version: 66.04
glider: 113
mission: 4
dive: 346
start: 11 24 108 9 2 5
data:
$ID,113
$MISSION,4
$DIVE,346
$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,558.3028
$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,-31403.947
$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,32
$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
$GPS1,082807,6648.160,-5733.863,42,2.0,42,-37.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-46.9
$GPS2,082807,6648.160,-5733.863,42,2.0,42,-37.4
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.177,0.138
$KALMAN_X,-54065.6,1217.3,954.3,50404.1,-890.4
$KALMAN_Y,-34059.6,-102.5,-970.4,24985.7,-391.3
$MHEAD_RNG_PITCHd_Wd,89.4,43038,-12.9,-7.021
$D_GRID,683
$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,12,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,216,0.00,0.00,-196.30,0.000,6,0.000,0.000,156,2358,3016
$GC,220,-1.08,-146.0,3.5,-2.3,35,234,9.00,2.35,0.00,0.000,4,0.263,0.058,2198,936,3020
$GC,489,-0.57,-146.0,52.7,-15.0,82,496,0.40,2.25,0.00,0.000,6,0.177,0.054,2314,2334,3024
$GC,834,-0.57,-146.0,82.3,-8.2,143,840,0.00,2.33,0.00,0.000,4,0.000,0.067,2314,3751,3025
$GC,920,-0.67,-146.0,89.5,-8.4,158,927,0.10,2.20,0.00,0.000,6,0.103,0.040,2276,2334,3025
$GC,1264,-0.67,-146.0,120.2,-8.5,189,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2334,3026
$GC,1571,-0.67,-146.0,145.4,-8.3,204,1575,0.00,2.25,0.00,0.000,4,0.000,0.057,2276,926,3026
$GC,1621,-0.61,-146.0,149.8,-9.0,206,1626,0.12,2.28,0.00,0.000,6,0.166,0.053,2308,2343,3026
$GC,1942,-0.73,-146.0,171.8,-6.7,222,1947,0.12,2.33,0.00,0.000,4,0.096,0.068,2260,3743,3026
$GC,2027,-0.73,-146.0,178.6,-8.3,226,2031,0.00,2.20,0.00,0.000,6,0.000,0.041,2260,2337,3026
$GC,2359,-0.73,-146.0,205.5,-9.2,242,2363,0.00,2.33,0.00,0.000,4,0.000,0.067,2260,3743,3025
$GC,2386,-0.73,-146.0,208.2,-9.8,243,2390,0.00,2.20,0.00,0.000,6,0.000,0.041,2260,2335,3025
$GC,2714,-0.73,-146.0,235.3,-7.9,259,2717,0.00,2.25,0.00,0.000,4,0.000,0.058,2260,926,3025
$GC,2747,-0.68,-146.0,238.3,-8.4,260,2752,0.12,2.28,0.00,0.000,6,0.170,0.052,2292,2340,3025
$GC,3063,-0.81,-146.0,257.5,-6.0,275,3068,0.12,2.33,0.00,0.000,4,0.097,0.067,2247,3745,3025
$GC,3126,-0.81,-146.0,262.1,-7.7,278,3129,0.00,2.20,0.00,0.000,6,0.000,0.040,2247,2330,3025
$GC,3458,-0.81,-146.0,289.4,-8.3,294,3461,0.00,2.22,0.00,0.000,4,0.000,0.055,2247,929,3025
$GC,3508,-0.74,-146.0,293.7,-8.4,296,3513,0.12,2.28,0.00,0.000,6,0.176,0.051,2279,2347,3025
$GC,3830,-0.84,-146.0,315.1,-6.7,312,3835,0.10,2.33,0.00,0.000,4,0.107,0.066,2243,3750,3025
$GC,3874,-0.84,-146.0,318.6,-7.5,314,3878,0.00,2.20,0.00,0.000,6,0.000,0.039,2243,2331,3025
$GC,4201,-0.84,-146.0,341.7,-7.0,330,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2331,3025
$GC,4510,-0.84,-146.0,364.1,-7.4,345,4514,0.00,2.35,0.00,0.000,4,0.000,0.067,2243,3745,3026
$GC,4537,-0.84,-146.0,366.3,-7.6,346,4541,0.00,2.20,0.00,0.000,6,0.000,0.039,2243,2330,3026
$GC,4865,-0.84,-146.0,389.9,-6.7,362,4869,0.00,2.35,0.00,0.000,4,0.000,0.065,2243,3747,3027
$GC,4914,-0.84,-146.0,393.5,-7.1,364,4918,0.00,2.20,0.00,0.000,6,0.000,0.039,2243,2329,3027
$GC,5238,-0.84,-146.0,415.2,-6.9,375,5242,0.00,2.38,0.00,0.000,4,0.000,0.066,2243,3753,3027
$GC,5289,-0.84,-146.0,418.8,-7.0,376,5292,0.00,2.20,0.00,0.000,6,0.000,0.038,2243,2335,3028
$GC,5614,-0.84,-146.0,441.4,-6.8,384,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2335,3028
$GC,5938,-0.84,-146.0,462.7,-6.5,392,5942,0.00,2.35,0.00,0.000,4,0.000,0.066,2243,3748,3028
$GC,5988,-0.89,-146.0,466.0,-6.5,393,5992,0.00,2.20,0.00,0.000,6,0.000,0.039,2243,2331,3028
$GC,6313,-0.89,-146.0,485.4,-5.9,401,6317,0.00,2.35,0.00,0.000,4,0.000,0.066,2243,3748,3029
$GC,6335,-0.89,-146.0,486.8,-6.3,401,6338,0.00,2.20,0.00,0.000,6,0.000,0.038,2243,2328,3028
$GC,6683,-0.89,-146.0,506.8,-5.7,410,6687,0.00,2.38,0.00,0.000,4,0.000,0.066,2243,3756,3029
$GC,6722,-0.89,-146.0,509.3,-6.3,410,6728,0.00,2.20,0.00,0.000,6,0.000,0.039,2243,2340,3029
$GC,7053,-0.89,-146.0,528.6,-5.7,419,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2340,3029
$GC,7378,-0.89,-146.0,548.5,-6.3,427,7382,0.00,2.35,0.00,0.000,4,0.000,0.066,2243,3750,3029
$GC,7418,-0.94,-146.0,551.1,-6.8,427,7424,0.00,2.20,0.00,0.000,6,0.000,0.038,2243,2331,3029
$GC,7750,-0.94,-146.0,572.7,-6.5,436,7754,0.00,2.38,0.00,0.000,4,0.000,0.067,2243,3754,3029
$GC,7795,-1.00,-146.0,575.9,-7.5,437,7800,0.10,2.20,0.00,0.000,6,0.098,0.039,2206,2336,3029
$GC,8126,-0.90,-146.0,601.2,-7.6,445,8130,0.12,2.35,0.00,0.000,4,0.158,0.067,2239,3750,3029
$GC,8153,-0.90,-146.0,603.2,-7.7,445,8157,0.00,2.20,0.00,0.000,6,0.000,0.038,2239,2334,3029
$GC,8496,-0.90,-146.0,625.5,-6.4,454,8500,0.00,2.38,0.00,0.000,4,0.000,0.067,2240,3751,3029
$GC,8535,-0.95,-146.0,628.1,-6.4,454,8541,0.00,2.20,0.00,0.000,6,0.000,0.038,2239,2333,3029
$GC,8867,-0.95,-146.0,649.8,-6.5,463,8871,0.00,2.38,0.00,0.000,4,0.000,0.067,2239,3752,3029
$GC,8901,-1.01,-146.0,652.2,-7.1,463,8905,0.10,2.20,0.00,0.000,6,0.104,0.038,2205,2335,3029
$GC,9237,-0.91,-146.0,678.0,-7.5,472,9242,0.12,2.38,0.00,0.000,4,0.154,0.066,2238,3748,3029
$GC,9288,-0.97,-146.0,681.3,-6.8,473,9292,0.00,2.20,0.00,0.000,6,0.000,0.038,2238,2333,3029
$STATE,9313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9313,begin apogee
$GC,9320,-0.34,0.0,683.2,6.4,473,9468,0.38,0.00,140.90,1.246,6,0.148,0.000,2357,2520,2421
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9472,1.08,146.0,686.3,0.0,477,9680,1.08,2.83,157.68,1.126,4,0.112,0.064,2663,3927,1825
$GC,9731,0.84,146.0,668.5,10.2,483,9736,0.20,2.47,0.00,0.000,6,0.137,0.039,2613,2516,1825
$GC,10050,0.86,159.5,646.9,6.6,491,10065,0.00,0.00,12.68,1.143,6,0.000,0.000,2613,2516,1770
$GC,10377,0.94,183.7,626.7,6.2,499,10406,0.10,2.47,21.75,1.215,4,0.086,0.067,2655,3941,1671
$GC,10434,0.79,183.7,621.8,9.6,500,10439,0.20,2.25,0.00,0.000,6,0.140,0.039,2599,2514,1672
$GC,10783,0.94,204.2,599.3,6.3,509,10804,0.15,0.00,18.45,1.201,6,0.074,0.000,2662,2512,1587
$GC,11107,0.87,204.2,573.0,8.0,517,11109,0.15,0.00,0.00,0.000,6,0.125,0.000,2618,2512,1590
$GC,11433,1.02,245.9,554.3,5.6,525,11476,0.15,2.30,36.08,1.226,4,0.075,0.054,2680,1120,1416
$GC,11498,1.02,245.9,549.0,8.3,526,11502,0.00,2.30,0.00,0.000,6,0.000,0.049,2679,2528,1417
$GC,11847,0.95,245.9,519.3,8.4,535,11849,0.15,0.00,0.00,0.000,6,0.136,0.000,2635,2529,1419
$GC,12172,1.07,277.7,499.4,5.9,543,12207,0.12,2.38,27.62,1.189,4,0.081,0.054,2691,1114,1287
$GC,12242,1.07,277.7,493.7,8.1,544,12246,0.10,2.28,0.00,0.000,6,0.141,0.049,2664,2525,1287
$GC,12578,1.07,277.7,468.7,7.5,553,12581,0.00,2.25,0.00,0.000,4,0.000,0.054,2664,1118,1289
$GC,12624,1.14,289.1,465.4,6.6,554,12640,0.00,2.22,10.57,1.075,6,0.000,0.049,2664,2524,1241
$GC,12947,1.14,289.1,441.7,7.3,562,12951,0.00,2.25,0.00,0.000,4,0.000,0.053,2664,1108,1244
$GC,13003,1.22,289.1,437.6,7.3,563,13008,0.12,2.25,0.00,0.000,6,0.083,0.048,2715,2530,1244
$GC,13317,1.09,289.1,407.2,9.7,571,13323,0.15,2.28,0.00,0.000,4,0.134,0.053,2669,1108,1244
$GC,13351,1.14,289.1,404.4,7.6,571,13355,0.00,2.25,0.00,0.000,6,0.000,0.049,2669,2532,1244
$GC,13671,1.14,289.1,379.0,8.6,585,13674,0.00,2.25,0.00,0.000,4,0.000,0.052,2669,1115,1244
$GC,13722,1.21,289.1,374.8,8.0,587,13726,0.10,2.22,0.00,0.000,6,0.083,0.048,2709,2524,1243
$GC,14048,1.10,289.1,337.5,12.1,603,14052,0.12,2.25,0.00,0.000,4,0.132,0.052,2671,1117,1244
$GC,14094,1.17,289.1,333.0,9.7,605,14098,0.00,2.22,0.00,0.000,6,0.000,0.048,2671,2524,1244
$GC,14426,1.17,289.1,302.8,8.7,621,14430,0.00,2.25,0.00,0.000,4,0.000,0.051,2671,1110,1244
$GC,14487,1.24,289.1,297.9,8.1,623,14494,0.12,2.25,0.00,0.000,6,0.081,0.048,2719,2534,1243
$GC,14804,1.12,289.1,263.2,11.4,639,14805,0.15,0.00,0.00,0.000,6,0.129,0.000,2674,2534,1244
$GC,15112,1.12,289.1,233.3,10.0,654,15115,0.00,2.28,0.00,0.000,4,0.000,0.052,2674,1107,1244
$GC,15159,1.22,289.1,228.9,10.2,656,15163,0.10,2.25,0.00,0.000,6,0.087,0.048,2717,2532,1244
$GC,15491,1.13,289.1,190.6,11.5,672,15496,0.15,2.28,0.00,0.000,4,0.124,0.051,2671,1112,1244
$GC,15537,1.25,289.1,186.3,8.3,674,15542,0.12,2.22,0.00,0.000,6,0.077,0.048,2719,2519,1245
$GC,15870,1.18,289.1,151.1,10.0,690,15874,0.12,2.25,0.00,0.000,4,0.123,0.052,2681,1117,1245
$GC,15920,1.30,297.1,147.0,6.8,692,15937,0.12,2.22,8.60,0.907,6,0.076,0.048,2732,2522,1209
$GC,16246,1.21,297.1,117.2,9.4,708,16248,0.12,0.00,0.00,0.000,6,0.130,0.000,2694,2523,1212
$GC,16565,1.29,318.8,93.5,6.3,735,16590,0.00,2.35,19.08,0.983,4,0.000,0.054,2694,1117,1120
$GC,16620,1.43,353.8,90.0,5.8,744,16657,0.17,2.25,31.17,0.965,6,0.070,0.049,2763,2521,977
$GC,16997,1.36,353.8,51.6,10.5,810,17004,0.12,2.28,0.00,0.000,4,0.141,0.054,2726,1110,972
$GC,17118,1.44,353.8,41.3,8.5,831,17125,0.08,2.25,0.00,0.000,6,0.099,0.050,2761,2525,972
$GC,17463,1.35,353.8,9.1,10.6,892,17470,0.12,2.28,0.00,0.000,4,0.135,0.054,2725,1112,970
$GC,17488,1.35,353.8,6.6,10.2,896,17494,0.00,2.25,0.00,0.000,6,0.000,0.050,2725,2525,969
$STATE,17543,end climb,SURFACE_DEPTH_REACHED
$STATE,17543,begin surface coast
$FINISH,1.0,1.021380
$STATE,17567,end surface coast,CONTROL_FINISHED_OK
$STATE,17567,begin surface
$SM_CCo,17585,183.02,0.892,1,0,144,558.30
$SM_GC,1.55,0.00,0.00,183.02,0.000,0.000,0.892,155,2342,144,-10.49,0.06,558.30
$RAFOS_CLK,1062
$RAFOS,4,1227530646,12.750000,12.735000,67,67,58,56,54,53,190,773,163,125,204,148
$RAFOS,3,1227530066,12.583333,12.573889,72,59,56,55,54,52,206,158,188,225,124,135
$RAFOS,2,1227529453,12.416667,12.403611,113,70,61,59,58,53,532,158,191,118,217,169
$RAFOS,1,1227528844,12.250000,12.234445,68,67,65,61,55,51,188,761,204,226,173,147
$RAFOS,0,1227528267,12.083333,12.074166,66,61,59,55,53,53,806,164,206,186,124,137
$RAFOS_FIX,7250.552246,-7243.747559,241108,121256,2,92,57.34
$IRIDIUM_FIX,6620.33,-5735.92,180298,080834
$TT8_MAMPS,0.028379
$HUMID,1853
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,15.40
$XPDR_PINGS,2
$24V_AH,20.2,64.681
$10V_AH,10.5,28.550
$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,22.500,169.475,484.575,183.025,0.000,127.024,267.477,287.614,0.500,0.000,0.000,903.194,1722.492,13371.693,893.472,2752.116,1042.256,33.369,1970.456,0.000,1828.811,1800.000,0.528,0.000
$DEVICE_MAMPS,263.081,71.331,1246.375,892.021,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,715.488,621.643,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34734,910
$CAP_FILE_SIZE,149961,0
$CFSIZE,260165632,225169408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$SOUNDSPEED,1453.0
$GPS,241108,140007,6649.765,-5731.383,33,1.3,33,-37.4