version: 66.04
glider: 113
mission: 4
dive: 373
start: 11 30 108 7 44 46
data:
$ID,113
$MISSION,4
$DIVE,373
$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,-31996.492
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,073731,6706.899,-5704.925,37,1.6,42,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-64.9
$GPS2,074351,6706.906,-5704.941,14,1.6,14,-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,0.207,-0.086
$KALMAN_X,-117353.8,689.6,-692.7,131589.6,-1922.4
$KALMAN_Y,433.8,-831.0,532.0,22146.3,562.3
$MHEAD_RNG_PITCHd_Wd,150.2,14212,-12.9,-7.021
$D_GRID,551
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-102.18,0.000,2,0.000,0.000,159,2330,2958
$GC,124,-1.08,-146.0,3.1,-2.0,18,144,8.85,2.25,-2.12,0.000,4,0.263,0.064,2198,938,3019
$GC,386,-0.65,-146.0,42.4,-13.4,64,393,0.32,2.22,0.00,0.000,6,0.162,0.048,2292,2350,3020
$GC,731,-0.65,-146.0,72.5,-8.1,125,737,0.00,2.25,0.00,0.000,4,0.000,0.050,2292,929,3019
$GC,743,-0.65,-146.0,73.5,-8.1,127,750,0.00,2.22,0.00,0.000,6,0.000,0.045,2292,2343,3019
$GC,1087,-0.65,-146.0,100.2,-7.5,188,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2344,3018
$GC,1397,-0.72,-146.0,123.6,-7.5,203,1401,0.00,2.28,0.00,0.000,4,0.000,0.061,2290,3748,3018
$GC,1409,-0.80,-146.0,124.5,-7.1,203,1413,0.12,2.17,0.00,0.000,6,0.091,0.035,2244,2325,3018
$GC,1724,-0.73,-146.0,151.1,-8.1,218,1729,0.12,2.35,0.00,0.000,4,0.158,0.060,2276,3752,3017
$GC,1803,-0.82,-146.0,156.9,-6.9,221,1807,0.00,2.17,0.00,0.000,6,0.000,0.035,2276,2334,3017
$GC,2126,-0.90,-146.0,178.3,-6.4,237,2128,0.12,0.00,0.00,0.000,6,0.100,0.000,2229,2334,3016
$GC,2433,-0.84,-146.0,202.9,-7.9,252,2438,0.10,2.33,0.00,0.000,4,0.162,0.060,2255,3742,3016
$GC,2451,-0.84,-146.0,204.2,-7.7,253,2455,0.00,2.15,0.00,0.000,6,0.000,0.035,2255,2336,3016
$GC,2783,-0.84,-146.0,226.3,-6.4,269,2787,0.00,2.33,0.00,0.000,4,0.000,0.060,2255,3753,3016
$GC,2879,-0.92,-146.0,232.4,-6.4,273,2883,0.00,2.17,0.00,0.000,6,0.000,0.035,2256,2327,3016
$GC,3207,-0.97,-146.0,252.6,-6.3,289,3212,0.12,2.33,0.00,0.000,4,0.087,0.058,2207,3754,3017
$GC,3280,-0.88,-146.0,258.4,-7.8,292,3284,0.15,2.17,0.00,0.000,6,0.149,0.034,2247,2328,3017
$GC,3596,-0.88,-146.0,277.3,-5.8,307,3600,0.00,2.33,0.00,0.000,4,0.000,0.059,2247,3747,3018
$GC,3652,-0.94,-146.0,280.7,-6.3,309,3656,0.00,2.15,0.00,0.000,6,0.000,0.034,2247,2335,3018
$GC,3974,-0.94,-146.0,300.6,-6.4,325,3978,0.00,2.30,0.00,0.000,4,0.000,0.058,2247,3745,3018
$GC,3999,-1.00,-146.0,302.1,-6.5,326,4003,0.12,2.15,0.00,0.000,6,0.099,0.034,2203,2331,3018
$GC,4331,-0.89,-146.0,329.2,-8.2,342,4336,0.15,2.33,0.00,0.000,4,0.144,0.058,2245,3745,3019
$GC,4349,-0.84,-146.0,330.6,-8.4,343,4353,0.00,2.12,0.00,0.000,6,0.000,0.034,2245,2337,3019
$GC,4681,-0.84,-146.0,353.9,-6.8,359,4685,0.00,2.30,0.00,0.000,4,0.000,0.058,2245,3747,3019
$GC,4692,-0.84,-146.0,354.5,-6.6,359,4695,0.00,2.15,0.00,0.000,6,0.000,0.033,2245,2334,3019
$GC,5014,-0.84,-146.0,375.3,-6.6,375,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2334,3020
$GC,5323,-0.89,-146.0,395.1,-6.4,390,5327,0.00,2.15,0.00,0.000,4,0.000,0.044,2245,943,3020
$GC,5334,-0.89,-146.0,396.0,-6.3,390,5338,0.00,2.20,0.00,0.000,6,0.000,0.041,2245,2354,3020
$GC,5652,-0.94,-146.0,416.3,-6.5,400,5656,0.00,2.20,0.00,0.000,4,0.000,0.044,2245,943,3021
$GC,5680,-0.94,-146.0,418.3,-7.1,400,5684,0.00,2.17,0.00,0.000,6,0.000,0.041,2245,2342,3021
$GC,6023,-0.99,-146.0,440.9,-6.6,409,6025,0.10,0.00,0.00,0.000,6,0.097,0.000,2205,2343,3021
$GC,6348,-0.91,-146.0,465.1,-7.3,417,6353,0.12,2.25,0.00,0.000,4,0.149,0.057,2240,3745,3022
$GC,6405,-1.00,-146.0,468.7,-6.4,418,6409,0.00,2.15,0.00,0.000,6,0.000,0.034,2240,2329,3022
$GC,6718,-1.04,-146.0,486.8,-5.7,426,6723,0.12,2.33,0.00,0.000,4,0.090,0.057,2192,3750,3022
$GC,6729,-1.04,-146.0,487.6,-5.8,426,6733,0.00,2.15,0.00,0.000,6,0.000,0.033,2192,2336,3022
$GC,7043,-0.93,-146.0,510.3,-7.3,434,7047,0.15,2.33,0.00,0.000,4,0.146,0.058,2233,3750,3023
$GC,7059,-0.88,-146.0,511.4,-7.1,434,7063,0.00,2.15,0.00,0.000,6,0.000,0.032,2233,2333,3023
$GC,7407,-0.88,-146.0,530.9,-5.4,443,7411,0.00,2.28,0.00,0.000,4,0.000,0.058,2233,3741,3023
$GC,7419,-0.88,-146.0,531.4,-5.3,443,7423,0.00,2.15,0.00,0.000,6,0.000,0.033,2233,2326,3023
$GC,7738,-0.88,-146.0,549.0,-5.5,451,7742,0.00,2.30,0.00,0.000,4,0.000,0.057,2233,3740,3023
$STATE,7768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7768,begin apogee
$GC,7777,-0.34,0.0,551.1,6.0,451,7909,0.40,0.00,127.88,1.140,6,0.133,0.000,2363,2510,2420
$STATE,7909,end apogee,CONTROL_FINISHED_OK
$STATE,7909,begin climb
$GC,7913,1.08,146.0,553.6,0.0,455,8056,0.98,2.58,133.07,1.067,4,0.096,0.044,2666,1128,1824
$GC,8114,0.99,146.0,537.9,9.5,459,8118,0.00,2.38,0.00,0.000,6,0.000,0.040,2666,2521,1824
$GC,8451,0.86,146.0,506.4,9.4,468,8456,0.15,2.25,0.00,0.000,4,0.135,0.057,2622,3935,1824
$GC,8546,0.78,146.0,498.2,7.7,470,8550,0.00,2.15,0.00,0.000,6,0.000,0.035,2622,2520,1823
$GC,8870,0.78,146.0,475.1,7.0,478,8874,0.00,2.15,0.00,0.000,4,0.000,0.045,2622,1122,1822
$GC,8937,0.84,146.0,470.6,7.4,479,8941,0.00,2.20,0.00,0.000,6,0.000,0.042,2622,2539,1823
$GC,9285,0.86,163.5,448.2,6.4,488,9305,0.00,2.25,15.38,1.024,4,0.000,0.058,2622,3929,1753
$GC,9361,0.82,163.5,442.5,7.7,489,9368,0.00,2.15,0.00,0.000,6,0.000,0.035,2622,2518,1754
$GC,9695,0.85,184.6,421.4,6.3,498,9720,0.00,2.25,18.48,1.025,4,0.000,0.045,2622,1115,1667
$GC,9788,0.95,184.6,414.9,7.2,500,9792,0.00,2.20,0.00,0.000,6,0.000,0.041,2622,2523,1668
$GC,10115,1.01,184.6,391.6,7.2,510,10119,0.12,2.25,0.00,0.000,4,0.074,0.058,2678,3930,1667
$GC,10160,0.80,184.6,386.8,11.5,512,10165,0.25,2.15,0.00,0.000,6,0.132,0.035,2602,2514,1667
$GC,10493,0.97,200.2,364.0,6.5,528,10516,0.15,2.22,13.98,0.973,4,0.067,0.045,2666,1122,1603
$GC,10619,0.97,200.2,352.3,9.5,533,10623,0.00,2.17,0.00,0.000,6,0.000,0.041,2666,2522,1604
$GC,10941,0.91,200.2,320.5,9.7,549,10945,0.12,2.25,0.00,0.000,4,0.134,0.058,2628,3929,1603
$GC,11009,0.91,200.2,314.6,8.4,552,11013,0.00,2.15,0.00,0.000,6,0.000,0.035,2628,2511,1603
$GC,11342,0.99,200.2,290.3,7.1,568,11346,0.10,2.15,0.00,0.000,4,0.084,0.044,2675,1119,1604
$GC,11431,0.99,200.2,282.2,8.9,572,11436,0.10,2.17,0.00,0.000,6,0.138,0.041,2648,2522,1604
$GC,11764,0.99,200.2,257.1,7.3,588,11768,0.00,2.25,0.00,0.000,4,0.000,0.059,2648,3935,1604
$GC,11810,0.92,200.2,253.4,8.1,590,11814,0.00,2.15,0.00,0.000,6,0.000,0.035,2648,2516,1604
$GC,12143,0.92,200.2,227.6,7.9,606,12147,0.00,2.17,0.00,0.000,4,0.000,0.045,2648,1109,1603
$GC,12217,0.98,200.2,221.4,8.1,609,12221,0.00,2.20,0.00,0.000,6,0.000,0.042,2648,2521,1603
$GC,12544,0.98,200.2,194.1,8.1,625,12548,0.00,2.25,0.00,0.000,4,0.000,0.059,2648,3927,1603
$GC,12590,0.92,200.2,189.8,10.3,627,12594,0.00,2.15,0.00,0.000,6,0.000,0.035,2648,2510,1603
$GC,12922,0.92,200.2,162.8,7.9,643,12926,0.00,2.15,0.00,0.000,4,0.000,0.045,2648,1116,1603
$GC,13023,1.00,200.2,155.2,7.5,647,13027,0.00,2.20,0.00,0.000,6,0.000,0.041,2648,2533,1604
$GC,13346,1.09,218.5,133.2,6.4,663,13369,0.10,2.25,16.20,0.862,4,0.078,0.058,2694,3926,1528
$GC,13440,0.93,218.5,124.8,10.6,667,13444,0.20,2.15,0.00,0.000,6,0.127,0.035,2634,2516,1529
$GC,13773,1.11,244.9,103.6,6.1,683,13800,0.15,2.25,22.00,0.858,4,0.070,0.045,2699,1123,1421
$GC,13852,1.11,244.9,96.7,9.0,689,13858,0.00,2.20,0.00,0.000,6,0.000,0.042,2699,2530,1422
$GC,14196,1.11,244.9,68.6,7.9,750,14203,0.00,2.22,0.00,0.000,4,0.000,0.059,2699,3926,1422
$GC,14243,1.03,244.9,64.4,9.2,758,14250,0.15,2.15,0.00,0.000,6,0.129,0.035,2657,2507,1422
$GC,14590,1.21,268.8,42.7,6.2,819,14620,0.15,2.25,20.55,0.844,4,0.069,0.046,2720,1114,1324
$GC,14706,1.21,268.8,32.9,8.7,839,14713,0.00,2.20,0.00,0.000,6,0.000,0.044,2721,2518,1324
$GC,15051,1.21,268.8,3.5,8.1,900,15057,0.00,2.20,0.00,0.000,4,0.000,0.046,2720,1115,1323
$STATE,15072,end climb,SURFACE_DEPTH_REACHED
$STATE,15073,begin surface coast
$FINISH,0.9,1.013849
$STATE,15102,end surface coast,CONTROL_FINISHED_OK
$STATE,15102,begin surface
$SM_CCo,15181,0.00,0.000,0,0,1321,269.34
$SM_GC,1.77,7.00,0.00,0.00,0.060,0.000,0.000,162,2354,1321,-10.38,0.37,269.34
$RAFOS_CLK,765
$RAFOS,4,1228034658,8.750000,8.738334,60,58,58,56,54,53,722,186,140,200,159,177
$RAFOS,3,1228034042,8.583333,8.567223,63,58,56,54,51,50,209,988,193,179,170,113
$RAFOS,2,1228033455,8.416667,8.404166,63,60,59,57,56,52,204,214,192,181,561,143
$RAFOS,1,1228032841,8.250000,8.233611,72,59,58,55,52,51,869,199,220,163,124,149
$RAFOS,0,1228032253,8.083333,8.070278,64,54,53,51,51,48,204,216,136,147,180,122
$RAFOS_FIX,6700.551758,-5704.857910,291108,121220,2,90,0.54
$IRIDIUM_FIX,6636.54,-5707.59,240298,030353
$TT8_MAMPS,0.027612
$HUMID,1863
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,20.8,68.822
$10V_AH,10.6,30.572
$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,20.825,159.325,367.525,0.000,0.000,25.746,36.742,180.553,0.250,0.000,0.000,15.798,1712.570,10942.335,497.605,1851.187,555.490,33.375,1519.764,0.000,1821.139,1800.000,0.531,0.000
$DEVICE_MAMPS,263.081,64.428,1139.762,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.624,615.463,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31568,909
$CAP_FILE_SIZE,134935,0
$CFSIZE,260165632,223367168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.5
$GPS,301108,115908,6706.678,-5705.235,34,0.9,34,-37.7