version: 66.04
glider: 113
mission: 4
dive: 360
start: 11 27 108 15 35 34
data:
$ID,113
$MISSION,4
$DIVE,360
$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,-31774.596
$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,33
$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
$GPS1,152738,6703.633,-5704.888,44,1.4,44,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-61.2
$GPS2,153439,6703.709,-5705.116,10,1.6,10,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.223,0.025
$KALMAN_X,-73272.6,-391.9,-693.2,88470.7,-1235.5
$KALMAN_Y,-27974.4,-46.4,1262.6,43120.1,-776.4
$MHEAD_RNG_PITCHd_Wd,121.2,12430,-12.9,-7.021
$D_GRID,656
$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,-146.0,0.0,0.0,0,120,0.00,0.00,-101.78,0.000,2,0.000,0.000,159,2339,2810
$GC,124,-1.08,-146.0,3.2,-1.9,18,149,8.62,2.35,-7.45,0.000,4,0.256,0.074,2192,3745,3017
$GC,254,-0.58,-146.0,25.6,-17.0,40,261,0.43,2.17,0.00,0.000,6,0.170,0.037,2311,2327,3020
$GC,599,-0.58,-146.0,58.8,-7.9,101,605,0.00,2.17,0.00,0.000,4,0.000,0.049,2312,932,3020
$GC,639,-0.58,-146.0,62.4,-8.8,108,646,0.00,2.22,0.00,0.000,6,0.000,0.045,2312,2351,3020
$GC,984,-0.66,-146.0,90.5,-7.9,169,990,0.00,2.25,0.00,0.000,4,0.000,0.062,2312,3743,3019
$GC,1021,-0.78,-146.0,93.4,-8.2,175,1028,0.15,2.15,0.00,0.000,6,0.081,0.036,2253,2337,3019
$GC,1362,-0.73,-146.0,127.1,-9.2,200,1364,0.10,0.00,0.00,0.000,6,0.166,0.000,2279,2336,3017
$GC,1669,-0.80,-146.0,148.5,-5.8,215,1673,0.00,2.30,0.00,0.000,4,0.000,0.061,2279,3742,3017
$GC,1687,-0.88,-146.0,149.6,-5.7,215,1694,0.12,2.15,0.00,0.000,6,0.091,0.035,2232,2336,3017
$GC,2003,-0.80,-146.0,172.1,-6.9,231,2008,0.12,2.30,0.00,0.000,4,0.160,0.059,2261,3749,3017
$GC,2049,-0.86,-146.0,175.1,-6.9,233,2053,0.00,2.15,0.00,0.000,6,0.000,0.035,2261,2335,3017
$GC,2381,-0.86,-146.0,195.8,-6.6,249,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2336,3017
$GC,2691,-0.86,-146.0,216.7,-6.6,264,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2335,3017
$GC,3000,-0.92,-146.0,238.6,-7.2,279,3002,0.10,0.00,0.00,0.000,6,0.111,0.000,2223,2335,3018
$GC,3309,-0.86,-146.0,263.3,-7.8,294,3311,0.10,0.00,0.00,0.000,6,0.162,0.000,2248,2334,3018
$GC,3618,-0.86,-146.0,284.0,-6.3,309,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2334,3019
$GC,3928,-0.86,-146.0,303.3,-6.5,324,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2334,3020
$GC,4237,-0.91,-146.0,323.6,-6.6,339,4241,0.00,2.33,0.00,0.000,4,0.000,0.059,2248,3756,3020
$GC,4281,-1.00,-146.0,326.7,-7.4,341,4286,0.12,2.17,0.00,0.000,6,0.096,0.034,2204,2326,3020
$GC,4603,-0.90,-146.0,352.2,-8.0,357,4608,0.15,2.33,0.00,0.000,4,0.141,0.058,2246,3746,3021
$GC,4659,-0.99,-146.0,356.0,-6.0,359,4665,0.10,2.15,0.00,0.000,6,0.106,0.033,2209,2330,3021
$GC,4975,-0.92,-146.0,378.7,-7.2,375,4980,0.12,2.33,0.00,0.000,4,0.149,0.058,2243,3746,3022
$GC,5002,-0.97,-146.0,380.8,-7.2,376,5006,0.00,2.15,0.00,0.000,6,0.000,0.033,2243,2333,3021
$GC,5323,-1.02,-146.0,403.1,-7.3,391,5328,0.12,2.30,0.00,0.000,4,0.091,0.057,2193,3749,3022
$GC,5351,-0.95,-146.0,405.4,-8.9,391,5356,0.15,2.15,0.00,0.000,6,0.143,0.033,2234,2330,3022
$GC,5688,-0.95,-146.0,429.7,-6.9,400,5692,0.00,2.30,0.00,0.000,4,0.000,0.058,2234,3757,3022
$GC,5727,-1.01,-146.0,432.5,-7.6,400,5733,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2340,3022
$GC,6059,-1.01,-146.0,455.2,-6.8,409,6062,0.00,2.30,0.00,0.000,4,0.000,0.058,2234,3753,3023
$GC,6098,-1.06,-146.0,457.9,-7.2,409,6105,0.12,2.15,0.00,0.000,6,0.096,0.033,2190,2335,3023
$GC,6429,-0.94,-146.0,483.8,-7.8,418,6431,0.15,0.00,0.00,0.000,6,0.144,0.000,2231,2332,3023
$GC,6755,-0.94,-146.0,503.9,-5.9,426,6759,0.00,2.30,0.00,0.000,4,0.000,0.059,2231,3746,3023
$GC,6771,-0.94,-146.0,505.0,-5.8,426,6775,0.00,2.12,0.00,0.000,6,0.000,0.033,2231,2337,3023
$GC,7084,-0.94,-146.0,522.8,-5.6,434,7088,0.00,2.30,0.00,0.000,4,0.000,0.059,2231,3753,3023
$GC,7100,-0.94,-146.0,523.7,-5.7,434,7104,0.00,2.15,0.00,0.000,6,0.000,0.033,2231,2337,3023
$GC,7414,-0.94,-146.0,540.8,-5.5,442,7418,0.00,2.30,0.00,0.000,4,0.000,0.058,2231,3748,3023
$GC,7430,-0.94,-146.0,541.9,-5.6,442,7434,0.00,2.15,0.00,0.000,6,0.000,0.032,2231,2331,3023
$GC,7744,-0.94,-146.0,560.2,-5.9,450,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2331,3024
$GC,8069,-0.94,-146.0,580.3,-6.3,458,8073,0.00,2.33,0.00,0.000,4,0.000,0.058,2231,3756,3024
$GC,8136,-1.01,-146.0,584.5,-6.7,459,8140,0.00,2.15,0.00,0.000,6,0.000,0.033,2231,2339,3024
$GC,8484,-1.01,-146.0,604.0,-6.1,468,8488,0.00,2.30,0.00,0.000,4,0.000,0.058,2232,3748,3024
$GC,8531,-1.07,-146.0,606.5,-5.1,469,8535,0.12,2.15,0.00,0.000,6,0.095,0.033,2187,2330,3025
$GC,8861,-0.96,-146.0,634.2,-9.2,477,8865,0.15,2.30,0.00,0.000,4,0.144,0.058,2229,3745,3025
$GC,8871,-0.88,-146.0,635.1,-9.2,477,8875,0.00,2.15,0.00,0.000,6,0.000,0.032,2229,2328,3025
$GC,9191,-1.33,-146.0,642.3,-0.0,485,9195,0.22,2.33,0.00,0.000,4,0.069,0.056,2136,3752,3025
$STATE,9228,end dive,NO_VERTICAL_VELOCITY
$STATE,9228,begin apogee
$GC,9236,-0.34,0.0,642.1,0.0,486,9369,0.70,0.00,130.30,1.200,6,0.097,0.000,2371,2508,2420
$STATE,9370,end apogee,CONTROL_FINISHED_OK
$STATE,9370,begin climb
$GC,9373,1.08,146.0,642.0,0.0,489,9516,0.98,2.55,136.12,1.124,4,0.099,0.044,2668,1119,1824
$GC,9609,0.97,146.0,624.1,9.6,494,9614,0.10,2.35,0.00,0.000,6,0.147,0.041,2644,2519,1824
$GC,9946,0.89,146.0,597.9,7.6,503,9950,0.00,2.25,0.00,0.000,4,0.000,0.058,2643,3935,1824
$GC,10059,0.72,146.0,587.8,8.3,505,10063,0.20,2.17,0.00,0.000,6,0.138,0.035,2587,2505,1824
$GC,10407,0.88,176.6,568.7,6.0,514,10436,0.15,0.00,26.12,1.129,6,0.068,0.000,2651,2503,1700
$GC,10732,0.81,176.6,542.9,7.9,522,10734,0.15,0.00,0.00,0.000,6,0.128,0.000,2607,2503,1700
$GC,11057,0.94,206.8,523.5,6.0,530,11085,0.12,0.00,25.92,1.111,6,0.077,0.000,2663,2503,1577
$GC,11382,0.88,206.8,496.2,8.3,538,11384,0.15,0.00,0.00,0.000,6,0.125,0.000,2617,2503,1577
$GC,11708,1.01,241.0,476.3,5.9,546,11740,0.12,0.00,29.55,1.091,6,0.078,0.000,2668,2503,1437
$GC,12031,1.01,241.0,449.1,8.6,554,12034,0.00,2.15,0.00,0.000,4,0.000,0.048,2668,1118,1437
$GC,12086,1.01,241.0,444.4,8.5,555,12090,0.00,2.20,0.00,0.000,6,0.000,0.042,2668,2532,1437
$GC,12405,1.01,241.0,418.0,8.2,563,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2532,1437
$GC,12710,1.01,241.0,393.6,7.9,572,12713,0.00,2.20,0.00,0.000,4,0.000,0.045,2668,1122,1437
$GC,12759,1.01,241.0,389.6,7.5,574,12763,0.00,2.17,0.00,0.000,6,0.000,0.043,2668,2520,1437
$GC,13087,1.01,241.0,364.6,7.6,590,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2520,1436
$GC,13396,1.01,241.0,340.2,7.9,605,13399,0.00,2.20,0.00,0.000,4,0.000,0.047,2668,1114,1437
$GC,13434,1.01,241.0,337.1,7.8,606,13441,0.00,2.17,0.00,0.000,6,0.000,0.041,2668,2522,1437
$GC,13750,1.01,241.0,312.6,7.9,622,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2522,1437
$GC,14060,1.01,241.0,286.3,8.8,637,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2522,1437
$GC,14368,1.01,241.0,259.4,8.5,652,14372,0.00,2.20,0.00,0.000,4,0.000,0.046,2668,1114,1437
$GC,14429,1.01,241.0,254.2,8.4,654,14435,0.00,2.20,0.00,0.000,6,0.000,0.042,2668,2530,1437
$GC,14745,1.01,241.0,227.1,8.7,670,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2531,1437
$GC,15054,1.01,241.0,199.4,9.1,685,15057,0.00,2.22,0.00,0.000,4,0.000,0.047,2668,1115,1438
$GC,15121,1.01,241.0,193.2,8.6,688,15126,0.00,2.17,0.00,0.000,6,0.000,0.043,2668,2522,1438
$GC,15454,1.01,241.0,164.4,8.3,704,15458,0.00,2.25,0.00,0.000,4,0.000,0.058,2668,3937,1438
$GC,15493,0.93,241.0,160.4,10.3,705,15500,0.12,2.17,0.00,0.000,6,0.140,0.035,2633,2508,1437
$GC,15810,1.08,253.3,138.6,6.6,721,15831,0.12,2.17,11.68,0.841,4,0.078,0.045,2690,1116,1387
$GC,15895,1.08,253.3,131.4,8.9,724,15901,0.00,2.20,0.00,0.000,6,0.000,0.041,2690,2529,1388
$GC,16210,1.08,253.3,102.9,8.7,740,16211,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2529,1388
$GC,16545,1.08,253.3,77.9,7.7,794,16551,0.00,2.20,0.00,0.000,4,0.000,0.045,2690,1120,1388
$GC,16603,1.15,253.3,73.5,7.2,804,16610,0.00,2.20,0.00,0.000,6,0.000,0.042,2690,2531,1389
$GC,16948,1.22,253.3,49.2,7.6,865,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2531,1389
$GC,17292,1.32,266.2,24.5,6.6,926,17312,0.10,2.25,12.05,0.820,4,0.081,0.060,2735,3920,1334
$GC,17360,1.16,266.2,18.2,9.8,937,17367,0.17,2.15,0.00,0.000,6,0.130,0.036,2683,2516,1335
$STATE,17606,end climb,SURFACE_DEPTH_REACHED
$STATE,17607,begin surface coast
$FINISH,1.0,1.014989
$STATE,17642,end surface coast,CONTROL_FINISHED_OK
$STATE,17642,begin surface
$SM_CCo,17721,0.00,0.000,0,0,1333,266.64
$SM_GC,1.98,6.97,0.00,0.00,0.066,0.000,0.000,166,2332,1333,-10.37,-0.23,266.64
$RAFOS_CLK,905
$RAFOS,1,1227816843,20.250000,20.234167,62,59,57,57,56,55,227,176,215,124,863,150
$RAFOS,0,1227816259,20.083334,20.071945,65,60,59,56,54,52,165,204,149,215,192,133
$RAFOS,4,1227804244,16.750000,16.734444,61,58,58,57,57,55,165,217,796,236,200,80
$RAFOS,3,1227803646,16.583334,16.568333,60,58,53,51,51,50,196,175,157,133,220,116
$RAFOS,2,1227803048,16.416666,16.402222,78,61,59,56,55,50,600,225,198,216,127,174
$RAFOS,1,1227802450,16.250000,16.236111,61,59,58,56,52,51,156,214,193,234,168,182
$RAFOS,0,1227801845,16.083334,16.068056,66,65,59,51,50,49,210,185,220,142,173,94
$RAFOS_FIX,6702.971680,-5709.604980,271108,121230,3,86,0.44
$IRIDIUM_FIX,6636.54,-5702.96,210298,101002
$TT8_MAMPS,0.029146
$HUMID,1856
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,20.7,67.097
$10V_AH,10.6,29.641
$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,21.475,129.000,371.750,0.000,0.000,31.307,38.456,216.018,0.250,0.000,0.000,11.738,1784.872,13397.832,540.430,1810.369,603.006,33.376,1525.982,0.000,1788.633,2880.000,0.528,0.000
$DEVICE_MAMPS,256.178,74.399,1200.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.330,668.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34763,987
$CAP_FILE_SIZE,136816,0
$CFSIZE,260165632,224251904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.6
$GPS,271108,203228,6704.428,-5701.870,28,2.5,47,-37.6