version: 66.04
glider: 113
mission: 4
dive: 443
start: 12 17 108 16 32 32
data:
$ID,113
$MISSION,4
$DIVE,443
$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,-40868.57
$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,35
$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
$GPS1,162326,6702.186,-5657.941,39,1.2,39,-37.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.8
$GPS2,163138,6702.242,-5658.053,15,1.1,32,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_MID
$TGT_LATLONG,6656.000,-5805.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.219,-0.047
$KALMAN_X,-125225.9,-1301.2,294.7,145477.5,659.1
$KALMAN_Y,-10450.5,113.2,-255.5,24250.1,58.2
$MHEAD_RNG_PITCHd_Wd,295.5,49934,-12.9,-7.021
$D_GRID,669
$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,-146.0,0.0,0.0,0,166,0.00,0.00,-144.15,0.000,6,0.000,0.000,165,2362,3016
$GC,170,-1.08,-146.0,3.2,-2.9,26,182,8.57,0.00,0.00,0.000,6,0.255,0.000,2199,2362,3020
$GC,521,-0.70,-146.0,55.3,-13.6,88,527,0.28,0.00,0.00,0.000,6,0.165,0.000,2283,2362,3022
$GC,865,-0.70,-146.0,85.9,-9.1,149,871,0.00,2.28,0.00,0.000,4,0.000,0.063,2283,3739,3022
$GC,958,-0.74,-146.0,94.1,-8.8,165,964,0.00,2.17,0.00,0.000,6,0.000,0.037,2284,2336,3022
$GC,1280,-0.74,-146.0,118.1,-6.8,190,1284,0.00,2.22,0.00,0.000,4,0.000,0.050,2284,930,3022
$GC,1349,-0.74,-146.0,123.1,-7.6,193,1353,0.00,2.25,0.00,0.000,6,0.000,0.047,2284,2340,3022
$GC,1681,-0.79,-146.0,147.0,-7.3,209,1685,0.00,2.33,0.00,0.000,4,0.000,0.061,2284,3753,3022
$GC,1750,-0.88,-146.0,151.9,-6.5,212,1755,0.15,2.20,0.00,0.000,6,0.080,0.036,2230,2333,3022
$GC,2084,-0.76,-146.0,181.0,-9.1,228,2085,0.15,0.00,0.00,0.000,6,0.154,0.000,2270,2330,3022
$GC,2392,-0.76,-146.0,203.9,-7.7,243,2395,0.00,2.22,0.00,0.000,4,0.000,0.050,2270,934,3022
$GC,2425,-0.76,-146.0,206.9,-8.7,244,2429,0.00,2.25,0.00,0.000,6,0.000,0.047,2271,2339,3021
$GC,2747,-0.83,-146.0,231.3,-7.5,260,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2339,3021
$GC,3056,-0.91,-146.0,252.8,-7.0,275,3061,0.12,2.25,0.00,0.000,4,0.089,0.048,2223,939,3020
$GC,3118,-0.79,-146.0,258.2,-8.6,277,3125,0.15,2.25,0.00,0.000,6,0.160,0.047,2260,2343,3021
$GC,3434,-0.85,-146.0,281.0,-7.2,293,3438,0.00,2.33,0.00,0.000,4,0.000,0.062,2260,3749,3020
$GC,3507,-0.95,-146.0,286.5,-7.4,296,3512,0.12,2.20,0.00,0.000,6,0.100,0.036,2217,2333,3020
$GC,3835,-0.86,-146.0,314.4,-8.8,312,3840,0.12,2.22,0.00,0.000,4,0.153,0.047,2251,936,3021
$GC,4019,-0.86,-146.0,330.2,-8.3,320,4023,0.00,2.25,0.00,0.000,6,0.000,0.045,2251,2344,3021
$GC,4342,-0.91,-146.0,354.6,-7.7,336,4345,0.00,2.33,0.00,0.000,4,0.000,0.062,2251,3750,3021
$GC,4525,-1.00,-146.0,368.1,-7.2,344,4530,0.12,2.20,0.00,0.000,6,0.095,0.035,2208,2328,3021
$GC,4858,-0.92,-146.0,395.1,-7.9,360,4862,0.12,2.20,0.00,0.000,4,0.151,0.045,2241,943,3022
$GC,4936,-0.92,-146.0,401.0,-7.3,363,4940,0.00,2.22,0.00,0.000,6,0.000,0.044,2242,2342,3022
$GC,5273,-0.92,-146.0,421.9,-6.0,372,5277,0.00,2.33,0.00,0.000,4,0.000,0.060,2242,3752,3023
$GC,5325,-0.99,-146.0,424.8,-6.1,373,5329,0.10,2.20,0.00,0.000,6,0.092,0.035,2205,2328,3022
$GC,5650,-0.90,-146.0,447.1,-6.8,381,5651,0.15,0.00,0.00,0.000,6,0.143,0.000,2246,2325,3024
$GC,5975,-0.96,-146.0,464.9,-5.4,389,5979,0.00,2.35,0.00,0.000,4,0.000,0.059,2246,3745,3024
$GC,6060,-1.05,-146.0,469.8,-5.6,390,6067,0.15,2.17,0.00,0.000,6,0.092,0.035,2192,2335,3025
$GC,6392,-0.92,-146.0,494.6,-7.7,399,6394,0.17,0.00,0.00,0.000,6,0.143,0.000,2242,2333,3025
$GC,6717,-0.92,-146.0,515.3,-6.4,407,6721,0.00,2.35,0.00,0.000,4,0.000,0.060,2242,3742,3025
$GC,6796,-1.00,-146.0,520.6,-6.9,408,6801,0.10,2.17,0.00,0.000,6,0.092,0.035,2205,2336,3025
$GC,7134,-0.92,-146.0,547.3,-8.0,417,7136,0.12,0.00,0.00,0.000,6,0.150,0.000,2239,2334,3026
$GC,7459,-0.92,-146.0,569.2,-6.6,425,7463,0.00,2.35,0.00,0.000,4,0.000,0.061,2239,3741,3025
$GC,7544,-1.00,-146.0,575.2,-7.3,426,7550,0.00,2.17,0.00,0.000,6,0.000,0.036,2239,2340,3025
$GC,7876,-1.04,-146.0,596.2,-6.3,435,7881,0.12,2.35,0.00,0.000,4,0.094,0.059,2192,3742,3025
$GC,7944,-0.95,-146.0,601.6,-8.4,436,7948,0.15,2.17,0.00,0.000,6,0.146,0.035,2231,2334,3025
$GC,8286,-0.95,-146.0,624.5,-6.7,445,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2334,3026
$GC,8611,-0.95,-146.0,646.2,-6.6,453,8615,0.00,2.38,0.00,0.000,4,0.000,0.061,2231,3753,3026
$GC,8664,-1.00,-146.0,649.6,-6.8,454,8668,0.00,2.20,0.00,0.000,6,0.000,0.035,2231,2337,3025
$STATE,8985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8985,begin apogee
$GC,8993,-0.34,0.0,670.5,6.2,462,9128,0.43,0.00,131.98,1.269,6,0.137,0.000,2362,2528,2420
$STATE,9128,end apogee,CONTROL_FINISHED_OK
$STATE,9128,begin climb
$GC,9132,1.08,146.0,673.6,0.0,465,9284,1.05,2.67,141.60,1.174,4,0.100,0.045,2666,1129,1824
$GC,9297,1.02,146.0,663.8,7.4,469,9301,0.00,2.58,0.00,0.000,6,0.000,0.044,2667,2520,1825
$GC,9621,0.89,146.0,636.3,8.4,477,9626,0.15,2.30,0.00,0.000,4,0.143,0.061,2624,3931,1824
$GC,9707,0.82,146.0,629.2,8.7,479,9711,0.00,2.17,0.00,0.000,6,0.000,0.038,2624,2521,1823
$GC,10037,0.83,150.9,605.9,6.9,487,10046,0.00,2.33,5.18,0.905,4,0.000,0.063,2625,3933,1804
$GC,10070,0.78,150.9,603.5,7.2,487,10074,0.00,2.20,0.00,0.000,6,0.000,0.038,2624,2510,1805
$GC,10407,0.78,154.4,580.8,6.9,496,10416,0.00,2.38,4.55,0.851,4,0.000,0.064,2624,3941,1790
$GC,10440,0.72,154.4,578.2,8.1,496,10444,0.12,2.20,0.00,0.000,6,0.143,0.037,2588,2513,1791
$GC,10777,0.98,154.4,555.0,7.1,505,10782,0.20,2.38,0.00,0.000,4,0.071,0.063,2676,3944,1791
$GC,10811,0.77,154.4,552.0,8.9,505,10818,0.25,2.20,0.00,0.000,6,0.140,0.037,2602,2520,1791
$GC,11143,0.91,184.8,531.4,6.0,514,11177,0.12,2.35,26.42,1.201,4,0.074,0.049,2653,1109,1666
$GC,11195,0.92,189.2,527.5,6.9,515,11205,0.00,2.28,5.40,0.886,6,0.000,0.046,2653,2529,1648
$GC,11548,0.92,189.2,500.6,7.4,524,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2529,1649
$GC,11873,0.92,189.2,477.6,7.0,532,11876,0.00,2.30,0.00,0.000,4,0.000,0.063,2653,3935,1648
$GC,11896,0.83,189.2,475.7,8.4,532,11900,0.15,2.20,0.00,0.000,6,0.143,0.038,2611,2515,1648
$GC,12244,0.98,217.3,454.6,6.1,541,12271,0.12,0.00,24.17,1.149,6,0.077,0.000,2665,2512,1534
$GC,12569,0.98,217.3,428.1,8.4,549,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2513,1535
$GC,12893,0.98,217.3,401.2,8.2,557,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2513,1534
$GC,13203,0.98,217.3,377.3,8.2,571,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2513,1533
$GC,13511,0.98,217.3,351.3,8.5,586,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2513,1534
$GC,13821,0.98,217.3,323.7,8.9,601,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2512,1534
$GC,14130,0.91,217.3,298.2,8.3,616,14135,0.12,2.22,0.00,0.000,4,0.134,0.047,2628,1118,1534
$GC,14181,1.10,233.0,294.8,6.5,618,14201,0.15,2.22,14.05,0.990,6,0.071,0.044,2691,2520,1470
$GC,14526,1.20,233.0,265.3,8.4,635,14530,0.00,2.28,0.00,0.000,4,0.000,0.061,2691,3928,1472
$GC,14572,1.01,233.0,260.8,9.6,637,14576,0.15,2.17,0.00,0.000,6,0.141,0.037,2649,2515,1472
$GC,14899,1.06,233.0,235.7,7.5,653,14903,0.00,2.20,0.00,0.000,4,0.000,0.048,2649,1119,1471
$GC,14955,1.17,233.0,231.3,7.4,655,14960,0.15,2.22,0.00,0.000,6,0.070,0.043,2708,2529,1472
$GC,15272,1.04,233.0,201.7,9.0,670,15276,0.17,2.30,0.00,0.000,4,0.127,0.059,2654,3931,1472
$GC,15328,1.04,233.0,197.0,8.0,672,15331,0.00,2.20,0.00,0.000,6,0.000,0.037,2654,2509,1472
$GC,15650,1.12,245.5,176.1,6.6,688,15671,0.10,2.42,12.00,0.918,4,0.081,0.061,2702,3937,1419
$GC,15696,0.96,245.5,172.1,10.3,690,15701,0.22,2.20,0.00,0.000,6,0.127,0.037,2635,2511,1419
$GC,16023,1.25,245.5,148.7,8.0,706,16028,0.20,2.35,0.00,0.000,4,0.067,0.061,2719,3930,1419
$GC,16068,1.01,245.5,144.2,10.8,708,16073,0.22,2.20,0.00,0.000,6,0.130,0.037,2653,2508,1419
$GC,16390,1.29,245.5,118.4,8.4,724,16394,0.20,2.20,0.00,0.000,4,0.065,0.047,2736,1120,1420
$GC,16496,1.14,245.5,108.3,8.7,728,16503,0.20,2.25,0.00,0.000,6,0.133,0.045,2679,2533,1420
$GC,16831,1.14,248.6,83.9,6.9,774,16843,0.00,2.30,4.18,0.663,4,0.000,0.048,2679,1125,1406
$GC,16879,1.25,268.4,80.8,6.3,782,16904,0.12,2.22,17.52,0.932,6,0.077,0.046,2730,2528,1325
$GC,17246,1.17,268.4,49.5,8.5,846,17253,0.15,2.28,0.00,0.000,4,0.128,0.048,2684,1108,1324
$GC,17277,1.17,270.1,47.3,7.0,851,17284,0.00,2.25,0.00,0.000,6,0.000,0.045,2684,2532,1323
$GC,17623,1.24,270.4,24.4,7.0,912,17630,0.08,2.28,0.00,0.000,4,0.098,0.048,2722,1112,1323
$GC,17643,1.30,270.4,22.7,7.6,915,17649,0.00,2.25,0.00,0.000,6,0.000,0.045,2722,2530,1324
$STATE,17877,end climb,SURFACE_DEPTH_REACHED
$STATE,17877,begin surface coast
$FINISH,0.9,1.027089
$STATE,17901,end surface coast,CONTROL_FINISHED_OK
$STATE,17901,begin surface
$SM_CCo,17981,0.00,0.000,0,0,1322,269.34
$SM_GC,1.73,7.05,0.00,0.00,0.054,0.000,0.000,161,2332,1322,-10.37,-0.23,269.34
$RAFOS_CLK,961
$RAFOS,4,1229546655,20.750000,20.737499,66,65,62,59,56,55,214,204,145,225,169,190
$RAFOS,3,1229546051,20.583334,20.569723,60,58,54,52,50,48,187,213,223,169,160,127
$RAFOS,2,1229545452,20.416666,20.403334,118,65,59,55,52,51,570,189,202,230,134,153
$RAFOS,1,1229544854,20.250000,20.237223,57,56,54,54,51,49,196,154,179,220,121,165
$RAFOS,0,1229544280,20.083334,20.077778,58,58,56,54,54,52,147,220,179,198,134,230
$RAFOS,4,1229532246,16.750000,16.735001,74,62,60,56,55,53,799,213,229,197,150,131
$RAFOS,3,1229531641,16.583334,16.566944,58,55,54,51,51,48,177,204,220,134,192,149
$RAFOS_FIX,6704.075684,-5705.107910,171208,121216,2,118,0.52
$IRIDIUM_FIX,6636.54,-5702.96,130398,111101
$TT8_MAMPS,0.027612
$HUMID,1936
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,20.3,81.219
$10V_AH,10.5,36.541
$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,22.900,145.700,387.050,0.000,0.000,25.112,36.748,262.481,0.250,0.000,0.000,34.231,1783.249,13467.310,556.664,1973.429,685.452,33.375,1622.701,0.000,1917.887,2520.000,0.529,0.000
$DEVICE_MAMPS,255.411,66.729,1269.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.859,654.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34783,961
$CAP_FILE_SIZE,145599,0
$CFSIZE,260165632,218157056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.8
$GPS,171208,213337,6701.894,-5702.334,36,1.1,36,-37.6