version: 66.04
glider: 113
mission: 4
dive: 381
start: 12 2 108 1 16 58
data:
$ID,113
$MISSION,4
$DIVE,381
$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,-32140.037
$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,49
$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
$GPS1,005939,6708.170,-5713.890,44,1.3,45,-37.8
$_CALLS,3
$_XMS_NAKs,31
$_XMS_TOUTs,2
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-59.5
$GPS2,011603,6708.376,-5714.223,12,1.6,12,-37.8
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.180,-0.134
$KALMAN_X,-149257.3,-355.6,405.0,156710.1,-3082.3
$KALMAN_Y,19225.9,1121.9,-735.8,5375.2,2354.6
$MHEAD_RNG_PITCHd_Wd,164.5,21395,-12.9,-7.021
$D_GRID,654
$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,15,begin dive
$GC,18,-1.08,-146.0,0.0,0.0,0,117,0.00,0.00,-95.95,0.000,2,0.000,0.000,167,2329,2853
$GC,120,-1.08,-146.0,3.2,-3.0,17,141,8.60,2.25,-6.05,0.000,4,0.254,0.060,2201,934,3016
$GC,333,-0.67,-146.0,36.3,-12.1,54,340,0.32,2.20,0.00,0.000,6,0.164,0.045,2294,2340,3020
$GC,678,-0.67,-146.0,71.0,-9.1,115,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2340,3020
$GC,1032,-0.72,-146.0,101.6,-7.5,175,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2340,3020
$GC,1340,-0.81,-146.0,124.0,-7.7,190,1345,0.12,2.28,0.00,0.000,4,0.089,0.059,2247,3741,3018
$GC,1363,-0.81,-146.0,126.1,-9.1,191,1367,0.00,2.12,0.00,0.000,6,0.000,0.035,2246,2348,3018
$GC,1696,-0.81,-146.0,156.8,-8.5,207,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2347,3018
$GC,2004,-0.81,-146.0,181.1,-7.9,222,2008,0.00,2.30,0.00,0.000,4,0.000,0.061,2246,3750,3018
$GC,2043,-0.81,-146.0,184.4,-8.4,223,2049,0.00,2.17,0.00,0.000,6,0.000,0.035,2246,2328,3018
$GC,2359,-0.81,-146.0,209.3,-7.7,239,2363,0.00,2.30,0.00,0.000,4,0.000,0.060,2247,3744,3018
$GC,2387,-0.81,-146.0,211.6,-8.3,240,2391,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2336,3018
$GC,2713,-0.81,-146.0,235.5,-7.0,256,2717,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3741,3018
$GC,2723,-0.81,-146.0,236.3,-7.0,256,2727,0.00,2.15,0.00,0.000,6,0.000,0.034,2246,2328,3018
$GC,3046,-0.81,-146.0,258.7,-6.9,272,3049,0.00,2.33,0.00,0.000,4,0.000,0.060,2246,3746,3019
$GC,3092,-0.86,-146.0,261.8,-6.9,274,3096,0.00,2.15,0.00,0.000,6,0.000,0.034,2246,2333,3019
$GC,3425,-0.86,-146.0,282.5,-6.3,290,3429,0.00,2.33,0.00,0.000,4,0.000,0.059,2246,3752,3019
$GC,3459,-0.91,-146.0,284.6,-6.2,291,3463,0.00,2.17,0.00,0.000,6,0.000,0.034,2246,2326,3020
$GC,3781,-0.91,-146.0,305.1,-6.4,307,3785,0.00,2.33,0.00,0.000,4,0.000,0.058,2246,3743,3021
$GC,3832,-0.98,-146.0,308.4,-6.5,309,3837,0.10,2.15,0.00,0.000,6,0.097,0.034,2206,2331,3021
$GC,4159,-0.88,-146.0,332.6,-7.3,325,4161,0.15,0.00,0.00,0.000,6,0.144,0.000,2248,2329,3021
$GC,4469,-0.92,-146.0,351.6,-6.4,340,4473,0.00,2.33,0.00,0.000,4,0.000,0.059,2248,3754,3021
$GC,4481,-0.97,-146.0,352.4,-6.3,340,4486,0.10,2.15,0.00,0.000,6,0.106,0.033,2211,2336,3021
$GC,4802,-0.90,-146.0,376.8,-7.6,356,4807,0.12,2.33,0.00,0.000,4,0.150,0.058,2245,3753,3022
$GC,4830,-0.90,-146.0,378.8,-7.0,357,4834,0.00,2.15,0.00,0.000,6,0.000,0.034,2245,2341,3022
$GC,5153,-0.95,-146.0,399.2,-6.7,373,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2341,3022
$GC,5456,-0.95,-146.0,418.4,-6.3,381,5460,0.00,2.30,0.00,0.000,4,0.000,0.060,2245,3741,3022
$GC,5490,-1.03,-146.0,420.7,-6.6,381,5495,0.12,2.12,0.00,0.000,6,0.089,0.034,2197,2333,3022
$GC,5828,-0.92,-146.0,447.7,-8.1,390,5833,0.15,2.33,0.00,0.000,4,0.149,0.058,2240,3752,3022
$GC,5849,-0.92,-146.0,449.4,-7.2,390,5853,0.00,2.15,0.00,0.000,6,0.000,0.033,2240,2338,3022
$GC,6198,-0.92,-146.0,472.9,-6.7,399,6202,0.00,2.30,0.00,0.000,4,0.000,0.058,2240,3752,3023
$GC,6210,-0.97,-146.0,473.7,-6.7,399,6214,0.00,2.15,0.00,0.000,6,0.000,0.033,2240,2333,3022
$GC,6530,-1.02,-146.0,494.6,-6.4,407,6535,0.10,2.33,0.00,0.000,4,0.098,0.059,2203,3754,3023
$GC,6540,-1.02,-146.0,495.4,-6.3,407,6545,0.00,2.15,0.00,0.000,6,0.000,0.033,2203,2325,3023
$GC,6855,-0.93,-146.0,519.5,-7.6,415,6856,0.12,0.00,0.00,0.000,6,0.149,0.000,2238,2323,3023
$GC,7179,-0.93,-146.0,539.7,-6.0,423,7183,0.00,2.33,0.00,0.000,4,0.000,0.059,2238,3755,3023
$GC,7207,-0.99,-146.0,541.4,-6.2,423,7211,0.00,2.15,0.00,0.000,6,0.000,0.034,2238,2338,3023
$GC,7550,-0.99,-146.0,560.7,-5.5,432,7554,0.00,2.30,0.00,0.000,4,0.000,0.059,2238,3750,3023
$GC,7597,-1.06,-146.0,563.3,-5.3,433,7602,0.12,2.15,0.00,0.000,6,0.091,0.034,2191,2333,3023
$GC,7928,-0.95,-146.0,587.1,-7.3,441,7932,0.15,2.30,0.00,0.000,4,0.142,0.058,2233,3741,3023
$GC,7938,-0.88,-146.0,588.0,-7.2,441,7942,0.00,2.12,0.00,0.000,6,0.000,0.033,2233,2340,3023
$GC,8253,-0.88,-146.0,606.9,-6.1,449,8256,0.00,2.30,0.00,0.000,4,0.000,0.059,2233,3749,3023
$GC,8270,-0.92,-146.0,608.0,-6.0,449,8274,0.00,2.15,0.00,0.000,6,0.000,0.034,2233,2335,3023
$GC,8583,-0.92,-146.0,627.5,-6.1,457,8587,0.00,2.30,0.00,0.000,4,0.000,0.058,2233,3746,3023
$GC,8617,-0.98,-146.0,629.5,-6.3,457,8621,0.00,2.15,0.00,0.000,6,0.000,0.033,2233,2329,3023
$GC,8955,-1.03,-146.0,650.7,-6.4,466,8959,0.00,2.30,0.00,0.000,4,0.000,0.059,2233,3741,3023
$STATE,9002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9002,begin apogee
$GC,9011,-0.34,0.0,654.1,6.9,467,9143,0.40,0.00,129.27,1.207,6,0.133,0.000,2363,2514,2420
$STATE,9144,end apogee,CONTROL_FINISHED_OK
$STATE,9144,begin climb
$GC,9147,1.08,146.0,656.7,0.0,470,9289,1.00,0.00,137.48,1.130,6,0.100,0.000,2666,2513,1825
$GC,9598,0.93,146.0,621.7,8.7,481,9602,0.12,2.30,0.00,0.000,4,0.140,0.058,2630,3929,1826
$GC,9704,0.81,146.0,612.5,9.1,483,9708,0.00,2.17,0.00,0.000,6,0.000,0.036,2631,2505,1825
$GC,10017,0.81,147.8,590.6,7.0,491,10021,0.00,2.15,0.00,0.000,4,0.000,0.046,2631,1109,1825
$GC,10073,0.81,147.8,586.6,7.5,492,10077,0.00,2.20,0.00,0.000,6,0.000,0.043,2631,2523,1824
$GC,10392,0.81,147.8,564.0,7.1,500,10396,0.00,2.25,0.00,0.000,4,0.000,0.060,2631,3938,1824
$GC,10486,0.68,147.8,555.9,8.8,502,10491,0.17,2.17,0.00,0.000,6,0.137,0.035,2582,2503,1825
$GC,10812,0.86,181.6,537.0,5.9,510,10847,0.15,2.20,30.17,1.127,4,0.070,0.046,2648,1124,1679
$GC,10903,0.86,181.6,529.4,8.6,511,10908,0.10,2.20,0.00,0.000,6,0.138,0.043,2622,2529,1680
$GC,11222,0.86,181.6,505.2,7.5,519,11227,0.00,2.22,0.00,0.000,4,0.000,0.060,2622,3929,1680
$GC,11273,0.82,181.6,500.9,8.6,520,11276,0.00,2.15,0.00,0.000,6,0.000,0.035,2622,2509,1680
$GC,11598,0.82,181.6,475.6,7.9,528,11602,0.00,2.12,0.00,0.000,4,0.000,0.046,2622,1121,1680
$GC,11670,0.90,181.6,469.8,7.9,529,11674,0.00,2.17,0.00,0.000,6,0.000,0.043,2622,2522,1680
$GC,12014,0.95,181.6,442.9,7.8,538,12018,0.00,2.25,0.00,0.000,4,0.000,0.060,2622,3929,1680
$GC,12063,0.95,181.6,438.3,8.9,539,12067,0.00,2.15,0.00,0.000,6,0.000,0.035,2622,2513,1680
$GC,12388,1.01,181.6,413.2,7.7,547,12393,0.12,2.15,0.00,0.000,4,0.078,0.045,2678,1119,1680
$GC,12456,0.92,181.6,407.1,9.2,548,12460,0.15,2.20,0.00,0.000,6,0.132,0.043,2635,2534,1680
$GC,12781,0.92,181.6,382.0,7.6,562,12784,0.00,2.22,0.00,0.000,4,0.000,0.059,2635,3929,1680
$GC,12843,0.85,181.6,376.6,8.7,564,12849,0.00,2.15,0.00,0.000,6,0.000,0.035,2635,2512,1679
$GC,13158,0.85,181.6,353.9,7.1,580,13162,0.00,2.15,0.00,0.000,4,0.000,0.046,2635,1116,1680
$GC,13238,0.92,183.7,348.4,6.9,583,13242,0.00,2.20,0.00,0.000,6,0.000,0.042,2635,2531,1679
$GC,13560,0.92,183.7,325.3,7.1,599,13569,0.00,2.28,3.08,0.504,4,0.000,0.059,2635,3917,1672
$GC,13615,0.85,183.7,320.9,8.4,601,13618,0.00,2.12,0.00,0.000,6,0.000,0.035,2635,2517,1673
$GC,13936,0.87,192.5,298.7,6.7,617,13951,0.00,2.22,8.82,0.884,4,0.000,0.046,2635,1118,1635
$GC,13997,0.93,192.5,294.5,7.3,619,14003,0.00,2.17,0.00,0.000,6,0.000,0.041,2635,2525,1637
$GC,14313,1.02,224.7,274.6,5.9,635,14343,0.10,0.00,27.40,0.968,6,0.080,0.000,2681,2525,1504
$GC,14643,0.95,224.7,247.3,8.1,651,14645,0.15,0.00,0.00,0.000,6,0.120,0.000,2637,2525,1507
$GC,14952,1.06,259.1,229.6,5.8,666,14983,0.12,0.00,28.88,0.937,6,0.074,0.000,2693,2525,1363
$GC,15281,0.99,259.1,201.4,8.8,682,15286,0.15,2.20,0.00,0.000,4,0.118,0.046,2647,1123,1365
$GC,15372,1.12,264.8,195.1,6.8,686,15383,0.12,2.17,6.18,0.743,6,0.075,0.042,2704,2524,1341
$GC,15703,1.03,264.8,160.6,11.0,702,15705,0.17,0.00,0.00,0.000,6,0.119,0.000,2650,2524,1343
$GC,16009,1.12,264.8,134.4,8.3,717,16011,0.10,0.00,0.00,0.000,6,0.083,0.000,2695,2524,1343
$GC,16318,1.12,264.8,101.9,9.4,732,16322,0.00,2.20,0.00,0.000,4,0.000,0.046,2695,1118,1343
$GC,16403,1.12,264.8,95.2,7.9,741,16409,0.00,2.17,0.00,0.000,6,0.000,0.042,2695,2520,1344
$GC,16748,1.15,283.4,71.5,6.4,802,16772,0.00,2.30,16.27,0.833,4,0.000,0.059,2695,3924,1264
$GC,16824,1.07,283.4,65.8,8.4,815,16831,0.12,2.15,0.00,0.000,6,0.127,0.035,2658,2508,1265
$GC,17170,1.29,305.3,45.4,6.3,876,17195,0.17,2.25,18.83,0.831,4,0.067,0.048,2732,1112,1175
$GC,17325,1.29,305.3,32.1,9.3,903,17331,0.00,2.20,0.00,0.000,6,0.000,0.043,2732,2527,1176
$STATE,17616,end climb,SURFACE_DEPTH_REACHED
$STATE,17616,begin surface coast
$FINISH,0.8,1.026667
$STATE,17634,end surface coast,CONTROL_FINISHED_OK
$STATE,17634,begin surface
$SM_CCo,17713,0.00,0.000,0,0,1174,305.64
$SM_GC,1.55,7.15,0.00,0.00,0.067,0.000,0.000,158,2323,1174,-10.40,-0.48,305.64
$RAFOS_CLK,910
$RAFOS,4,1228193043,4.750000,4.734167,70,55,51,51,49,47,209,135,167,145,122,190
$RAFOS,3,1228192466,4.583333,4.573889,66,64,56,55,54,52,212,170,137,189,155,116
$RAFOS,2,1228191844,4.416667,4.401111,61,54,54,51,51,48,172,184,204,116,1890,130
$RAFOS,1,1228191263,4.250000,4.239722,60,58,55,55,54,53,213,222,181,195,166,132
$RAFOS,0,1228190645,4.083333,4.068056,64,59,55,55,54,54,202,193,176,218,149,162
$RAFOS_FIX,6610.283691,-5944.430664,011208,161653,3,83,18.89
$IRIDIUM_FIX,6641.98,-5709.24,260298,010102
$TT8_MAMPS,0.027612
$HUMID,1887
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.00
$XPDR_PINGS,2
$24V_AH,20.6,70.227
$10V_AH,10.6,31.203
$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,20.900,159.400,406.375,0.000,0.000,79.657,95.216,517.833,0.500,0.000,0.000,13.886,1815.179,13345.340,544.126,1915.240,1068.620,33.377,1597.753,0.000,1887.053,1800.000,0.530,0.000
$DEVICE_MAMPS,253.877,60.593,1207.258,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.566,649.472,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34704,958
$CAP_FILE_SIZE,152174,0
$CFSIZE,260165632,222777344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.4
$GPS,021208,061426,6709.092,-5716.979,89,1.2,89,-37.8