version: 66.04
glider: 113
mission: 4
dive: 325
start: 11 19 108 6 45 57
data:
$ID,113
$MISSION,4
$DIVE,325
$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,-29102.102
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,063907,6705.171,-5706.303,32,1.7,32,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-60.7
$GPS2,064502,6705.222,-5706.389,12,1.0,12,-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,0.223,-0.027
$KALMAN_X,-49799.0,631.2,-91.4,62442.5,-3444.5
$KALMAN_Y,-26914.5,-237.5,616.6,45699.1,317.3
$MHEAD_RNG_PITCHd_Wd,134.6,13902,-12.9,-7.021
$D_GRID,627
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-119.62,0.000,2,0.000,0.000,162,2323,2998
$GC,142,-1.08,-146.0,3.1,-2.2,21,156,8.75,2.25,-0.62,0.000,4,0.260,0.067,2198,949,3019
$GC,382,-0.63,-146.0,46.6,-16.3,63,389,0.35,2.20,0.00,0.000,6,0.169,0.048,2298,2345,3021
$GC,727,-0.63,-146.0,78.3,-8.2,124,733,0.00,2.28,0.00,0.000,4,0.000,0.064,2298,3748,3020
$GC,739,-0.63,-146.0,79.4,-8.3,126,746,0.00,2.15,0.00,0.000,6,0.000,0.037,2299,2340,3021
$GC,1093,-0.70,-146.0,106.7,-7.6,178,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2340,3020
$GC,1403,-0.80,-146.0,129.4,-6.7,193,1407,0.15,2.30,0.00,0.000,4,0.084,0.063,2241,3744,3019
$GC,1415,-0.87,-146.0,130.3,-6.6,193,1421,0.00,2.17,0.00,0.000,6,0.000,0.038,2241,2325,3019
$GC,1730,-0.80,-146.0,157.7,-8.7,209,1735,0.10,2.33,0.00,0.000,4,0.179,0.063,2262,3746,3019
$GC,1741,-0.74,-146.0,158.5,-8.1,209,1745,0.00,2.17,0.00,0.000,6,0.000,0.038,2262,2328,3019
$GC,2063,-0.74,-146.0,180.9,-6.9,225,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2328,3018
$GC,2371,-0.74,-146.0,199.3,-5.9,240,2375,0.00,2.33,0.00,0.000,4,0.000,0.062,2262,3752,3018
$GC,2395,-0.79,-146.0,200.5,-5.3,241,2399,0.00,2.17,0.00,0.000,6,0.000,0.037,2262,2331,3018
$GC,2728,-0.83,-146.0,218.2,-4.9,257,2732,0.00,2.33,0.00,0.000,4,0.000,0.063,2261,3754,3018
$GC,2745,-0.89,-146.0,219.1,-4.9,257,2751,0.00,2.17,0.00,0.000,6,0.000,0.037,2262,2331,3018
$GC,3061,-0.94,-146.0,236.0,-5.7,273,3066,0.12,2.30,0.00,0.000,4,0.106,0.061,2216,3746,3019
$GC,3072,-0.94,-146.0,236.6,-5.7,273,3078,0.00,2.15,0.00,0.000,6,0.000,0.036,2216,2340,3019
$GC,3387,-0.84,-146.0,259.6,-7.3,289,3392,0.15,2.30,0.00,0.000,4,0.153,0.061,2257,3745,3020
$GC,3399,-0.78,-146.0,260.3,-7.1,289,3406,0.00,2.15,0.00,0.000,6,0.000,0.036,2258,2337,3020
$GC,3716,-0.86,-146.0,279.7,-6.1,305,3720,0.00,2.30,0.00,0.000,4,0.000,0.061,2258,3753,3020
$GC,3732,-0.93,-146.0,280.7,-6.1,305,3739,0.10,2.17,0.00,0.000,6,0.094,0.036,2220,2327,3020
$GC,4048,-0.87,-146.0,302.2,-6.6,321,4053,0.10,2.33,0.00,0.000,4,0.159,0.061,2245,3746,3020
$GC,4059,-0.87,-146.0,302.8,-6.5,321,4066,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2337,3020
$GC,4375,-0.87,-146.0,320.7,-5.6,337,4379,0.00,2.30,0.00,0.000,4,0.000,0.061,2245,3749,3021
$GC,4386,-0.87,-146.0,321.5,-5.6,337,4390,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2338,3021
$GC,4710,-0.87,-146.0,342.0,-6.6,353,4714,0.00,2.30,0.00,0.000,4,0.000,0.059,2245,3754,3021
$GC,4739,-0.93,-146.0,344.2,-6.4,354,4743,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2336,3021
$GC,5065,-0.93,-146.0,365.3,-6.4,370,5070,0.00,2.28,0.00,0.000,4,0.000,0.060,2245,3748,3021
$GC,5094,-0.99,-146.0,367.2,-6.8,371,5098,0.10,2.15,0.00,0.000,6,0.103,0.035,2208,2334,3021
$GC,5420,-0.91,-146.0,390.9,-7.1,387,5425,0.12,2.33,0.00,0.000,4,0.149,0.061,2242,3755,3022
$GC,5471,-0.98,-146.0,393.9,-5.7,389,5475,0.00,2.17,0.00,0.000,6,0.000,0.035,2242,2328,3022
$GC,5795,-0.98,-146.0,411.7,-5.6,400,5799,0.00,2.33,0.00,0.000,4,0.000,0.060,2242,3753,3023
$GC,5812,-1.03,-146.0,412.7,-5.5,400,5817,0.12,2.15,0.00,0.000,6,0.090,0.035,2194,2340,3023
$GC,6126,-0.91,-146.0,435.6,-7.5,408,6131,0.15,2.30,0.00,0.000,4,0.146,0.059,2235,3755,3024
$GC,6187,-0.91,-146.0,439.5,-6.4,409,6191,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2337,3024
$GC,6535,-0.91,-146.0,461.3,-6.3,418,6538,0.00,2.30,0.00,0.000,4,0.000,0.060,2236,3749,3024
$GC,6581,-0.96,-146.0,464.3,-6.7,419,6585,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2337,3024
$GC,6911,-0.96,-146.0,484.0,-5.9,427,6915,0.00,2.30,0.00,0.000,4,0.000,0.060,2235,3747,3024
$GC,6939,-1.01,-146.0,485.7,-6.9,427,6943,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2334,3024
$GC,7283,-1.01,-146.0,504.6,-5.4,436,7286,0.00,2.30,0.00,0.000,4,0.000,0.059,2236,3745,3025
$GC,7316,-1.01,-146.0,506.5,-6.0,436,7319,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2334,3025
$GC,7653,-1.01,-146.0,525.0,-5.6,445,7657,0.00,2.33,0.00,0.000,4,0.000,0.060,2235,3757,3025
$GC,7692,-1.06,-146.0,527.5,-6.6,445,7699,0.12,2.17,0.00,0.000,6,0.097,0.035,2190,2330,3025
$GC,8024,-0.94,-146.0,551.1,-7.0,454,8029,0.15,2.33,0.00,0.000,4,0.146,0.060,2231,3749,3025
$GC,8035,-0.85,-146.0,551.9,-6.9,454,8039,0.00,2.15,0.00,0.000,6,0.000,0.035,2231,2337,3025
$GC,8349,-0.85,-146.0,571.7,-6.4,462,8352,0.00,2.30,0.00,0.000,4,0.000,0.060,2231,3748,3025
$GC,8372,-0.90,-146.0,573.3,-6.8,462,8375,0.00,2.15,0.00,0.000,6,0.000,0.035,2231,2335,3025
$GC,8720,-0.90,-146.0,595.4,-6.2,471,8724,0.00,2.30,0.00,0.000,4,0.000,0.060,2231,3754,3025
$GC,8730,-0.90,-146.0,596.2,-6.2,471,8734,0.00,2.15,0.00,0.000,6,0.000,0.035,2231,2340,3025
$GC,9049,-0.90,-146.0,616.3,-6.2,479,9053,0.00,2.30,0.00,0.000,4,0.000,0.061,2231,3753,3025
$GC,9083,-0.95,-146.0,618.6,-6.7,479,9087,0.00,2.15,0.00,0.000,6,0.000,0.035,2231,2340,3025
$STATE,9213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9214,begin apogee
$GC,9220,-0.34,0.0,627.4,6.6,483,9353,0.43,0.00,130.35,1.200,6,0.133,0.000,2365,2517,2421
$STATE,9354,end apogee,CONTROL_FINISHED_OK
$STATE,9354,begin climb
$GC,9357,1.08,146.0,630.7,0.0,486,9508,1.02,2.60,137.27,1.113,4,0.100,0.046,2674,1124,1825
$GC,9560,0.96,146.0,617.3,9.2,491,9565,0.12,2.42,0.00,0.000,6,0.138,0.044,2643,2532,1825
$GC,9909,0.90,146.0,591.2,7.7,500,9913,0.00,2.22,0.00,0.000,4,0.000,0.061,2643,3927,1825
$GC,10022,0.74,146.0,580.6,9.6,502,10027,0.17,2.15,0.00,0.000,6,0.142,0.036,2594,2517,1826
$GC,10370,0.90,179.6,559.7,5.9,511,10405,0.12,2.28,28.77,1.130,4,0.077,0.048,2650,1120,1687
$GC,10450,0.90,179.6,553.6,7.8,512,10457,0.00,2.22,0.00,0.000,6,0.000,0.044,2650,2525,1688
$GC,10782,0.84,179.6,526.2,8.2,521,10786,0.12,2.25,0.00,0.000,4,0.136,0.061,2613,3928,1688
$GC,10843,0.88,205.9,521.7,6.1,522,10871,0.00,2.15,22.40,1.103,6,0.000,0.036,2613,2505,1580
$GC,11195,1.02,234.5,500.7,6.0,531,11225,0.15,2.22,24.52,1.098,4,0.072,0.048,2678,1115,1464
$GC,11282,0.97,234.5,493.3,8.8,533,11287,0.12,2.22,0.00,0.000,6,0.132,0.043,2642,2532,1466
$GC,11612,0.97,234.5,469.7,7.2,541,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2532,1466
$GC,11936,0.97,234.5,446.1,7.2,549,11940,0.00,2.20,0.00,0.000,4,0.000,0.047,2642,1120,1466
$GC,11998,1.06,244.0,442.2,6.7,550,12013,0.10,2.17,9.32,0.969,6,0.084,0.043,2684,2523,1425
$GC,12351,0.98,244.0,409.6,9.6,559,12353,0.15,0.00,0.00,0.000,6,0.125,0.000,2639,2523,1428
$GC,12657,1.07,263.2,388.3,6.4,570,12681,0.12,2.22,17.30,1.020,4,0.078,0.047,2693,1122,1347
$GC,12733,1.03,263.2,382.0,9.3,573,12738,0.15,2.17,0.00,0.000,6,0.131,0.044,2649,2518,1348
$GC,13059,1.07,263.2,358.3,7.4,589,13063,0.00,2.20,0.00,0.000,4,0.000,0.048,2650,1110,1348
$GC,13105,1.17,263.2,354.9,7.4,591,13110,0.15,2.20,0.00,0.000,6,0.071,0.043,2713,2530,1348
$GC,13438,1.02,263.2,318.3,11.4,607,13440,0.20,0.00,0.00,0.000,6,0.126,0.000,2651,2530,1348
$GC,13746,1.07,263.2,292.7,8.6,622,13750,0.00,2.20,0.00,0.000,4,0.000,0.047,2651,1122,1349
$GC,13848,1.17,263.2,283.9,8.8,626,13852,0.15,2.17,0.00,0.000,6,0.070,0.043,2716,2524,1348
$GC,14169,1.02,263.2,246.7,11.1,642,14171,0.20,0.00,0.00,0.000,6,0.120,0.000,2654,2524,1349
$GC,14479,1.09,263.2,223.4,7.3,657,14482,0.00,2.20,0.00,0.000,4,0.000,0.048,2654,1119,1349
$GC,14540,1.20,263.2,218.9,7.3,659,14547,0.15,2.17,0.00,0.000,6,0.071,0.042,2718,2521,1349
$GC,14856,1.07,263.2,185.7,10.4,675,14858,0.17,0.00,0.00,0.000,6,0.120,0.000,2664,2522,1349
$GC,15166,1.14,267.9,162.6,6.9,690,15176,0.00,2.22,5.90,0.742,4,0.000,0.047,2664,1115,1327
$GC,15234,1.28,294.8,158.1,6.1,693,15265,0.17,2.20,22.85,0.903,6,0.065,0.042,2734,2533,1218
$GC,15583,1.15,294.8,120.0,11.4,710,15585,0.17,0.00,0.00,0.000,6,0.123,0.000,2680,2534,1219
$GC,15894,1.26,309.7,96.0,6.5,731,15914,0.10,2.30,13.12,0.841,4,0.081,0.048,2730,1119,1157
$GC,15988,1.26,309.7,87.5,9.6,747,15994,0.00,2.20,0.00,0.000,6,0.000,0.043,2730,2529,1159
$GC,16332,1.26,309.7,56.1,7.3,808,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2529,1159
$GC,16675,1.26,309.7,27.2,7.6,869,16681,0.00,2.20,0.00,0.000,4,0.000,0.048,2730,1123,1160
$GC,16773,1.31,309.7,19.6,7.7,886,16779,0.00,2.17,0.00,0.000,6,0.000,0.044,2730,2523,1160
$STATE,16997,end climb,SURFACE_DEPTH_REACHED
$STATE,16997,begin surface coast
$FINISH,0.9,1.013341
$STATE,17026,end surface coast,CONTROL_FINISHED_OK
$STATE,17026,begin surface
$SM_CCo,17105,0.00,0.000,0,0,1158,309.57
$SM_GC,1.82,7.07,0.00,0.00,0.065,0.000,0.000,160,2330,1158,-10.37,-0.28,309.57
$RAFOS_CLK,878
$RAFOS,4,1227084274,8.750000,8.742778,67,61,58,52,52,51,630,173,209,156,139,190
$RAFOS,3,1227083648,8.583333,8.568889,61,61,59,56,53,50,212,228,155,174,185,126
$RAFOS,2,1227083076,8.416667,8.410000,68,58,56,55,53,51,167,444,200,147,209,137
$RAFOS,1,1227082450,8.250000,8.236111,59,57,56,56,53,53,798,180,222,203,113,818
$RAFOS,0,1227081861,8.083333,8.072500,63,56,55,51,50,47,204,160,122,186,217,134
$RAFOS_FIX,7544.612793,-8455.451172,171108,161633,3,77,94.26
$IRIDIUM_FIX,6636.54,-5707.59,130298,010113
$TT8_MAMPS,0.027612
$HUMID,1870
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,20.9,61.024
$10V_AH,10.6,26.820
$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,21.950,165.650,411.825,0.000,0.000,29.826,33.893,157.470,0.750,0.000,0.000,14.035,1760.678,12775.297,565.119,1826.367,529.296,33.380,1603.766,0.000,1799.287,1800.000,0.530,0.000
$DEVICE_MAMPS,260.013,67.496,1199.588,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.856,630.582,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34750,931
$CAP_FILE_SIZE,144793,0
$CFSIZE,260165632,226779136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.8
$GPS,191108,113226,6705.045,-5705.780,37,1.0,37,-37.7