1235
$GC,15334,1.21,291.9,142.5,7.6,745,15338,0.12,2.17,0.00,0.000,6,0.075,0.043,2720,2518,1235
$GC,15661,1.13,291.9,107.2,10.8,761,15663,0.15,0.00,0.00,0.000,6,0.122,0.000,2672,2518,1236
$GC,15988,1.22,291.9,80.1,7.6,806,15994,0.10,0.00,0.00,0.000,6,0.084,0.000,2720,2518,1236
$GC,16332,1.22,291.9,49.8,8.8,867,16338,0.00,2.20,0.00,0.000,4,0.000,0.048,2721,1116,1236
$GC,16379,1.23,302.2,46.7,6.7,875,16397,0.00,2.20,10.55,0.835,6,0.000,0.044,2720,2525,1188
$GC,16735,1.23,302.2,18.3,8.7,938,16741,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2525,1190
$STATE,16943,end climb,SURFACE_DEPTH_REACHED
$STATE,16943,begin surface coast
$FINISH,1.0,1.026275
$STATE,16972,end surface coast,CONTROL_FINISHED_OK
$STATE,16972,begin surface
$SM_CCo,17050,0.00,0.000,0,0,1189,301.96
$SM_GC,1.74,7.00,0.00,0.00,0.061,0.000,0.000,163,2324,1189,-10.37,-0.45,301.96
$RAFOS_CLK,902
$RAFOS,4,1227069872,4.750000,4.742222,59,58,56,55,53,51,197,157,125,175,641,206
$RAFOS,3,1227069270,4.583333,4.575000,62,59,59,55,51,50,149,172,221,190,162,116
$RAFOS,2,1227068656,4.416667,4.404444,91,57,56,55,54,53,554,220,191,211,135,156
$RAFOS,1,1227068041,4.250000,4.233611,67,61,59,57,56,54,861,205,220,118,153,166
$RAFOS,0,1227067463,4.083333,4.073056,65,63,61,57,57,51,125,179,215,200,161,224
$RAFOS_FIX,7544.612793,-8455.451172,171108,161633,3,77,94.26
$IRIDIUM_FIX,6636.54,-5707.59,130298,010120
$TT8_MAMPS,0.027612
$HUMID,1856
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.20
$XPDR_PINGS,2
$24V_AH,20.9,60.881
$10V_AH,10.6,26.751
$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,22.750,156.750,440.275,0.000,0.000,64.384,68.342,412.939,0.500,0.000,0.000,15.244,1802.595,12591.862,659.530,1889.311,849.536,33.379,1722.378,0.000,1858.406,1800.000,0.529,0.000
$DEVICE_MAMPS,255.411,64.428,1112.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.641,663.607,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34708,980
$CAP_FILE_SIZE,143416,0
$CFSIZE,260165632,226848768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$SOUNDSPEED,1461.7
$GPS,191108,063907,6705.171,-5706.303,32,1.7,32,-37.7