version: 66.04
glider: 113
mission: 4
dive: 370
start: 11 29 108 17 47 15
data:
$ID,113
$MISSION,4
$DIVE,370
$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,-31950.061
$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,43
$R_STBD_OVSHOOT,23
$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
$GPS1,173738,6706.461,-5708.078,31,1.2,31,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-59.1
$GPS2,174620,6706.484,-5708.243,11,1.2,16,-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,0.212,-0.073
$KALMAN_X,-108166.6,-825.7,-901.5,121736.0,-858.6
$KALMAN_Y,-7475.1,769.7,1175.4,27020.7,24.6
$MHEAD_RNG_PITCHd_Wd,146.6,15979,-12.9,-7.021
$D_GRID,611
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-112.95,0.000,2,0.000,0.000,160,2344,2982
$GC,135,-1.08,-146.0,3.5,-3.0,20,150,8.57,2.30,-1.12,0.000,4,0.254,0.064,2197,932,3018
$GC,294,-0.61,-146.0,31.7,-15.0,47,301,0.40,2.25,0.00,0.000,6,0.167,0.048,2306,2359,3020
$GC,639,-0.61,-146.0,65.8,-9.6,108,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2359,3019
$GC,983,-0.70,-146.0,93.5,-6.7,169,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2359,3018
$GC,1322,-0.82,-146.0,117.2,-6.2,197,1324,0.17,0.00,0.00,0.000,6,0.086,0.000,2241,2360,3017
$GC,1632,-0.76,-146.0,140.2,-6.9,212,1637,0.12,2.28,0.00,0.000,4,0.164,0.061,2273,3756,3016
$GC,1673,-0.84,-146.0,142.7,-5.7,214,1676,0.00,2.17,0.00,0.000,6,0.000,0.036,2273,2337,3016
$GC,2006,-0.91,-146.0,162.2,-6.3,230,2008,0.12,0.00,0.00,0.000,6,0.102,0.000,2228,2337,3016
$GC,2315,-0.85,-146.0,186.7,-8.3,245,2319,0.10,2.33,0.00,0.000,4,0.166,0.060,2254,3743,3015
$GC,2325,-0.80,-146.0,187.5,-7.7,245,2331,0.00,2.15,0.00,0.000,6,0.000,0.035,2255,2331,3016
$GC,2642,-0.80,-146.0,207.7,-5.8,261,2645,0.00,2.33,0.00,0.000,4,0.000,0.060,2255,3749,3016
$GC,2653,-0.80,-146.0,208.4,-5.5,261,2657,0.00,2.17,0.00,0.000,6,0.000,0.035,2254,2327,3016
$GC,2974,-0.80,-146.0,227.4,-5.9,277,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2327,3017
$GC,3284,-0.85,-146.0,246.0,-6.1,292,3288,0.00,2.33,0.00,0.000,4,0.000,0.059,2255,3748,3018
$GC,3296,-0.90,-146.0,246.7,-5.8,292,3300,0.00,2.15,0.00,0.000,6,0.000,0.034,2255,2327,3018
$GC,3617,-0.96,-146.0,266.0,-6.3,308,3622,0.10,2.33,0.00,0.000,4,0.097,0.058,2217,3745,3019
$GC,3629,-0.96,-146.0,266.8,-6.1,308,3635,0.00,2.15,0.00,0.000,6,0.000,0.034,2217,2331,3018
$GC,3945,-0.89,-146.0,290.1,-7.4,324,3949,0.10,2.33,0.00,0.000,4,0.156,0.059,2243,3750,3019
$GC,4013,-0.95,-146.0,294.4,-6.2,327,4017,0.00,2.15,0.00,0.000,6,0.000,0.034,2243,2335,3019
$GC,4346,-0.95,-146.0,314.8,-6.3,343,4350,0.00,2.30,0.00,0.000,4,0.000,0.058,2243,3746,3020
$GC,4369,-0.99,-146.0,316.4,-6.7,344,4374,0.10,2.15,0.00,0.000,6,0.097,0.033,2206,2327,3020
$GC,4702,-0.89,-146.0,341.6,-7.5,360,4707,0.15,2.35,0.00,0.000,4,0.144,0.058,2248,3757,3020
$GC,4713,-0.84,-146.0,342.5,-7.6,360,4720,0.00,2.15,0.00,0.000,6,0.000,0.034,2247,2343,3020
$GC,5030,-0.89,-146.0,360.9,-5.6,376,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2343,3021
$GC,5340,-0.94,-146.0,376.4,-4.9,391,5343,0.00,2.30,0.00,0.000,4,0.000,0.059,2247,3749,3022
$GC,5353,-1.00,-146.0,377.2,-5.1,391,5357,0.12,2.15,0.00,0.000,6,0.099,0.035,2202,2336,3022
$GC,5673,-0.91,-146.0,399.9,-7.8,407,5678,0.15,2.33,0.00,0.000,4,0.143,0.058,2245,3754,3022
$GC,5696,-0.91,-146.0,401.5,-6.9,408,5700,0.00,2.15,0.00,0.000,6,0.000,0.034,2245,2331,3022
$GC,6038,-0.96,-146.0,423.1,-6.3,417,6043,0.00,2.33,0.00,0.000,4,0.000,0.058,2245,3757,3023
$GC,6055,-1.02,-146.0,424.2,-6.1,417,6060,0.12,2.15,0.00,0.000,6,0.091,0.033,2199,2341,3022
$GC,6369,-0.93,-146.0,446.1,-6.9,425,6374,0.15,2.33,0.00,0.000,4,0.146,0.059,2241,3755,3023
$GC,6391,-0.93,-146.0,447.6,-6.3,425,6395,0.00,2.15,0.00,0.000,6,0.000,0.033,2242,2339,3023
$GC,6734,-0.98,-146.0,465.3,-5.0,434,6738,0.00,2.30,0.00,0.000,4,0.000,0.059,2242,3750,3023
$GC,6746,-1.03,-146.0,465.9,-4.8,434,6750,0.12,2.12,0.00,0.000,6,0.086,0.033,2193,2341,3023
$GC,7065,-0.93,-146.0,485.9,-6.2,442,7070,0.15,2.33,0.00,0.000,4,0.143,0.060,2235,3751,3023
$GC,7076,-0.85,-146.0,486.6,-6.2,442,7080,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2333,3024
$GC,7390,-0.85,-146.0,502.9,-5.2,450,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2333,3024
$GC,7714,-0.85,-146.0,521.3,-5.9,458,7718,0.00,2.33,0.00,0.000,4,0.000,0.060,2235,3752,3024
$GC,7760,-0.91,-146.0,524.0,-5.9,459,7764,0.00,2.15,0.00,0.000,6,0.000,0.034,2234,2335,3024
$GC,8091,-0.91,-146.0,543.0,-5.5,467,8095,0.00,2.30,0.00,0.000,4,0.000,0.060,2235,3745,3024
$GC,8102,-0.91,-146.0,543.7,-5.4,467,8106,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2331,3024
$GC,8421,-0.91,-146.0,561.8,-5.7,475,8425,0.00,2.33,0.00,0.000,4,0.000,0.060,2235,3753,3024
$GC,8438,-0.96,-146.0,562.8,-5.5,475,8441,0.00,2.15,0.00,0.000,6,0.000,0.033,2235,2338,3024
$GC,8751,-0.96,-146.0,579.5,-5.2,483,8755,0.00,2.33,0.00,0.000,4,0.000,0.060,2235,3757,3024
$GC,8774,-1.02,-146.0,580.9,-5.6,483,8778,0.00,2.15,0.00,0.000,6,0.000,0.034,2235,2341,3024
$GC,9122,-1.02,-146.0,598.5,-5.1,492,9126,0.00,2.30,0.00,0.000,4,0.000,0.061,2235,3744,3024
$GC,9179,-1.09,-146.0,601.7,-6.5,493,9184,0.12,2.15,0.00,0.000,6,0.096,0.034,2189,2330,3024
$STATE,9374,end dive,NO_VERTICAL_VELOCITY
$STATE,9374,begin apogee
$GC,9380,-0.34,0.0,603.3,0.0,498,9513,0.52,0.00,129.27,1.175,6,0.097,0.000,2367,2524,2420
$STATE,9513,end apogee,CONTROL_FINISHED_OK
$STATE,9514,begin climb
$GC,9516,1.08,146.0,603.0,0.0,501,9659,0.98,2.58,134.80,1.098,4,0.099,0.044,2665,1131,1824
$GC,9820,0.98,146.0,578.5,9.7,508,9824,0.00,2.28,0.00,0.000,6,0.000,0.043,2665,2530,1824
$GC,10150,0.85,146.0,548.8,9.1,516,10155,0.17,2.25,0.00,0.000,4,0.131,0.059,2612,3932,1824
$GC,10268,0.79,146.0,538.8,8.6,518,10271,0.00,2.15,0.00,0.000,6,0.000,0.036,2612,2519,1823
$GC,10605,0.81,158.9,516.4,6.6,527,10621,0.00,2.25,11.45,1.022,4,0.000,0.045,2612,1118,1772
$GC,10678,0.93,175.0,511.7,6.5,528,10699,0.10,2.20,15.10,1.045,6,0.082,0.042,2656,2534,1706
$GC,11020,0.86,175.0,482.8,8.9,537,11024,0.12,2.22,0.00,0.000,4,0.134,0.058,2620,3930,1707
$GC,11081,0.86,175.0,477.2,9.0,538,11085,0.00,2.15,0.00,0.000,6,0.000,0.035,2620,2515,1706
$GC,11395,0.92,176.8,455.2,7.0,546,11398,0.00,2.15,0.00,0.000,4,0.000,0.046,2620,1121,1706
$GC,11468,1.02,176.8,450.1,7.1,547,11473,0.12,2.17,0.00,0.000,6,0.076,0.043,2674,2519,1706
$GC,11810,0.90,176.8,417.9,9.8,556,11815,0.15,2.28,0.00,0.000,4,0.129,0.058,2628,3940,1705
$GC,11905,0.84,176.8,408.9,9.1,558,11909,0.00,2.17,0.00,0.000,6,0.000,0.035,2628,2508,1706
$GC,12227,0.84,176.8,384.0,7.8,570,12230,0.00,2.15,0.00,0.000,4,0.000,0.046,2628,1120,1705
$GC,12277,0.92,176.8,380.1,8.4,572,12281,0.00,2.20,0.00,0.000,6,0.000,0.044,2628,2530,1705
$GC,12604,0.92,176.8,356.4,7.2,588,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2530,1705
$GC,12914,0.92,176.8,333.5,7.3,603,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2530,1705
$GC,13222,0.92,176.8,310.5,7.3,618,13226,0.00,2.20,0.00,0.000,4,0.000,0.044,2628,1121,1705
$GC,13268,1.01,176.8,307.2,7.0,620,13273,0.10,2.20,0.00,0.000,6,0.084,0.043,2670,2533,1705
$GC,13601,0.93,176.8,278.8,8.6,636,13606,0.12,2.25,0.00,0.000,4,0.126,0.058,2634,3936,1705
$GC,13702,0.86,176.8,270.4,7.9,640,13708,0.00,2.15,0.00,0.000,6,0.000,0.035,2634,2520,1706
$GC,14018,0.88,189.7,249.6,6.6,656,14040,0.00,2.25,13.07,0.910,4,0.000,0.046,2634,1118,1646
$GC,14097,0.99,209.1,244.5,6.4,659,14118,0.00,2.17,16.90,0.916,6,0.000,0.042,2634,2518,1567
$GC,14437,1.08,219.5,222.6,6.7,676,14454,0.12,0.00,10.18,0.854,6,0.073,0.000,2692,2518,1525
$GC,14764,0.98,219.5,190.9,9.8,692,14768,0.17,2.20,0.00,0.000,4,0.119,0.045,2638,1117,1525
$GC,14814,1.12,236.3,187.1,6.4,694,14834,0.15,2.20,14.70,0.877,6,0.071,0.041,2704,2536,1456
$GC,15164,1.00,236.3,150.8,10.9,711,15169,0.17,2.22,0.00,0.000,4,0.120,0.057,2650,3929,1457
$GC,15203,1.00,236.3,146.5,9.0,712,15209,0.00,2.15,0.00,0.000,6,0.000,0.033,2650,2509,1457
$GC,15519,1.11,252.9,123.7,6.5,728,15542,0.10,2.17,15.27,0.849,4,0.078,0.045,2697,1120,1388
$GC,15598,1.11,252.9,117.1,8.5,731,15602,0.00,2.17,0.00,0.000,6,0.000,0.042,2697,2518,1388
$GC,15925,1.11,252.9,90.7,7.5,761,15931,0.00,2.25,0.00,0.000,4,0.000,0.058,2697,3934,1390
$GC,15994,1.02,252.9,84.2,9.3,773,16001,0.15,2.15,0.00,0.000,6,0.131,0.035,2653,2515,1389
$GC,16341,1.35,270.4,63.4,6.4,834,16365,0.20,2.35,15.30,0.849,4,0.068,0.060,2736,3927,1317
$GC,16423,1.13,270.4,55.9,9.8,848,16430,0.20,2.15,0.00,0.000,6,0.128,0.036,2676,2522,1318
$GC,16770,1.27,286.6,33.8,6.5,909,16789,0.12,2.28,13.80,0.851,4,0.075,0.048,2731,1114,1251
$GC,16900,1.27,286.6,22.9,8.6,931,16906,0.00,2.20,0.00,0.000,6,0.000,0.044,2732,2520,1251
$STATE,17145,end climb,SURFACE_DEPTH_REACHED
$STATE,17145,begin surface coast
$FINISH,0.9,1.015014
$STATE,17174,end surface coast,CONTROL_FINISHED_OK
$STATE,17175,begin surface
$SM_CCo,17253,0.00,0.000,0,0,1250,287.00
$SM_GC,1.99,7.05,0.00,0.00,0.061,0.000,0.000,159,2330,1250,-10.39,-0.28,287.00
$RAFOS_CLK,874
$RAFOS,4,1227991444,20.750000,20.734444,67,58,55,54,53,53,800,214,197,148,186,168
$RAFOS,3,1227990860,20.583334,20.572222,60,59,57,52,51,49,204,217,180,150,117,1035
$RAFOS,2,1227990249,20.416666,20.402500,67,60,59,58,56,54,211,116,178,169,130,192
$RAFOS,1,1227989670,20.250000,20.241667,62,62,54,53,51,51,197,222,141,181,210,118
$RAFOS,0,1227989050,20.083334,20.069445,73,63,62,59,57,54,220,207,125,194,176,137
$RAFOS_FIX,6700.551758,-5704.857910,291108,121220,2,90,0.54
$IRIDIUM_FIX,6636.54,-5707.59,230298,171737
$TT8_MAMPS,0.028379
$HUMID,1874
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,20.7,68.451
$10V_AH,10.6,30.370
$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,21.750,160.950,389.850,0.000,0.000,60.710,57.601,200.485,0.500,0.000,0.000,17.664,1818.136,12805.686,532.162,1966.313,648.398,33.388,1614.702,0.000,1919.625,1800.000,0.528,0.000
$DEVICE_MAMPS,253.877,64.428,1175.044,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.110,663.666,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34716,980
$CAP_FILE_SIZE,149613,0
$CFSIZE,260165632,223543296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.0
$GPS,291108,223628,6706.426,-5705.205,34,3.2,53,-37.7