version: 66.04
glider: 113
mission: 4
dive: 322
start: 11 18 108 15 15 2
data:
$ID,113
$MISSION,4
$DIVE,322
$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,-28885.57
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,145707,6705.666,-5707.352,42,0.9,42,-37.7
$_CALLS,3
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.3
$GPS2,151408,6705.639,-5707.568,23,0.9,28,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.094,-0.204
$KALMAN_X,-41704.8,-404.8,838.9,53596.0,-4676.1
$KALMAN_Y,-30874.1,-327.2,-1044.6,52179.0,4667.8
$MHEAD_RNG_PITCHd_Wd,192.9,14953,-12.9,-7.021
$D_GRID,627
$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,12,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,-113.30,0.000,2,0.000,0.000,155,2338,2917
$GC,135,-1.08,-146.0,3.1,-2.1,20,154,8.65,2.28,-3.30,0.000,4,0.255,0.068,2200,926,3018
$GC,385,-0.65,-146.0,50.4,-15.7,64,392,0.32,2.28,0.00,0.000,6,0.167,0.051,2293,2355,3021
$GC,730,-0.65,-146.0,78.8,-6.4,125,737,0.00,2.28,0.00,0.000,4,0.000,0.054,2293,926,3022
$GC,810,-0.65,-146.0,84.4,-7.3,139,817,0.00,2.25,0.00,0.000,6,0.000,0.049,2293,2348,3021
$GC,1154,-0.69,-146.0,110.0,-8.1,184,1158,0.00,2.25,0.00,0.000,4,0.000,0.053,2293,931,3022
$GC,1165,-0.69,-146.0,110.9,-8.1,184,1169,0.00,2.22,0.00,0.000,6,0.000,0.047,2293,2343,3022
$GC,1487,-0.76,-146.0,132.1,-5.7,200,1488,0.10,0.00,0.00,0.000,6,0.106,0.000,2256,2343,3021
$GC,1795,-0.76,-146.0,157.0,-8.9,215,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2344,3021
$GC,2104,-0.76,-146.0,185.2,-8.8,230,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2344,3020
$GC,2414,-0.76,-146.0,209.5,-7.4,245,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2344,3020
$GC,2723,-0.76,-146.0,231.3,-6.9,260,2726,0.00,2.30,0.00,0.000,4,0.000,0.066,2256,3746,3020
$GC,2734,-0.76,-146.0,232.1,-6.6,260,2738,0.00,2.20,0.00,0.000,6,0.000,0.038,2256,2326,3019
$GC,3055,-0.76,-146.0,252.8,-6.6,276,3059,0.00,2.35,0.00,0.000,4,0.000,0.066,2256,3743,3019
$GC,3083,-0.82,-146.0,254.8,-7.1,277,3086,0.00,2.17,0.00,0.000,6,0.000,0.040,2256,2340,3019
$GC,3404,-0.82,-146.0,276.7,-6.7,293,3407,0.00,2.33,0.00,0.000,4,0.000,0.065,2256,3747,3019
$GC,3415,-0.86,-146.0,277.4,-6.7,293,3419,0.00,2.17,0.00,0.000,6,0.000,0.038,2256,2340,3019
$GC,3737,-0.91,-146.0,297.7,-6.1,309,3741,0.00,2.33,0.00,0.000,4,0.000,0.064,2256,3750,3019
$GC,3748,-0.96,-146.0,298.5,-6.0,309,3753,0.12,2.20,0.00,0.000,6,0.096,0.038,2211,2324,3019
$GC,4067,-0.87,-146.0,320.9,-6.8,324,4071,0.15,2.38,0.00,0.000,4,0.156,0.064,2250,3757,3020
$GC,4122,-0.94,-146.0,324.5,-5.8,326,4129,0.00,2.20,0.00,0.000,6,0.000,0.038,2251,2330,3020
$GC,4438,-0.94,-146.0,343.5,-6.5,342,4442,0.00,2.33,0.00,0.000,4,0.000,0.063,2250,3743,3020
$GC,4467,-1.00,-146.0,345.4,-6.8,343,4472,0.12,2.17,0.00,0.000,6,0.100,0.037,2204,2327,3020
$GC,4789,-0.89,-146.0,370.8,-7.9,359,4794,0.15,2.35,0.00,0.000,4,0.146,0.062,2245,3750,3020
$GC,4830,-0.95,-146.0,373.7,-7.0,361,4834,0.00,2.17,0.00,0.000,6,0.000,0.038,2246,2333,3021
$GC,5162,-0.95,-146.0,394.5,-6.0,377,5166,0.00,2.33,0.00,0.000,4,0.000,0.063,2246,3746,3022
$GC,5202,-1.01,-146.0,397.0,-6.6,378,5209,0.12,2.17,0.00,0.000,6,0.101,0.036,2202,2327,3022
$GC,5534,-0.91,-146.0,420.7,-7.1,388,5539,0.15,2.35,0.00,0.000,4,0.150,0.061,2243,3748,3022
$GC,5567,-0.96,-146.0,423.0,-6.6,388,5574,0.00,2.17,0.00,0.000,6,0.000,0.036,2244,2329,3022
$GC,5899,-0.96,-146.0,441.8,-5.7,397,5902,0.00,2.33,0.00,0.000,4,0.000,0.062,2244,3743,3023
$GC,5910,-1.01,-146.0,442.5,-5.7,397,5915,0.12,2.15,0.00,0.000,6,0.093,0.036,2197,2337,3023
$GC,6229,-0.90,-146.0,464.3,-6.8,405,6234,0.17,2.33,0.00,0.000,4,0.148,0.061,2245,3743,3024
$GC,6264,-0.98,-146.0,466.5,-6.4,405,6270,0.00,2.15,0.00,0.000,6,0.000,0.037,2245,2340,3024
$GC,6596,-1.04,-146.0,485.3,-5.7,414,6601,0.12,2.33,0.00,0.000,4,0.100,0.061,2199,3753,3024
$GC,6636,-0.95,-146.0,487.8,-6.4,415,6640,0.12,2.17,0.00,0.000,6,0.152,0.036,2230,2329,3024
$GC,6965,-0.95,-146.0,506.3,-5.4,423,6969,0.00,2.33,0.00,0.000,4,0.000,0.061,2231,3743,3025
$GC,7005,-0.95,-146.0,508.6,-6.1,423,7011,0.00,2.15,0.00,0.000,6,0.000,0.036,2231,2341,3025
$GC,7336,-0.95,-146.0,526.2,-5.3,432,7340,0.00,2.33,0.00,0.000,4,0.000,0.062,2231,3753,3025
$GC,7375,-0.95,-146.0,528.4,-5.6,432,7381,0.00,2.17,0.00,0.000,6,0.000,0.035,2231,2332,3025
$GC,7707,-0.95,-146.0,547.0,-5.7,441,7711,0.00,2.33,0.00,0.000,4,0.000,0.062,2231,3747,3025
$GC,7753,-1.00,-146.0,549.7,-6.0,442,7757,0.00,2.15,0.00,0.000,6,0.000,0.036,2231,2339,3025
$GC,8083,-1.00,-146.0,568.8,-5.8,450,8087,0.00,2.30,0.00,0.000,4,0.000,0.061,2231,3743,3025
$GC,8116,-1.00,-146.0,570.9,-6.4,450,8120,0.00,2.15,0.00,0.000,6,0.000,0.036,2231,2338,3025
$GC,8454,-1.00,-146.0,589.1,-5.3,459,8457,0.00,2.33,0.00,0.000,4,0.000,0.061,2231,3755,3026
$GC,8465,-1.00,-146.0,589.7,-5.3,459,8469,0.00,2.17,0.00,0.000,6,0.000,0.035,2231,2333,3026
$GC,8784,-1.00,-146.0,607.7,-5.7,467,8788,0.00,2.33,0.00,0.000,4,0.000,0.061,2231,3750,3026
$GC,8795,-1.00,-146.0,608.4,-5.7,467,8799,0.00,2.17,0.00,0.000,6,0.000,0.035,2231,2328,3027
$GC,9114,-1.00,-146.0,627.0,-5.9,475,9118,0.00,2.33,0.00,0.000,4,0.000,0.061,2231,3748,3027
$STATE,9122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9122,begin apogee
$GC,9129,-0.34,0.0,627.5,5.7,475,9265,0.40,0.00,132.52,1.211,6,0.139,0.000,2359,2510,2420
$STATE,9266,end apogee,CONTROL_FINISHED_OK
$STATE,9266,begin climb
$GC,9269,1.08,146.0,629.4,0.0,478,9417,1.02,0.00,139.10,1.122,6,0.105,0.000,2665,2510,1824
$GC,9718,0.96,146.0,593.9,8.5,489,9722,0.00,2.38,0.00,0.000,4,0.000,0.061,2665,3938,1823
$GC,9809,0.72,146.0,584.9,9.9,491,9814,0.25,2.20,0.00,0.000,6,0.137,0.038,2591,2518,1822
$GC,10134,0.90,187.2,566.3,5.6,499,10177,0.15,2.28,34.83,1.150,4,0.071,0.048,2653,1113,1656
$GC,10232,0.90,187.2,558.4,8.5,501,10237,0.00,2.25,0.00,0.000,6,0.000,0.044,2653,2535,1655
$GC,10552,0.90,187.2,531.5,8.6,509,10555,0.00,2.25,0.00,0.000,4,0.000,0.061,2653,3937,1654
$GC,10602,0.76,187.2,526.7,9.9,510,10606,0.20,2.17,0.00,0.000,6,0.135,0.037,2593,2517,1654
$GC,10926,0.96,215.3,507.4,6.1,518,10956,0.17,2.28,24.00,1.122,4,0.069,0.049,2665,1098,1542
$GC,11035,0.96,215.3,498.1,8.7,520,11038,0.00,2.25,0.00,0.000,6,0.000,0.045,2665,2520,1541
$GC,11383,0.91,215.3,465.7,9.5,529,11388,0.12,2.28,0.00,0.000,4,0.137,0.059,2628,3934,1540
$GC,11416,0.91,215.3,462.5,8.7,529,11422,0.00,2.17,0.00,0.000,6,0.000,0.037,2628,2515,1540
$GC,11747,0.99,219.1,438.6,6.9,538,11757,0.10,2.20,4.75,0.788,4,0.087,0.048,2673,1114,1526
$GC,11837,0.99,219.1,431.1,8.7,540,11841,0.00,2.20,0.00,0.000,6,0.000,0.044,2673,2525,1526
$GC,12167,0.91,219.1,402.4,8.8,548,12172,0.15,2.25,0.00,0.000,4,0.137,0.060,2628,3925,1526
$GC,12223,0.91,219.1,397.6,8.3,549,12227,0.00,2.15,0.00,0.000,6,0.000,0.037,2628,2510,1527
$GC,12544,1.05,250.2,377.2,6.0,565,12577,0.12,2.22,26.70,1.055,4,0.078,0.048,2679,1116,1400
$GC,12644,1.05,250.2,368.8,8.7,569,12651,0.00,2.22,0.00,0.000,6,0.000,0.044,2679,2526,1399
$GC,12960,1.00,250.2,339.8,9.4,585,12962,0.10,0.00,0.00,0.000,6,0.143,0.000,2652,2526,1398
$GC,13270,1.05,250.2,316.4,7.4,600,13274,0.00,2.22,0.00,0.000,4,0.000,0.048,2651,1109,1398
$GC,13348,1.14,250.2,310.6,8.0,603,13353,0.12,2.20,0.00,0.000,6,0.078,0.044,2705,2523,1398
$GC,13670,1.03,250.2,279.1,9.8,619,13672,0.17,0.00,0.00,0.000,6,0.123,0.000,2651,2523,1399
$GC,13979,1.10,250.2,257.0,7.1,634,13983,0.10,2.20,0.00,0.000,4,0.088,0.048,2695,1114,1399
$GC,14046,1.10,250.2,251.1,9.1,637,14050,0.00,2.20,0.00,0.000,6,0.000,0.044,2695,2525,1400
$GC,14379,1.03,250.2,219.1,9.5,653,14384,0.15,2.28,0.00,0.000,4,0.131,0.061,2650,3934,1399
$GC,14428,1.03,250.2,214.2,9.0,655,14432,0.00,2.15,0.00,0.000,6,0.000,0.036,2650,2518,1400
$GC,14750,1.13,250.2,189.0,7.4,671,14754,0.12,2.17,0.00,0.000,4,0.075,0.047,2707,1119,1400
$GC,14840,1.13,250.2,180.5,9.5,675,14845,0.10,2.20,0.00,0.000,6,0.135,0.044,2679,2531,1400
$GC,15172,1.13,250.2,152.7,8.0,691,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2531,1401
$GC,15482,1.13,250.2,129.4,7.1,706,15486,0.00,2.22,0.00,0.000,4,0.000,0.048,2679,1117,1401
$GC,15528,1.26,280.7,126.5,6.0,708,15560,0.12,2.20,26.30,0.943,6,0.079,0.045,2731,2525,1275
$GC,15875,1.18,280.7,97.8,8.4,727,15881,0.15,0.00,0.00,0.000,6,0.126,0.000,2685,2525,1272
$GC,16218,1.29,280.7,74.3,7.1,788,16225,0.12,2.25,0.00,0.000,4,0.076,0.050,2737,1109,1271
$GC,16322,1.29,280.7,65.0,8.8,806,16328,0.00,2.22,0.00,0.000,6,0.000,0.048,2737,2520,1271
$GC,16666,1.29,280.7,35.9,9.3,867,16673,0.10,2.28,0.00,0.000,4,0.147,0.061,2709,3928,1269
$GC,16719,1.29,280.7,30.5,10.8,876,16725,0.00,2.17,0.00,0.000,6,0.000,0.040,2709,2516,1268
$GC,17063,1.38,280.7,2.9,9.7,937,17070,0.10,2.20,0.00,0.000,4,0.090,0.051,2750,1119,1268
$STATE,17079,end climb,SURFACE_DEPTH_REACHED
$STATE,17079,begin surface coast
$FINISH,1.3,1.026271
$STATE,17086,end surface coast,CONTROL_FINISHED_OK
$STATE,17086,begin surface
$SM_CCo,17165,0.00,0.000,0,0,1266,283.08
$SM_GC,1.65,7.12,0.00,0.00,0.062,0.000,0.000,156,2349,1266,-10.41,0.25,283.08
$RAFOS_CLK,935
$RAFOS,4,1227026670,16.750000,16.741667,59,58,56,55,52,51,190,216,120,172,230,133
$RAFOS,3,1227026045,16.583334,16.568056,57,57,54,54,51,45,190,211,136,165,124,221
$RAFOS,2,1227025448,16.416666,16.402222,59,56,56,53,51,50,205,164,218,195,153,121
$RAFOS,1,1227024850,16.250000,16.236111,70,63,59,56,55,55,212,158,200,188,172,122
$RAFOS,0,1227024251,16.083334,16.069723,64,56,55,55,54,52,214,161,173,225,149,124
$RAFOS_FIX,7544.612793,-8455.451172,171108,161633,3,77,94.26
$IRIDIUM_FIX,6636.54,-5707.59,120298,151511
$TT8_MAMPS,0.027612
$HUMID,1892
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,15.80
$XPDR_PINGS,2
$24V_AH,20.7,60.494
$10V_AH,10.6,26.587
$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,21.750,169.700,388.200,0.000,0.000,75.227,105.588,556.530,0.500,0.000,0.000,32.253,1762.706,12915.841,556.888,1896.927,1049.899,33.377,1600.209,0.000,1849.151,1800.000,0.529,0.000
$DEVICE_MAMPS,254.644,68.263,1211.093,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.020,639.528,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34736,941
$CAP_FILE_SIZE,151806,0
$CFSIZE,260165632,226983936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1459.5
$GPS,181108,200231,6705.902,-5711.236,37,1.9,37,-37.7