version: 66.04
glider: 113
mission: 4
dive: 344
start: 11 23 108 21 34 5
data:
$ID,113
$MISSION,4
$DIVE,344
$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,558.3028
$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,-29593.955
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,210937,6649.029,-5743.089,70,1.3,70,-37.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-54.3
$GPS2,213309,6648.699,-5743.046,107,1.9,115,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.116,0.192
$KALMAN_X,-57823.9,-1208.8,624.6,44962.5,1705.5
$KALMAN_Y,-28991.3,-33.7,-810.0,18423.3,-1063.0
$MHEAD_RNG_PITCHd_Wd,68.6,47767,-12.9,-7.021
$D_GRID,666
$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,-146.0,0.0,0.0,0,185,0.00,0.00,-162.88,0.000,6,0.000,0.000,160,2334,3017
$GC,188,-1.08,-146.0,3.6,-3.1,30,202,9.00,2.33,0.00,0.000,4,0.268,0.061,2198,927,3019
$GC,346,-0.52,-146.0,33.2,-21.8,57,353,0.45,2.28,0.00,0.000,6,0.173,0.053,2325,2345,3022
$GC,691,-0.52,-146.0,60.7,-8.4,118,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2345,3023
$GC,1034,-0.59,-146.0,84.8,-6.2,179,1040,0.00,2.28,0.00,0.000,4,0.000,0.057,2325,935,3023
$GC,1081,-0.59,-146.0,88.1,-7.2,187,1087,0.00,2.28,0.00,0.000,6,0.000,0.054,2325,2350,3024
$GC,1435,-0.70,-146.0,106.6,-6.4,236,1439,0.15,2.33,0.00,0.000,4,0.087,0.071,2269,3745,3024
$GC,1641,-0.70,-146.0,127.6,-10.9,245,1645,0.00,2.20,0.00,0.000,6,0.000,0.042,2269,2337,3023
$GC,1963,-0.70,-146.0,160.1,-9.3,261,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2337,3023
$GC,2272,-0.70,-146.0,187.9,-8.2,276,2277,0.00,2.38,0.00,0.000,4,0.000,0.071,2269,3750,3023
$GC,2335,-0.75,-146.0,192.6,-7.2,279,2339,0.00,2.20,0.00,0.000,6,0.000,0.041,2269,2334,3023
$GC,2667,-0.75,-146.0,217.1,-6.9,295,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2334,3022
$GC,2977,-0.75,-146.0,236.4,-6.1,310,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2334,3022
$GC,3286,-0.79,-146.0,256.8,-7.0,325,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2334,3022
$GC,3595,-0.84,-146.0,279.4,-7.4,340,3599,0.00,2.38,0.00,0.000,4,0.000,0.070,2269,3749,3021
$GC,3646,-0.94,-146.0,283.4,-8.1,342,3650,0.15,2.20,0.00,0.000,6,0.095,0.040,2217,2337,3021
$GC,3966,-0.84,-146.0,314.4,-10.0,358,3968,0.15,0.00,0.00,0.000,6,0.156,0.000,2257,2337,3021
$GC,4276,-0.84,-146.0,341.1,-8.6,373,4280,0.00,2.38,0.00,0.000,4,0.000,0.069,2257,3754,3022
$GC,4331,-0.92,-146.0,346.2,-9.4,375,4338,0.00,2.22,0.00,0.000,6,0.000,0.041,2257,2327,3022
$GC,4647,-0.98,-146.0,374.6,-8.8,391,4649,0.12,0.00,0.00,0.000,6,0.100,0.000,2211,2327,3022
$GC,4976,-0.88,-146.0,408.3,-10.2,405,4981,0.12,2.40,0.00,0.000,4,0.162,0.068,2243,3753,3023
$GC,5049,-0.94,-146.0,415.0,-8.7,406,5053,0.00,2.22,0.00,0.000,6,0.000,0.040,2243,2326,3023
$GC,5385,-0.94,-146.0,441.2,-7.3,415,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2326,3023
$GC,5711,-0.94,-146.0,461.3,-5.9,423,5715,0.00,2.38,0.00,0.000,4,0.000,0.067,2243,3745,3023
$GC,5768,-0.99,-146.0,464.7,-5.6,424,5772,0.10,2.20,0.00,0.000,6,0.105,0.039,2207,2330,3024
$GC,6086,-0.90,-146.0,485.3,-6.4,432,6091,0.12,2.38,0.00,0.000,4,0.157,0.067,2241,3748,3024
$GC,6143,-0.95,-146.0,488.6,-5.8,433,6147,0.00,2.20,0.00,0.000,6,0.000,0.039,2241,2335,3024
$GC,6461,-0.95,-146.0,506.0,-5.5,441,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2335,3025
$GC,6786,-0.95,-146.0,524.9,-6.0,449,6790,0.00,2.38,0.00,0.000,4,0.000,0.067,2241,3754,3025
$GC,6849,-1.01,-146.0,529.0,-6.8,450,6853,0.10,2.22,0.00,0.000,6,0.104,0.039,2205,2324,3025
$GC,7197,-0.92,-146.0,554.8,-7.5,459,7201,0.12,2.40,0.00,0.000,4,0.157,0.067,2239,3747,3025
$GC,7252,-0.98,-146.0,558.4,-6.3,460,7256,0.00,2.20,0.00,0.000,6,0.000,0.040,2240,2336,3025
$GC,7566,-0.98,-146.0,576.2,-5.7,468,7570,0.00,2.22,0.00,0.000,4,0.000,0.053,2240,930,3025
$GC,7605,-0.98,-146.0,578.7,-6.7,468,7611,0.00,2.28,0.00,0.000,6,0.000,0.051,2239,2351,3026
$GC,7937,-0.98,-146.0,597.6,-5.7,477,7940,0.00,2.33,0.00,0.000,4,0.000,0.068,2240,3754,3026
$GC,8028,-1.05,-146.0,603.0,-6.0,479,8033,0.12,2.20,0.00,0.000,6,0.098,0.039,2196,2335,3026
$GC,8358,-0.95,-146.0,626.5,-7.2,487,8363,0.12,2.38,0.00,0.000,4,0.159,0.067,2229,3755,3026
$GC,8397,-0.95,-146.0,629.1,-6.4,487,8403,0.00,2.20,0.00,0.000,6,0.000,0.039,2229,2335,3026
$GC,8729,-0.95,-146.0,649.1,-5.9,496,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2335,3026
$STATE,9012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9012,begin apogee
$GC,9018,-0.34,0.0,666.3,6.1,503,9157,0.45,0.00,135.62,1.293,6,0.141,0.000,2367,2522,2420
$STATE,9158,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9160,1.08,146.0,668.9,0.0,506,9356,1.02,2.72,153.48,1.129,4,0.104,0.051,2665,1124,1824
$GC,9384,1.01,146.0,653.9,8.4,511,9389,0.00,2.55,0.00,0.000,6,0.000,0.048,2665,2518,1824
$GC,9732,0.89,146.0,624.9,8.3,520,9737,0.15,2.35,0.00,0.000,4,0.140,0.065,2623,3934,1823
$GC,9776,0.82,146.0,621.4,7.1,521,9780,0.00,2.22,0.00,0.000,6,0.000,0.040,2623,2517,1823
$GC,10101,0.85,167.3,601.0,6.3,529,10125,0.00,2.42,18.80,1.204,4,0.000,0.067,2623,3930,1737
$GC,10154,0.85,167.3,597.3,7.6,530,10158,0.00,2.22,0.00,0.000,6,0.000,0.040,2623,2516,1737
$GC,10473,0.94,195.4,577.4,6.1,538,10503,0.00,2.42,24.55,1.215,4,0.000,0.068,2623,3941,1623
$GC,10532,0.94,197.2,573.5,7.0,539,10535,0.00,2.25,0.00,0.000,6,0.000,0.040,2623,2515,1623
$GC,10846,1.07,234.2,555.0,5.8,547,10888,0.15,2.33,33.55,1.215,4,0.077,0.054,2689,1126,1465
$GC,10905,0.99,234.2,550.2,7.5,548,10910,0.15,2.30,0.00,0.000,6,0.136,0.049,2648,2535,1464
$GC,11254,0.99,237.5,525.8,6.9,557,11260,0.00,0.00,4.35,0.815,6,0.000,0.000,2648,2535,1451
$GC,11578,0.99,237.5,502.6,7.3,565,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2535,1452
$GC,11903,0.99,237.5,477.5,7.9,573,11907,0.00,2.28,0.00,0.000,4,0.000,0.053,2648,1111,1452
$GC,11930,1.07,237.5,475.3,7.6,573,11934,0.00,2.25,0.00,0.000,6,0.000,0.048,2648,2533,1452
$GC,12274,1.12,237.5,448.1,7.9,582,12278,0.12,2.28,0.00,0.000,4,0.081,0.051,2703,1109,1452
$GC,12289,1.12,237.5,446.5,8.0,582,12294,0.10,2.25,0.00,0.000,6,0.144,0.049,2677,2529,1452
$GC,12602,1.07,237.5,416.0,9.8,590,12606,0.00,2.25,0.00,0.000,4,0.000,0.053,2677,1115,1451
$GC,12624,1.07,237.5,413.7,9.6,590,12629,0.00,2.22,0.00,0.000,6,0.000,0.050,2676,2517,1451
$GC,12955,1.02,237.5,382.9,8.9,603,12959,0.00,2.25,0.00,0.000,4,0.000,0.053,2677,1108,1451
$GC,12983,1.02,237.5,380.5,8.3,604,12987,0.00,2.25,0.00,0.000,6,0.000,0.049,2676,2529,1451
$GC,13310,1.02,237.5,353.8,8.0,620,13314,0.00,2.25,0.00,0.000,4,0.000,0.052,2676,1116,1451
$GC,13334,1.02,237.5,351.9,8.6,621,13338,0.00,2.22,0.00,0.000,6,0.000,0.049,2677,2520,1451
$GC,13667,1.02,237.5,324.1,8.6,637,13670,0.00,2.25,0.00,0.000,4,0.000,0.053,2677,1110,1451
$GC,13689,1.02,237.5,322.2,8.1,638,13693,0.00,2.25,0.00,0.000,6,0.000,0.048,2676,2529,1450
$GC,14022,1.02,237.5,292.0,8.9,654,14026,0.00,2.25,0.00,0.000,4,0.000,0.052,2677,1117,1451
$GC,14044,1.02,237.5,290.1,8.6,655,14048,0.00,2.22,0.00,0.000,6,0.000,0.048,2677,2522,1451
$GC,14377,1.02,237.5,262.9,7.8,671,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2522,1451
$GC,14686,1.02,237.5,240.5,7.2,686,14690,0.00,2.25,0.00,0.000,4,0.000,0.054,2677,1117,1451
$GC,14725,1.02,237.5,237.8,7.0,687,14731,0.00,2.22,0.00,0.000,6,0.000,0.048,2677,2523,1451
$GC,15041,1.04,248.4,215.9,6.6,703,15056,0.00,2.28,10.70,0.964,4,0.000,0.051,2677,1112,1406
$GC,15068,1.05,258.4,213.9,6.7,703,15083,0.00,2.25,9.95,0.931,6,0.000,0.048,2676,2525,1366
$GC,15411,1.11,269.6,191.4,6.6,720,15427,0.00,2.28,11.10,0.948,4,0.000,0.051,2677,1112,1320
$GC,15439,1.21,285.2,189.6,6.5,720,15460,0.10,2.25,13.95,0.953,6,0.087,0.048,2718,2527,1257
$GC,15784,1.15,285.2,156.5,10.3,737,15788,0.12,2.28,0.00,0.000,4,0.132,0.052,2681,1109,1257
$GC,15845,1.25,285.2,150.6,8.7,739,15852,0.10,2.25,0.00,0.000,6,0.084,0.049,2721,2527,1257
$GC,16161,1.19,285.2,119.0,9.6,755,16163,0.10,0.00,0.00,0.000,6,0.133,0.000,2693,2528,1257
$GC,16479,1.26,285.2,91.7,8.4,782,16485,0.00,2.25,0.00,0.000,4,0.000,0.053,2693,1119,1257
$GC,16555,1.37,285.2,85.5,8.2,795,16562,0.15,2.22,0.00,0.000,6,0.076,0.049,2753,2518,1257
$GC,16900,1.25,285.2,49.4,11.6,856,16907,0.17,2.33,0.00,0.000,4,0.134,0.066,2699,3935,1257
$GC,16941,1.25,285.2,45.2,9.5,863,16948,0.00,2.20,0.00,0.000,6,0.000,0.041,2699,2517,1257
$GC,17286,1.36,285.2,22.0,7.4,924,17293,0.12,2.25,0.00,0.000,4,0.079,0.055,2749,1109,1256
$GC,17333,1.38,300.9,19.2,6.5,932,17352,0.00,2.28,14.23,0.953,6,0.000,0.052,2749,2532,1193
$STATE,17494,end climb,SURFACE_DEPTH_REACHED
$STATE,17494,begin surface coast
$FINISH,0.8,1.013781
$STATE,17504,end surface coast,CONTROL_FINISHED_OK
$STATE,17504,begin surface
$SM_CCo,17522,227.10,0.882,0,0,144,558.30
$SM_GC,1.28,0.00,0.00,227.10,0.000,0.000,0.882,167,2343,144,-10.43,0.06,558.30
$RAFOS_CLK,1040
$RAFOS,4,1227487458,0.750000,0.738333,61,60,60,57,53,53,140,196,213,693,165,126
$RAFOS,3,1227486846,0.583333,0.568333,59,58,56,51,50,48,222,196,150,161,122,141
$RAFOS,2,1227486271,0.416667,0.408611,88,62,57,56,55,53,430,201,159,234,170,189
$RAFOS,1,1227485652,0.250000,0.236667,75,71,58,54,54,53,693,156,195,230,215,165
$RAFOS,0,1227485055,0.083333,0.070833,69,59,57,56,51,51,207,175,189,224,132,166
$RAFOS_FIX,6652.359375,-5748.571289,241108,000020,2,82,0.78
$IRIDIUM_FIX,6620.33,-5746.38,170298,212109
$TT8_MAMPS,0.028379
$HUMID,1844
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,15.30
$XPDR_PINGS,3
$24V_AH,20.2,64.207
$10V_AH,10.5,28.344
$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,21.250,151.450,430.275,227.100,0.000,130.315,292.572,466.318,0.750,0.000,0.000,117.432,1769.587,13286.042,846.473,2015.883,1250.286,33.374,1921.071,0.000,1878.720,1800.000,0.529,0.000
$DEVICE_MAMPS,267.683,73.632,1293.162,882.050,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.189,658.820,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34683,962
$CAP_FILE_SIZE,147359,0
$CFSIZE,260165632,225353728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1451.5
$GPS,241108,023201,6649.578,-5739.531,65,1.5,70,-37.5