version: 66.04
glider: 113
mission: 4
dive: 366
start: 11 28 108 22 4 4
data:
$ID,113
$MISSION,4
$DIVE,366
$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,-31871.65
$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,42
$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
$GPS1,215607,6705.407,-5705.797,36,1.2,41,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-59.7
$GPS2,220309,6705.392,-5705.799,14,1.2,14,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.174,-0.142
$KALMAN_X,-96731.8,235.7,697.4,109406.4,-4253.1
$KALMAN_Y,-15194.3,695.6,-970.4,34943.8,2907.8
$MHEAD_RNG_PITCHd_Wd,167.0,13595,-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,-146.0,0.0,0.0,0,136,0.00,0.00,-117.50,0.000,2,0.000,0.000,160,2335,2885
$GC,140,-1.08,-146.0,3.0,-2.0,21,160,8.57,2.28,-5.05,0.000,4,0.254,0.064,2197,936,3017
$GC,306,-0.57,-146.0,29.4,-15.5,50,313,0.40,2.22,0.00,0.000,6,0.167,0.047,2312,2351,3019
$GC,652,-0.57,-146.0,57.8,-7.8,111,658,0.00,2.25,0.00,0.000,4,0.000,0.063,2312,3743,3020
$GC,664,-0.57,-146.0,58.7,-7.8,113,670,0.00,2.15,0.00,0.000,6,0.000,0.035,2312,2331,3020
$GC,1008,-0.70,-146.0,85.4,-7.8,174,1014,0.10,0.00,0.00,0.000,6,0.095,0.000,2273,2331,3017
$GC,1348,-0.70,-146.0,113.4,-8.0,213,1353,0.00,2.30,0.00,0.000,4,0.000,0.061,2273,3748,3016
$GC,1371,-0.70,-146.0,115.3,-8.9,214,1374,0.00,2.17,0.00,0.000,6,0.000,0.036,2273,2326,3017
$GC,1703,-0.70,-146.0,139.3,-7.1,230,1707,0.00,2.35,0.00,0.000,4,0.000,0.061,2273,3757,3016
$GC,1715,-0.74,-146.0,140.0,-6.9,230,1718,0.00,2.17,0.00,0.000,6,0.000,0.035,2273,2337,3016
$GC,2037,-0.80,-146.0,161.8,-6.5,246,2041,0.00,2.33,0.00,0.000,4,0.000,0.061,2273,3756,3016
$GC,2048,-0.86,-146.0,162.7,-6.6,246,2052,0.10,2.17,0.00,0.000,6,0.090,0.035,2232,2333,3016
$GC,2369,-0.80,-146.0,186.2,-7.1,262,2374,0.12,2.33,0.00,0.000,4,0.160,0.060,2261,3745,3016
$GC,2436,-0.87,-146.0,191.2,-7.5,265,2440,0.00,2.15,0.00,0.000,6,0.000,0.035,2262,2329,3016
$GC,2763,-0.92,-146.0,212.5,-6.5,281,2765,0.10,0.00,0.00,0.000,6,0.110,0.000,2223,2328,3017
$GC,3073,-0.86,-146.0,234.3,-6.8,296,3078,0.12,2.35,0.00,0.000,4,0.156,0.059,2257,3756,3017
$GC,3106,-0.93,-146.0,236.3,-5.8,297,3113,0.10,2.17,0.00,0.000,6,0.094,0.035,2219,2333,3017
$GC,3423,-0.86,-146.0,257.9,-7.1,313,3428,0.12,2.33,0.00,0.000,4,0.154,0.061,2254,3745,3017
$GC,3530,-0.96,-146.0,265.3,-7.2,318,3535,0.10,2.15,0.00,0.000,6,0.095,0.035,2217,2332,3018
$GC,3862,-0.90,-146.0,292.1,-8.0,334,3867,0.10,2.33,0.00,0.000,4,0.152,0.060,2244,3753,3018
$GC,3907,-0.96,-146.0,295.6,-7.3,336,3910,0.00,2.15,0.00,0.000,6,0.000,0.034,2244,2341,3019
$GC,4234,-0.96,-146.0,317.5,-6.3,352,4237,0.00,2.30,0.00,0.000,4,0.000,0.061,2244,3747,3019
$GC,4246,-0.96,-146.0,318.3,-6.1,352,4250,0.00,2.15,0.00,0.000,6,0.000,0.034,2244,2332,3019
$GC,4567,-0.96,-146.0,336.0,-5.3,368,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2333,3020
$GC,4877,-0.96,-146.0,353.1,-5.9,383,4880,0.00,2.30,0.00,0.000,4,0.000,0.059,2244,3745,3021
$GC,4888,-1.00,-146.0,353.8,-5.7,383,4893,0.10,2.15,0.00,0.000,6,0.094,0.033,2205,2330,3021
$GC,5211,-0.92,-146.0,377.1,-7.5,399,5212,0.12,0.00,0.00,0.000,6,0.150,0.000,2240,2327,3021
$GC,5519,-0.92,-146.0,397.2,-6.4,414,5523,0.00,2.33,0.00,0.000,4,0.000,0.059,2241,3747,3022
$GC,5530,-0.92,-146.0,397.9,-6.4,414,5534,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2333,3022
$GC,5848,-0.96,-146.0,418.4,-6.4,423,5852,0.00,2.33,0.00,0.000,4,0.000,0.059,2241,3756,3022
$GC,5865,-1.02,-146.0,419.6,-6.6,423,5869,0.10,2.15,0.00,0.000,6,0.096,0.033,2204,2340,3021
$GC,6178,-0.93,-146.0,443.5,-7.9,431,6183,0.12,2.28,0.00,0.000,4,0.144,0.060,2239,3745,3022
$GC,6194,-0.93,-146.0,444.7,-7.7,431,6198,0.00,2.15,0.00,0.000,6,0.000,0.034,2240,2330,3022
$GC,6543,-0.98,-146.0,466.4,-6.0,440,6547,0.00,2.33,0.00,0.000,4,0.000,0.059,2240,3754,3022
$GC,6577,-1.06,-146.0,468.6,-6.6,440,6581,0.12,2.15,0.00,0.000,6,0.090,0.032,2192,2337,3022
$GC,6914,-0.95,-146.0,493.0,-7.2,449,6919,0.15,2.33,0.00,0.000,4,0.144,0.058,2234,3754,3022
$GC,6942,-0.95,-146.0,494.9,-6.7,449,6945,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2340,3022
$GC,7279,-0.95,-146.0,513.8,-5.4,458,7282,0.00,2.30,0.00,0.000,4,0.000,0.059,2234,3746,3022
$GC,7290,-0.95,-146.0,514.4,-5.4,458,7294,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2335,3022
$GC,7610,-0.95,-146.0,531.5,-5.4,466,7614,0.00,2.33,0.00,0.000,4,0.000,0.058,2234,3756,3022
$GC,7637,-1.00,-146.0,533.1,-6.0,466,7641,0.00,2.17,0.00,0.000,6,0.000,0.033,2234,2327,3022
$GC,7981,-1.04,-146.0,552.2,-5.8,475,7986,0.10,2.33,0.00,0.000,4,0.107,0.058,2196,3759,3022
$GC,8042,-0.98,-146.0,556.6,-7.4,476,8047,0.10,2.15,0.00,0.000,6,0.155,0.034,2221,2331,3023
$GC,8390,-0.98,-146.0,578.0,-6.0,485,8394,0.00,2.33,0.00,0.000,4,0.000,0.059,2221,3756,3023
$GC,8475,-0.98,-146.0,583.2,-6.0,486,8481,0.00,2.17,0.00,0.000,6,0.000,0.034,2221,2331,3023
$GC,8807,-0.98,-146.0,602.9,-5.7,495,8811,0.00,2.33,0.00,0.000,4,0.000,0.059,2221,3753,3023
$GC,8858,-0.98,-146.0,606.2,-6.5,496,8862,0.00,2.17,0.00,0.000,6,0.000,0.033,2221,2325,3023
$STATE,9020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9020,begin apogee
$GC,9027,-0.34,0.0,616.0,6.1,500,9160,0.45,0.00,129.77,1.186,6,0.133,0.000,2362,2519,2420
$STATE,9161,end apogee,CONTROL_FINISHED_OK
$STATE,9161,begin climb
$GC,9164,1.08,146.0,619.1,0.0,503,9305,1.00,0.00,136.02,1.111,6,0.104,0.000,2666,2519,1824
$GC,9617,0.95,146.0,583.5,8.6,514,9622,0.10,2.30,0.00,0.000,4,0.146,0.059,2639,3929,1823
$GC,9695,0.82,146.0,576.0,9.4,515,9702,0.10,2.17,0.00,0.000,6,0.150,0.035,2612,2513,1824
$GC,10028,0.88,152.7,553.4,6.8,524,10036,0.00,0.00,6.50,0.917,6,0.000,0.000,2611,2513,1798
$GC,10352,0.94,162.3,531.6,6.7,532,10364,0.10,0.00,9.77,1.017,6,0.084,0.000,2655,2513,1758
$GC,10677,0.86,162.3,503.2,9.0,540,10679,0.12,0.00,0.00,0.000,6,0.137,0.000,2619,2513,1758
$GC,11002,0.86,162.3,479.8,7.2,548,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2513,1758
$GC,11326,0.86,162.3,455.3,7.6,556,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2512,1757
$GC,11651,0.86,162.3,431.2,7.2,564,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2512,1757
$GC,11977,0.92,174.8,409.2,6.6,572,11990,0.00,0.00,11.65,0.996,6,0.000,0.000,2619,2512,1707
$GC,12284,0.99,184.8,389.1,6.7,583,12297,0.12,0.00,9.98,0.956,6,0.082,0.000,2671,2511,1666
$GC,12592,0.90,184.8,361.4,9.3,598,12597,0.15,2.33,0.00,0.000,4,0.130,0.058,2626,3937,1667
$GC,12642,0.90,184.8,356.8,8.4,600,12646,0.00,2.17,0.00,0.000,6,0.000,0.035,2626,2513,1668
$GC,12970,0.96,184.8,333.7,7.0,616,12974,0.00,2.17,0.00,0.000,4,0.000,0.046,2626,1112,1668
$GC,13043,1.08,198.7,328.8,6.5,619,13061,0.15,2.20,12.82,0.960,6,0.071,0.042,2691,2528,1609
$GC,13371,0.95,198.7,297.4,10.0,635,13376,0.17,2.25,0.00,0.000,4,0.119,0.059,2637,3923,1610
$GC,13456,0.89,198.7,289.5,9.0,638,13462,0.00,2.15,0.00,0.000,6,0.000,0.035,2637,2508,1611
$GC,13772,0.89,198.7,267.0,7.1,654,13776,0.00,2.15,0.00,0.000,4,0.000,0.047,2637,1120,1611
$GC,13841,0.98,198.7,262.0,7.5,657,13844,0.00,2.20,0.00,0.000,6,0.000,0.044,2637,2530,1611
$GC,14174,1.04,202.8,238.9,6.9,673,14184,0.10,2.25,4.85,0.708,4,0.081,0.059,2682,3930,1594
$GC,14235,0.84,202.8,232.9,10.3,675,14242,0.22,2.15,0.00,0.000,6,0.129,0.035,2613,2519,1594
$GC,14551,1.00,220.5,213.7,6.4,691,14574,0.15,2.20,15.90,0.911,4,0.068,0.045,2680,1119,1521
$GC,14648,1.00,220.5,205.1,9.8,695,14652,0.10,2.20,0.00,0.000,6,0.140,0.043,2653,2526,1522
$GC,14974,1.00,220.5,180.1,7.3,711,14975,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2526,1522
$GC,15283,1.00,220.5,155.6,8.2,726,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2526,1522
$GC,15593,1.06,220.5,131.5,7.6,741,15597,0.00,2.20,0.00,0.000,4,0.000,0.045,2653,1121,1522
$GC,15649,1.16,220.5,127.1,8.3,743,15654,0.12,2.20,0.00,0.000,6,0.074,0.044,2707,2531,1523
$GC,15969,1.06,220.5,94.7,9.8,764,15976,0.15,2.25,0.00,0.000,4,0.123,0.059,2660,3926,1523
$GC,16016,1.06,220.5,90.8,8.1,772,16023,0.00,2.15,0.00,0.000,6,0.000,0.035,2661,2508,1523
$GC,16362,1.16,250.9,70.0,6.0,833,16393,0.10,2.28,25.60,0.858,4,0.081,0.047,2707,1112,1396
$GC,16456,1.16,250.9,62.6,8.0,849,16462,0.00,2.22,0.00,0.000,6,0.000,0.043,2708,2533,1397
$GC,16800,1.16,250.9,35.3,7.8,910,16806,0.00,2.22,0.00,0.000,4,0.000,0.059,2708,3927,1397
$GC,16870,1.07,250.9,29.0,9.4,922,16876,0.15,2.15,0.00,0.000,6,0.126,0.035,2662,2514,1397
$GC,17215,1.37,250.9,3.8,7.9,983,17222,0.20,2.33,0.00,0.000,4,0.061,0.059,2750,3936,1397
$STATE,17231,end climb,SURFACE_DEPTH_REACHED
$STATE,17232,begin surface coast
$FINISH,1.1,1.026307
$STATE,17256,end surface coast,CONTROL_FINISHED_OK
$STATE,17256,begin surface
$SM_CCo,17337,0.00,0.000,0,0,1395,251.43
$SM_GC,1.89,7.12,0.00,0.00,0.062,0.000,0.000,162,2360,1395,-10.38,0.57,251.43
$RAFOS_CLK,883
$RAFOS,4,1227919455,0.750000,0.737500,83,60,59,57,56,55,735,202,211,182,124,222
$RAFOS,3,1227918861,0.583333,0.572500,65,64,53,52,51,48,211,115,138,195,237,225
$RAFOS,2,1227918243,0.416667,0.400833,138,57,52,51,50,49,624,217,205,165,139,228
$RAFOS,1,1227917658,0.250000,0.238333,66,64,60,58,57,51,188,228,767,154,203,218
$RAFOS,0,1227917079,0.083333,0.077500,59,59,59,59,54,49,154,185,210,227,133,167
$RAFOS_FIX,6704.449707,-5710.710938,291108,000016,2,110,0.43
$IRIDIUM_FIX,6636.54,-5719.87,220298,161652
$TT8_MAMPS,0.028379
$HUMID,1862
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,20.7,67.909
$10V_AH,10.6,30.078
$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,21.775,147.675,362.875,0.000,0.000,30.402,34.944,211.700,0.000,0.000,0.000,15.851,1821.804,12960.310,539.973,1837.588,600.613,33.380,1541.721,0.000,1809.422,1800.000,0.529,0.000
$DEVICE_MAMPS,253.877,64.428,1185.782,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.632,670.817,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37837,990
$CAP_FILE_SIZE,141546,0
$CFSIZE,260165632,223825920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.2
$GPS,291108,025456,6705.359,-5705.645,61,1.1,61,-37.7