version: 66.04
glider: 113
mission: 4
dive: 345
start: 11 24 108 3 5 37
data:
$ID,113
$MISSION,4
$DIVE,345
$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,-30500.127
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,023201,6649.578,-5739.531,65,1.5,70,-37.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-42.9
$GPS2,023201,6649.578,-5739.531,65,1.5,70,-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,0.167,0.150
$KALMAN_X,-55969.8,94.9,-827.9,47158.7,4808.7
$KALMAN_Y,-31491.6,-223.5,817.3,22068.2,-4234.6
$MHEAD_RNG_PITCHd_Wd,85.5,44752,-12.9,-7.021
$D_GRID,683
$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,-146.0,0.0,0.0,0,212,0.00,0.00,-193.45,0.000,2,0.000,0.000,168,2340,2922
$GC,216,-1.08,-146.0,3.1,-2.3,34,235,8.75,2.30,-3.45,0.000,4,0.255,0.069,2199,918,3017
$GC,393,-0.57,-146.0,39.6,-15.8,65,401,0.43,2.30,0.00,0.000,6,0.175,0.054,2310,2345,3023
$GC,738,-0.57,-146.0,72.5,-9.5,126,745,0.00,2.33,0.00,0.000,4,0.000,0.071,2310,3750,3023
$GC,863,-0.57,-146.0,83.5,-8.3,148,870,0.00,2.22,0.00,0.000,6,0.000,0.042,2311,2324,3023
$GC,1212,-0.62,-146.0,112.0,-7.8,191,1216,0.00,2.22,0.00,0.000,4,0.000,0.058,2311,932,3024
$GC,1239,-0.62,-146.0,114.2,-8.1,192,1243,0.00,2.28,0.00,0.000,6,0.000,0.053,2310,2348,3024
$GC,1567,-0.72,-146.0,135.0,-5.8,208,1571,0.12,2.33,0.00,0.000,4,0.091,0.071,2261,3745,3024
$GC,1667,-0.72,-146.0,143.6,-9.0,212,1673,0.00,2.20,0.00,0.000,6,0.000,0.041,2261,2337,3023
$GC,1982,-0.72,-146.0,168.9,-8.0,228,1986,0.00,2.25,0.00,0.000,4,0.000,0.058,2261,932,3023
$GC,2039,-0.64,-146.0,173.9,-8.6,230,2044,0.15,2.28,0.00,0.000,6,0.166,0.054,2299,2342,3023
$GC,2360,-0.76,-146.0,193.6,-5.6,246,2364,0.12,2.35,0.00,0.000,4,0.101,0.069,2252,3754,3023
$GC,2437,-0.76,-146.0,199.5,-7.9,249,2441,0.00,2.22,0.00,0.000,6,0.000,0.041,2251,2328,3023
$GC,2759,-0.76,-146.0,223.4,-7.4,265,2763,0.00,2.38,0.00,0.000,4,0.000,0.071,2251,3745,3023
$GC,2820,-0.76,-146.0,228.4,-7.8,267,2827,0.00,2.20,0.00,0.000,6,0.000,0.042,2251,2337,3023
$GC,3136,-0.76,-146.0,251.7,-7.1,283,3140,0.00,2.38,0.00,0.000,4,0.000,0.070,2252,3754,3023
$GC,3192,-0.76,-146.0,256.1,-8.0,285,3196,0.00,2.22,0.00,0.000,6,0.000,0.041,2251,2328,3023
$GC,3516,-0.76,-146.0,279.7,-7.3,301,3520,0.00,2.38,0.00,0.000,4,0.000,0.068,2251,3750,3023
$GC,3559,-0.76,-146.0,283.2,-7.6,303,3563,0.00,2.20,0.00,0.000,6,0.000,0.040,2251,2336,3023
$GC,3888,-0.76,-146.0,304.6,-6.4,319,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2336,3023
$GC,4196,-0.76,-146.0,324.2,-6.4,334,4200,0.00,2.35,0.00,0.000,4,0.000,0.067,2251,3745,3023
$GC,4223,-0.76,-146.0,326.0,-6.8,335,4227,0.00,2.20,0.00,0.000,6,0.000,0.040,2251,2330,3024
$GC,4545,-0.76,-146.0,347.8,-7.1,351,4548,0.00,2.38,0.00,0.000,4,0.000,0.067,2252,3753,3024
$GC,4572,-0.76,-146.0,349.8,-7.1,352,4576,0.00,2.20,0.00,0.000,6,0.000,0.039,2251,2335,3025
$GC,4899,-0.76,-146.0,372.9,-7.1,368,4903,0.00,2.35,0.00,0.000,4,0.000,0.067,2251,3746,3025
$GC,4943,-0.81,-146.0,376.1,-7.1,370,4947,0.00,2.20,0.00,0.000,6,0.000,0.039,2251,2331,3025
$GC,5270,-0.81,-146.0,398.4,-6.5,386,5274,0.00,2.35,0.00,0.000,4,0.000,0.067,2251,3744,3026
$GC,5293,-0.81,-146.0,400.0,-6.9,387,5297,0.00,2.20,0.00,0.000,6,0.000,0.040,2251,2326,3026
$GC,5642,-0.81,-146.0,422.3,-6.3,396,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2326,3026
$GC,5967,-0.81,-146.0,442.6,-6.1,404,5971,0.00,2.38,0.00,0.000,4,0.000,0.067,2251,3749,3026
$GC,6045,-0.87,-146.0,447.6,-6.0,405,6052,0.00,2.20,0.00,0.000,6,0.000,0.040,2251,2334,3027
$GC,6377,-0.87,-146.0,467.3,-5.7,414,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2334,3027
$GC,6702,-0.87,-146.0,485.9,-5.6,422,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2334,3027
$GC,7027,-0.87,-146.0,504.3,-5.5,430,7031,0.00,2.38,0.00,0.000,4,0.000,0.067,2251,3757,3027
$GC,7073,-0.93,-146.0,506.9,-5.6,431,7077,0.00,2.20,0.00,0.000,6,0.000,0.040,2251,2339,3027
$GC,7404,-0.93,-146.0,525.4,-5.6,439,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2338,3027
$GC,7728,-0.93,-146.0,544.2,-5.8,447,7732,0.00,2.35,0.00,0.000,4,0.000,0.067,2251,3744,3027
$GC,7756,-0.99,-146.0,546.0,-6.4,447,7761,0.12,2.20,0.00,0.000,6,0.102,0.039,2207,2330,3027
$GC,8099,-0.90,-146.0,570.3,-7.2,456,8101,0.12,0.00,0.00,0.000,6,0.158,0.000,2240,2328,3027
$GC,8423,-0.90,-146.0,589.9,-6.0,464,8427,0.00,2.38,0.00,0.000,4,0.000,0.067,2241,3749,3028
$GC,8502,-0.94,-146.0,595.0,-6.4,465,8506,0.00,2.20,0.00,0.000,6,0.000,0.040,2240,2338,3027
$GC,8839,-0.94,-146.0,615.7,-6.1,474,8843,0.00,2.35,0.00,0.000,4,0.000,0.067,2240,3743,3027
$GC,8877,-0.94,-146.0,618.1,-6.2,474,8884,0.00,2.20,0.00,0.000,6,0.000,0.040,2240,2330,3027
$GC,9209,-0.94,-146.0,638.0,-6.0,483,9213,0.00,2.38,0.00,0.000,4,0.000,0.067,2240,3751,3027
$GC,9248,-0.99,-146.0,640.5,-7.0,483,9255,0.00,2.20,0.00,0.000,6,0.000,0.039,2240,2334,3027
$GC,9580,-0.99,-146.0,660.9,-6.1,492,9584,0.00,2.38,0.00,0.000,4,0.000,0.067,2240,3757,3027
$GC,9608,-1.05,-146.0,662.8,-6.8,492,9612,0.12,2.20,0.00,0.000,6,0.097,0.038,2198,2336,3027
$STATE,9906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9906,begin apogee
$GC,9914,-0.34,0.0,685.5,7.9,500,10084,0.55,0.00,157.23,1.193,6,0.150,0.000,2360,2523,2421
$STATE,10085,end apogee,CONTROL_FINISHED_OK
$STATE,10085,begin climb
$GC,10088,1.08,146.0,689.8,0.0,504,10295,1.08,2.83,157.27,1.124,4,0.107,0.065,2666,3927,1825
$GC,10335,0.83,146.0,669.5,9.6,509,10342,0.20,2.47,0.00,0.000,6,0.138,0.040,2616,2528,1826
$GC,10666,0.83,150.4,646.7,6.9,518,10673,0.00,0.00,5.03,0.888,6,0.000,0.000,2616,2528,1807
$GC,10991,0.85,163.5,625.5,6.6,526,11010,0.00,2.40,12.93,1.167,4,0.000,0.068,2616,3935,1754
$GC,11035,0.86,170.7,622.4,6.8,527,11049,0.00,2.22,7.72,1.046,6,0.000,0.041,2616,2514,1725
$GC,11363,0.95,184.3,600.4,6.6,535,11379,0.10,0.00,13.02,1.167,6,0.092,0.000,2657,2512,1669
$GC,11688,0.88,184.3,573.9,8.2,543,11693,0.12,2.35,0.00,0.000,4,0.143,0.067,2623,3930,1672
$GC,11716,0.88,184.3,571.6,8.1,543,11719,0.00,2.20,0.00,0.000,6,0.000,0.041,2623,2511,1673
$GC,12053,0.95,194.3,549.1,6.7,552,12064,0.00,0.00,9.68,1.114,6,0.000,0.000,2623,2510,1629
$GC,12378,1.03,197.0,526.7,6.9,560,12388,0.12,2.38,4.20,0.807,4,0.084,0.068,2675,3941,1618
$GC,12411,0.85,197.0,523.4,10.3,560,12415,0.20,2.22,0.00,0.000,6,0.143,0.041,2617,2506,1619
$GC,12748,0.95,200.3,499.8,6.9,569,12755,0.10,0.00,4.80,0.875,6,0.091,0.000,2663,2505,1604
$GC,13072,0.90,200.3,471.8,8.7,577,13074,0.12,0.00,0.00,0.000,6,0.137,0.000,2627,2505,1607
$GC,13398,0.97,200.3,447.6,7.3,585,13402,0.00,2.38,0.00,0.000,4,0.000,0.068,2626,3943,1607
$GC,13420,0.97,200.3,445.7,8.3,585,13424,0.00,2.20,0.00,0.000,6,0.000,0.040,2626,2518,1608
$GC,13768,1.05,204.7,421.2,6.9,594,13776,0.12,0.00,5.30,0.894,6,0.082,0.000,2678,2517,1586
$GC,14074,0.96,204.7,394.1,9.0,603,14076,0.12,0.00,0.00,0.000,6,0.131,0.000,2641,2518,1589
$GC,14382,0.97,210.1,372.5,6.8,618,14391,0.00,0.00,6.40,0.940,6,0.000,0.000,2641,2517,1564
$GC,14693,1.02,218.2,351.8,6.7,633,14707,0.00,2.40,8.52,0.997,4,0.000,0.068,2641,3930,1531
$GC,14736,1.02,218.2,348.4,7.8,635,14740,0.00,2.20,0.00,0.000,6,0.000,0.041,2641,2515,1532
$GC,15069,1.08,218.2,324.7,7.3,651,15071,0.10,0.00,0.00,0.000,6,0.091,0.000,2685,2515,1534
$GC,15379,1.00,218.2,294.8,9.9,666,15381,0.12,0.00,0.00,0.000,6,0.132,0.000,2649,2515,1534
$GC,15687,1.00,218.2,271.4,7.1,681,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2515,1534
$GC,15997,1.03,240.2,251.2,6.3,696,16022,0.00,2.30,19.45,1.041,4,0.000,0.054,2649,1112,1440
$GC,16057,1.16,254.1,247.3,6.5,698,16077,0.15,2.28,12.93,0.976,6,0.074,0.048,2708,2538,1385
$GC,16395,1.06,254.1,216.3,9.4,715,16397,0.15,0.00,0.00,0.000,6,0.127,0.000,2663,2539,1387
$GC,16704,1.13,263.5,194.6,6.7,730,16718,0.00,2.30,9.30,0.927,4,0.000,0.053,2663,1112,1346
$GC,16736,1.26,285.4,192.4,6.3,731,16761,0.15,2.22,19.50,0.982,6,0.072,0.048,2721,2518,1256
$GC,17080,1.18,285.4,159.8,9.5,748,17082,0.12,0.00,0.00,0.000,6,0.132,0.000,2684,2519,1257
$GC,17387,1.20,296.9,138.3,6.6,763,17402,0.00,2.28,10.88,0.930,4,0.000,0.054,2685,1109,1209
$GC,17436,1.29,296.9,134.9,7.2,764,17440,0.12,2.25,0.00,0.000,6,0.078,0.048,2732,2523,1210
$GC,17757,1.21,296.9,104.0,10.4,780,17762,0.12,2.25,0.00,0.000,4,0.131,0.053,2695,1120,1212
$GC,17831,1.29,296.9,97.7,8.1,787,17838,0.00,2.22,0.00,0.000,6,0.000,0.049,2695,2524,1212
$GC,18176,1.38,309.1,71.5,6.6,848,18195,0.15,2.30,11.38,0.933,4,0.072,0.067,2760,3926,1159
$GC,18224,1.20,309.1,66.8,10.6,856,18231,0.22,2.20,0.00,0.000,6,0.140,0.042,2694,2519,1160
$GC,18569,1.32,309.1,41.1,7.8,917,18576,0.10,2.22,0.00,0.000,4,0.085,0.054,2737,1114,1162
$GC,18633,1.32,309.1,36.3,7.2,928,18640,0.00,2.25,0.00,0.000,6,0.000,0.051,2737,2523,1161
$GC,18980,1.32,347.8,6.7,5.7,989,19021,0.00,2.35,33.20,0.969,4,0.000,0.052,2741,1117,1001
$STATE,19026,end climb,SURFACE_DEPTH_REACHED
$STATE,19026,begin surface coast
$FINISH,1.0,1.026476
$STATE,19037,end surface coast,CONTROL_FINISHED_OK
$STATE,19037,begin surface
$SM_CCo,19057,188.35,0.870,1,0,144,558.30
$SM_GC,1.55,0.00,0.00,188.35,0.000,0.000,0.870,156,2356,144,-10.48,0.45,558.30
$RAFOS_CLK,1151
$RAFOS,1,1227514441,8.250000,8.233611,69,65,60,57,51,51,211,197,169,154,122,139
$RAFOS,0,1227513846,8.083333,8.068334,67,61,56,54,49,49,177,213,160,138,120,232
$RAFOS,4,1227501860,4.750000,4.738889,63,58,55,53,51,50,212,196,169,229,704,181
$RAFOS,3,1227501245,4.583333,4.568056,61,57,55,54,52,51,216,142,203,227,176,157
$RAFOS,2,1227500648,4.416667,4.402222,99,62,60,59,57,55,573,171,218,228,203,130
$RAFOS,1,1227500047,4.250000,4.235278,91,74,66,59,52,51,733,152,195,232,124,216
$RAFOS,0,1227499447,4.083333,4.068611,60,58,58,50,48,47,203,160,221,955,120,94
$RAFOS_FIX,6650.493164,-5744.527344,241108,040420,2,95,0.61
$IRIDIUM_FIX,6620.33,-5743.46,180298,020201
$TT8_MAMPS,0.028379
$HUMID,1859
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,20.2,64.443
$10V_AH,10.5,28.448
$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,21.625,151.200,508.725,188.350,0.000,131.808,217.507,292.925,0.250,0.000,0.000,905.545,1820.462,14671.290,945.896,2763.557,1017.213,33.364,2014.604,0.000,1852.133,2520.000,0.529,0.000
$DEVICE_MAMPS,254.644,72.865,1192.685,869.778,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.397,684.016,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37916,999
$CAP_FILE_SIZE,148338,0
$CFSIZE,260165632,225255424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$SOUNDSPEED,1452.8
$GPS,241108,082807,6648.160,-5733.863,42,2.0,42,-37.4