version: 66.04
glider: 113
mission: 4
dive: 374
start: 11 30 108 12 11 16
data:
$ID,113
$MISSION,4
$DIVE,374
$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,-32011.643
$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,44
$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
$GPS1,115908,6706.678,-5705.235,34,0.9,34,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-64.6
$GPS2,121021,6706.759,-5705.471,13,1.1,13,-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,0.076,-0.211
$KALMAN_X,-121259.6,-155.4,453.0,134824.0,-4795.8
$KALMAN_Y,3060.6,-865.2,-998.9,20806.9,5379.8
$MHEAD_RNG_PITCHd_Wd,197.9,14410,-12.9,-7.021
$D_GRID,569
$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,-146.0,0.0,0.0,0,131,0.00,0.00,-109.57,0.000,6,0.000,0.000,161,2359,3017
$GC,134,-1.08,-146.0,3.7,-3.3,20,148,8.62,2.30,0.00,0.000,4,0.255,0.059,2200,3752,3020
$GC,155,1.19,-146.0,9.4,-15.5,23,162,1.70,2.17,0.00,0.000,6,0.169,0.036,2692,2336,3021
$GC,503,0.06,-146.0,27.4,-5.6,84,510,0.75,2.20,0.00,0.000,4,0.128,0.047,2452,936,3022
$GC,724,-0.75,-146.0,44.1,-8.2,123,731,0.55,2.22,0.00,0.000,6,0.092,0.046,2264,2352,3022
$GC,1071,-0.92,-146.0,70.7,-7.5,184,1077,0.10,2.28,0.00,0.000,4,0.096,0.061,2225,3749,3022
$GC,1258,-0.84,-146.0,89.1,-9.9,217,1265,0.12,2.17,0.00,0.000,6,0.163,0.036,2256,2331,3021
$GC,1597,-0.84,-146.0,115.0,-6.9,250,1600,0.00,2.33,0.00,0.000,4,0.000,0.061,2257,3743,3019
$GC,1659,-0.91,-146.0,119.1,-6.6,252,1665,0.00,2.17,0.00,0.000,6,0.000,0.037,2257,2329,3020
$GC,1976,-0.91,-146.0,139.9,-6.9,268,1980,0.00,2.33,0.00,0.000,4,0.000,0.060,2257,3745,3019
$GC,2116,-0.99,-146.0,149.7,-8.0,274,2121,0.12,2.17,0.00,0.000,6,0.090,0.036,2211,2328,3019
$GC,2437,-0.91,-146.0,176.7,-8.0,290,2441,0.12,2.17,0.00,0.000,4,0.154,0.046,2244,942,3019
$GC,2487,-0.91,-146.0,180.7,-7.7,292,2490,0.00,2.20,0.00,0.000,6,0.000,0.044,2244,2341,3019
$GC,2814,-0.91,-146.0,203.2,-7.0,308,2818,0.00,2.20,0.00,0.000,4,0.000,0.046,2244,941,3019
$GC,2825,-0.91,-146.0,204.0,-6.7,308,2829,0.00,2.20,0.00,0.000,6,0.000,0.044,2244,2343,3019
$GC,3147,-0.96,-146.0,224.0,-5.9,324,3151,0.00,2.25,0.00,0.000,4,0.000,0.060,2244,3742,3019
$GC,3165,-1.01,-146.0,225.2,-5.9,324,3172,0.12,2.15,0.00,0.000,6,0.093,0.034,2199,2331,3019
$GC,3481,-0.91,-146.0,248.5,-7.3,340,3486,0.15,2.33,0.00,0.000,4,0.148,0.058,2241,3746,3020
$GC,3503,-0.91,-146.0,250.1,-6.7,341,3507,0.00,2.15,0.00,0.000,6,0.000,0.034,2241,2336,3019
$GC,3830,-0.91,-146.0,268.5,-5.7,357,3834,0.00,2.30,0.00,0.000,4,0.000,0.058,2241,3746,3020
$GC,3859,-0.98,-146.0,270.2,-6.1,358,3863,0.00,2.15,0.00,0.000,6,0.000,0.033,2242,2332,3020
$GC,4187,-1.02,-146.0,289.3,-6.2,374,4192,0.12,2.33,0.00,0.000,4,0.087,0.059,2192,3748,3021
$GC,4205,-1.02,-146.0,290.7,-6.3,375,4208,0.00,2.15,0.00,0.000,6,0.000,0.034,2192,2336,3022
$GC,4537,-0.90,-146.0,317.0,-8.0,391,4542,0.17,2.33,0.00,0.000,4,0.143,0.059,2243,3745,3023
$GC,4572,-1.00,-146.0,319.3,-6.7,392,4578,0.10,2.15,0.00,0.000,6,0.095,0.034,2204,2332,3023
$GC,4887,-0.93,-146.0,342.7,-7.7,408,4889,0.12,0.00,0.00,0.000,6,0.146,0.000,2240,2330,3024
$GC,5197,-0.99,-146.0,363.7,-6.8,423,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2330,3024
$GC,5507,-1.06,-146.0,384.0,-6.7,438,5512,0.12,2.33,0.00,0.000,4,0.091,0.058,2192,3744,3024
$GC,5518,-1.06,-146.0,384.8,-6.3,438,5524,0.00,2.15,0.00,0.000,6,0.000,0.033,2192,2331,3024
$GC,5853,-0.96,-146.0,408.6,-6.9,452,5858,0.15,2.35,0.00,0.000,4,0.143,0.058,2233,3754,3024
$GC,5910,-1.03,-146.0,412.2,-6.1,453,5914,0.00,2.15,0.00,0.000,6,0.000,0.034,2233,2332,3024
$GC,6223,-1.03,-146.0,428.8,-5.3,461,6228,0.08,2.30,0.00,0.000,4,0.121,0.058,2203,3749,3025
$GC,6256,-1.03,-146.0,431.1,-7.3,461,6260,0.00,2.15,0.00,0.000,6,0.000,0.034,2203,2339,3025
$GC,6594,-0.97,-146.0,454.9,-7.2,470,6598,0.10,2.28,0.00,0.000,4,0.155,0.058,2229,3742,3025
$GC,6615,-0.97,-146.0,456.6,-7.4,470,6619,0.00,2.15,0.00,0.000,6,0.000,0.033,2229,2326,3025
$GC,6958,-0.97,-146.0,480.6,-7.2,479,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2326,3025
$GC,7283,-0.97,-146.0,504.0,-7.0,487,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2326,3025
$GC,7608,-0.97,-146.0,525.9,-6.4,495,7612,0.00,2.33,0.00,0.000,4,0.000,0.058,2229,3753,3026
$GC,7618,-0.97,-146.0,526.7,-6.3,495,7622,0.00,2.17,0.00,0.000,6,0.000,0.033,2229,2325,3025
$GC,7937,-1.04,-146.0,545.8,-5.2,503,7941,0.00,2.33,0.00,0.000,4,0.000,0.058,2229,3751,3026
$GC,7988,-1.12,-146.0,549.2,-5.6,504,7993,0.12,2.15,0.00,0.000,6,0.091,0.034,2183,2337,3026
$STATE,8268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8268,begin apogee
$GC,8275,-0.34,0.0,572.6,8.6,511,8407,0.60,0.00,129.15,1.154,6,0.143,0.000,2365,2516,2420
$STATE,8408,end apogee,CONTROL_FINISHED_OK
$STATE,8408,begin climb
$GC,8412,1.08,146.0,575.3,0.0,514,8554,0.98,2.60,134.18,1.080,4,0.100,0.045,2665,1131,1825
$GC,8613,0.97,146.0,560.4,9.2,518,8617,0.00,2.40,0.00,0.000,6,0.000,0.041,2666,2533,1825
$GC,8950,0.83,146.0,533.4,7.6,527,8955,0.17,2.25,0.00,0.000,4,0.130,0.058,2613,3940,1824
$GC,9051,0.81,167.9,526.4,6.3,529,9075,0.00,2.17,19.20,1.055,6,0.000,0.035,2613,2509,1735
$GC,9408,0.97,240.8,510.0,4.5,538,9474,0.12,2.28,60.30,1.098,4,0.074,0.047,2666,1113,1439
$GC,9549,0.97,240.8,500.3,7.5,541,9553,0.00,2.25,0.00,0.000,6,0.000,0.042,2665,2534,1438
$GC,9868,0.97,240.8,474.0,8.5,549,9872,0.00,2.22,0.00,0.000,4,0.000,0.058,2666,3930,1437
$GC,9902,0.85,240.8,470.7,10.0,549,9906,0.17,2.15,0.00,0.000,6,0.134,0.035,2613,2517,1437
$GC,10239,1.01,254.2,448.8,6.6,558,10259,0.15,2.25,12.12,0.993,4,0.069,0.045,2679,1119,1383
$GC,10343,1.01,254.2,438.8,10.5,560,10347,0.10,2.20,0.00,0.000,6,0.137,0.041,2652,2532,1384
$GC,10656,1.01,254.2,411.3,8.9,568,10660,0.00,2.20,0.00,0.000,4,0.000,0.045,2651,1120,1384
$GC,10702,1.07,254.2,407.3,8.6,569,10706,0.00,2.17,0.00,0.000,6,0.000,0.042,2652,2523,1384
$GC,11035,1.07,254.2,380.4,7.9,582,11039,0.00,2.20,0.00,0.000,4,0.000,0.046,2651,1113,1384
$GC,11091,1.13,254.2,376.2,8.0,584,11096,0.12,2.20,0.00,0.000,6,0.082,0.041,2704,2534,1384
$GC,11412,0.99,254.2,341.8,10.9,600,11416,0.20,2.22,0.00,0.000,4,0.123,0.056,2638,3929,1385
$GC,11451,0.99,254.2,338.0,8.9,601,11457,0.00,2.15,0.00,0.000,6,0.000,0.034,2637,2509,1384
$GC,11767,1.07,259.0,315.8,6.9,617,11778,0.12,2.17,5.62,0.782,4,0.077,0.045,2693,1112,1363
$GC,11870,1.01,259.0,306.2,9.7,621,11877,0.15,2.20,0.00,0.000,6,0.127,0.042,2649,2528,1365
$GC,12187,1.05,259.0,282.4,7.3,637,12190,0.00,2.20,0.00,0.000,4,0.000,0.045,2649,1119,1365
$GC,12237,1.14,259.0,278.5,7.6,639,12242,0.12,2.20,0.00,0.000,6,0.076,0.041,2703,2534,1365
$GC,12564,1.02,259.0,243.5,11.1,655,12566,0.17,0.00,0.00,0.000,6,0.121,0.000,2650,2534,1365
$GC,12873,1.07,259.0,218.1,7.3,670,12877,0.00,2.22,0.00,0.000,4,0.000,0.045,2650,1112,1365
$GC,12946,1.18,262.2,213.0,6.9,673,12956,0.15,2.17,4.45,0.658,6,0.069,0.041,2713,2522,1350
$GC,13273,1.05,262.2,178.2,10.5,689,13277,0.17,2.25,0.00,0.000,4,0.123,0.057,2658,3927,1352
$GC,13373,1.05,262.2,168.8,9.1,693,13376,0.00,2.15,0.00,0.000,6,0.000,0.035,2657,2511,1352
$GC,13695,1.12,266.6,145.4,6.9,709,13705,0.00,2.17,5.47,0.703,4,0.000,0.045,2657,1113,1333
$GC,13795,1.28,285.3,138.6,6.4,713,13817,0.20,2.20,16.23,0.863,6,0.065,0.041,2735,2532,1257
$GC,14130,1.14,285.3,103.9,10.6,729,14132,0.17,0.00,0.00,0.000,6,0.122,0.000,2681,2532,1257
$GC,14461,1.22,285.3,78.5,7.6,780,14468,0.00,2.22,0.00,0.000,4,0.000,0.046,2681,1110,1257
$GC,14508,1.34,285.3,74.9,7.5,788,14515,0.15,2.20,0.00,0.000,6,0.067,0.042,2746,2523,1257
$GC,14854,1.22,285.3,39.7,9.7,849,14860,0.17,0.00,0.00,0.000,6,0.120,0.000,2691,2523,1258
$GC,15198,1.31,285.3,14.6,7.2,910,15205,0.10,2.22,0.00,0.000,4,0.081,0.046,2738,1110,1258
$GC,15274,1.31,285.3,7.6,9.6,923,15280,0.00,2.20,0.00,0.000,6,0.000,0.043,2738,2520,1257
$STATE,15334,end climb,SURFACE_DEPTH_REACHED
$STATE,15334,begin surface coast
$FINISH,0.8,1.013114
$STATE,15358,end surface coast,CONTROL_FINISHED_OK
$STATE,15358,begin surface
$SM_CCo,15437,0.00,0.000,0,0,1256,285.53
$SM_GC,1.71,7.10,0.00,0.00,0.061,0.000,0.000,161,2344,1256,-10.39,0.11,285.53
$RAFOS_CLK,789
$RAFOS,1,1228061646,16.250000,16.235001,72,63,62,61,58,54,831,208,132,191,172,225
$RAFOS,0,1228061056,16.083334,16.071112,57,56,54,51,51,50,182,149,210,124,226,160
$RAFOS,4,1228049047,12.750000,12.735278,69,58,55,55,54,53,762,205,223,182,169,128
$RAFOS,3,1228048441,12.583333,12.566944,62,56,55,54,51,51,205,135,216,184,147,230
$RAFOS,2,1228047844,12.416667,12.401111,68,67,57,54,53,52,194,208,123,136,222,178
$RAFOS,1,1228047242,12.250000,12.233889,66,59,59,58,52,50,855,199,185,213,145,135
$RAFOS_FIX,6700.551758,-5704.857910,291108,121220,2,90,0.54
$IRIDIUM_FIX,6641.98,-5809.06,240298,121256
$TT8_MAMPS,0.03068
$HUMID,1869
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.70
$XPDR_PINGS,1
$24V_AH,20.7,68.967
$10V_AH,10.6,30.643
$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,24.900,147.475,386.725,0.000,0.000,49.479,70.002,351.102,0.250,0.000,0.000,14.521,1742.001,11191.762,518.855,1868.660,783.835,33.377,1546.910,0.000,1832.116,2520.000,0.528,0.000
$DEVICE_MAMPS,254.644,62.894,1153.568,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.424,635.264,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34727,938
$CAP_FILE_SIZE,141223,0
$CFSIZE,260165632,223293440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.9
$GPS,301108,163016,6707.657,-5711.891,37,2.3,56,-37.7