version: 66.04
glider: 113
mission: 4
dive: 413
start: 12 10 108 2 27 33
data:
$ID,113
$MISSION,4
$DIVE,413
$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,-32776.562
$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,48
$R_STBD_OVSHOOT,31
$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
$GPS1,021907,6704.518,-5707.208,27,1.1,27,-37.7
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-51.6
$GPS2,022638,6704.461,-5707.271,9,1.1,14,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_MID
$TGT_LATLONG,6656.000,-5805.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.182,0.131
$KALMAN_X,-140814.4,381.1,-834.8,153811.5,727.4
$KALMAN_Y,3367.9,420.7,1339.9,12615.2,-3587.6
$MHEAD_RNG_PITCHd_Wd,343.3,44725,-12.9,-7.021
$D_GRID,682
$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,-146.0,0.0,0.0,0,148,0.00,0.00,-127.70,0.000,6,0.000,0.000,156,2321,3019
$GC,152,-1.08,-146.0,3.5,-4.3,23,166,8.70,2.35,0.00,0.000,4,0.258,0.058,2201,3748,3021
$GC,333,-0.73,-146.0,34.8,-13.8,54,340,0.28,2.15,0.00,0.000,6,0.160,0.036,2281,2342,3022
$GC,678,-0.68,-146.0,69.7,-10.4,115,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2341,3023
$GC,1022,-0.68,-146.0,99.8,-8.0,176,1028,0.00,2.20,0.00,0.000,4,0.000,0.048,2282,932,3023
$GC,1091,-0.68,-146.0,105.4,-7.8,180,1095,0.00,2.22,0.00,0.000,6,0.000,0.045,2282,2346,3022
$GC,1425,-0.74,-146.0,126.8,-6.2,196,1429,0.00,2.28,0.00,0.000,4,0.000,0.061,2282,3750,3022
$GC,1561,-0.83,-146.0,135.1,-5.9,202,1565,0.10,2.17,0.00,0.000,6,0.091,0.036,2245,2330,3021
$GC,1894,-0.78,-146.0,158.1,-6.6,218,1898,0.00,2.17,0.00,0.000,4,0.000,0.047,2245,933,3021
$GC,1978,-0.68,-146.0,164.1,-7.4,221,1985,0.17,2.22,0.00,0.000,6,0.156,0.044,2293,2350,3021
$GC,2294,-0.81,-146.0,180.6,-5.4,237,2299,0.12,2.28,0.00,0.000,4,0.090,0.058,2245,3752,3021
$GC,2418,-0.81,-146.0,189.8,-7.4,242,2422,0.00,2.17,0.00,0.000,6,0.000,0.034,2245,2325,3021
$GC,2739,-0.81,-146.0,214.5,-7.9,258,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2326,3022
$GC,3049,-0.81,-146.0,239.4,-8.1,273,3053,0.00,2.33,0.00,0.000,4,0.000,0.058,2246,3750,3022
$GC,3162,-0.81,-146.0,248.9,-8.3,278,3166,0.00,2.17,0.00,0.000,6,0.000,0.035,2246,2326,3022
$GC,3494,-0.81,-146.0,274.7,-8.0,294,3498,0.00,2.17,0.00,0.000,4,0.000,0.046,2246,932,3023
$GC,3590,-0.74,-146.0,282.8,-8.7,298,3595,0.12,2.22,0.00,0.000,6,0.160,0.043,2277,2348,3024
$GC,3917,-0.86,-146.0,302.2,-5.4,314,3922,0.12,2.28,0.00,0.000,4,0.093,0.058,2232,3745,3024
$GC,4054,-0.86,-146.0,311.6,-7.6,320,4058,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2340,3024
$GC,4386,-0.86,-146.0,335.1,-7.3,336,4390,0.00,2.17,0.00,0.000,4,0.000,0.046,2232,942,3024
$GC,4476,-0.77,-146.0,342.2,-8.0,340,4481,0.15,2.20,0.00,0.000,6,0.153,0.044,2271,2340,3023
$GC,4810,-0.88,-146.0,363.0,-6.2,356,4814,0.10,2.30,0.00,0.000,4,0.095,0.058,2233,3750,3023
$GC,4955,-0.88,-146.0,374.5,-8.0,362,4959,0.00,2.17,0.00,0.000,6,0.000,0.035,2232,2334,3023
$GC,5277,-0.88,-146.0,398.6,-7.6,378,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2334,3022
$GC,5581,-0.88,-146.0,421.7,-7.6,386,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2334,3022
$GC,5906,-0.88,-146.0,445.1,-7.1,394,5910,0.00,2.33,0.00,0.000,4,0.000,0.060,2232,3745,3022
$GC,6013,-0.88,-146.0,453.0,-7.4,396,6017,0.00,2.17,0.00,0.000,6,0.000,0.035,2233,2325,3022
$GC,6326,-0.88,-146.0,473.9,-6.7,404,6330,0.00,2.15,0.00,0.000,4,0.000,0.046,2232,944,3022
$GC,6422,-0.83,-146.0,481.0,-7.5,406,6427,0.10,2.20,0.00,0.000,6,0.163,0.044,2256,2341,3022
$GC,6741,-0.92,-146.0,499.7,-5.7,414,6745,0.00,2.28,0.00,0.000,4,0.000,0.059,2257,3742,3023
$GC,6896,-1.05,-146.0,508.8,-6.3,417,6900,0.17,2.15,0.00,0.000,6,0.079,0.035,2191,2336,3023
$GC,7209,-0.92,-146.0,533.9,-8.2,425,7214,0.17,2.20,0.00,0.000,4,0.140,0.045,2242,933,3023
$GC,7287,-0.92,-146.0,539.7,-6.9,426,7291,0.00,2.22,0.00,0.000,6,0.000,0.044,2242,2345,3023
$GC,7628,-0.98,-146.0,562.2,-6.7,435,7632,0.00,2.28,0.00,0.000,4,0.000,0.061,2242,3748,3023
$GC,7812,-1.06,-146.0,574.4,-6.6,439,7817,0.15,2.17,0.00,0.000,6,0.083,0.035,2188,2328,3023
$GC,8136,-0.93,-146.0,600.2,-7.9,447,8138,0.17,0.00,0.00,0.000,6,0.143,0.000,2238,2325,3023
$GC,8462,-0.98,-146.0,620.4,-6.0,455,8466,0.00,2.35,0.00,0.000,4,0.000,0.060,2238,3755,3023
$GC,8580,-1.06,-146.0,627.8,-6.1,457,8585,0.12,2.17,0.00,0.000,6,0.091,0.035,2193,2333,3023
$GC,8918,-0.96,-146.0,651.9,-7.2,466,8922,0.15,2.20,0.00,0.000,4,0.143,0.045,2235,931,3023
$GC,9029,-0.96,-146.0,659.4,-7.2,468,9033,0.00,2.22,0.00,0.000,6,0.000,0.044,2235,2343,3023
$GC,9377,-0.96,-146.0,680.5,-6.2,477,9382,0.00,2.30,0.00,0.000,4,0.000,0.060,2234,3752,3023
$STATE,9402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9402,begin apogee
$GC,9411,-0.34,0.0,682.2,6.5,477,9548,0.38,0.00,131.05,1.249,6,0.137,0.000,2355,2516,2421
$STATE,9549,end apogee,CONTROL_FINISHED_OK
$STATE,9549,begin climb
$GC,9552,1.08,146.0,685.5,0.0,481,9709,1.05,2.60,142.27,1.151,4,0.105,0.043,2666,1121,1824
$GC,9719,1.08,148.6,675.6,6.9,485,9728,0.00,2.55,4.03,0.676,6,0.000,0.042,2666,2515,1814
$GC,10048,0.96,148.6,647.9,8.5,493,10053,0.10,2.28,0.00,0.000,4,0.146,0.059,2639,3943,1814
$GC,10094,0.83,148.6,643.9,9.5,494,10099,0.10,2.20,0.00,0.000,6,0.151,0.036,2611,2503,1814
$GC,10425,0.94,187.8,624.6,5.7,502,10467,0.12,2.45,33.28,1.208,4,0.076,0.061,2665,3929,1654
$GC,10473,0.83,187.8,620.7,8.5,503,10478,0.17,2.22,0.00,0.000,6,0.142,0.036,2615,2508,1654
$GC,10799,0.94,211.0,600.5,6.2,511,10821,0.10,0.00,20.23,1.171,6,0.083,0.000,2661,2506,1559
$GC,11123,0.89,211.0,573.0,8.6,519,11124,0.12,0.00,0.00,0.000,6,0.135,0.000,2625,2507,1559
$GC,11447,0.95,211.0,548.7,7.6,527,11451,0.00,2.17,0.00,0.000,4,0.000,0.048,2626,1110,1558
$GC,11459,1.03,211.0,547.8,7.7,527,11464,0.12,2.22,0.00,0.000,6,0.077,0.044,2678,2533,1558
$GC,11779,0.93,211.0,516.0,9.9,535,11780,0.15,0.00,0.00,0.000,6,0.121,0.000,2633,2533,1558
$GC,12104,0.98,211.0,490.9,7.7,543,12107,0.00,2.22,0.00,0.000,4,0.000,0.047,2633,1118,1558
$GC,12117,1.05,211.0,489.9,7.7,543,12121,0.12,2.20,0.00,0.000,6,0.080,0.043,2687,2524,1558
$GC,12435,0.92,211.0,457.3,10.3,551,12440,0.17,2.28,0.00,0.000,4,0.121,0.059,2635,3931,1558
$GC,12446,0.82,211.0,456.1,10.2,551,12450,0.00,2.17,0.00,0.000,6,0.000,0.035,2634,2505,1558
$GC,12765,0.87,211.0,429.7,8.3,559,12769,0.00,2.17,0.00,0.000,4,0.000,0.048,2634,1111,1558
$GC,12776,0.94,211.0,428.6,8.2,559,12780,0.00,2.22,0.00,0.000,6,0.000,0.044,2634,2529,1558
$GC,13096,0.99,211.0,401.8,8.3,567,13100,0.00,2.22,0.00,0.000,4,0.000,0.046,2634,1115,1558
$GC,13112,1.07,211.0,400.4,8.2,567,13117,0.12,2.20,0.00,0.000,6,0.078,0.043,2688,2521,1558
$GC,13430,0.95,211.0,366.7,10.7,582,13432,0.17,0.00,0.00,0.000,6,0.122,0.000,2635,2522,1557
$GC,13739,1.01,211.0,341.6,8.1,597,13743,0.00,2.22,0.00,0.000,4,0.000,0.047,2635,1109,1558
$GC,13751,1.09,211.0,340.6,7.8,597,13755,0.12,2.22,0.00,0.000,6,0.077,0.042,2690,2532,1558
$GC,14072,1.00,211.0,308.7,9.5,613,14074,0.15,0.00,0.00,0.000,6,0.123,0.000,2643,2532,1559
$GC,14381,1.07,211.0,285.8,7.1,628,14383,0.10,0.00,0.00,0.000,6,0.087,0.000,2689,2532,1559
$GC,14693,0.98,211.0,258.5,8.6,643,14695,0.15,0.00,0.00,0.000,6,0.127,0.000,2643,2532,1559
$GC,15000,1.07,222.7,237.8,6.6,658,15016,0.10,2.28,11.20,0.940,4,0.085,0.047,2690,1115,1512
$GC,15023,1.07,222.7,235.9,7.8,658,15027,0.00,2.22,0.00,0.000,6,0.000,0.044,2690,2522,1512
$GC,15350,1.01,222.7,207.8,8.6,674,15352,0.15,0.00,0.00,0.000,6,0.133,0.000,2644,2521,1512
$GC,15659,1.10,227.7,187.3,6.9,689,15667,0.12,0.00,5.45,0.780,6,0.080,0.000,2696,2522,1491
$GC,15969,1.01,227.7,158.1,9.7,704,15971,0.15,0.00,0.00,0.000,6,0.128,0.000,2652,2522,1491
$GC,16278,1.09,235.9,136.1,6.7,719,16292,0.00,2.28,7.88,0.841,4,0.000,0.048,2652,1121,1459
$GC,16301,1.21,257.9,134.7,6.3,720,16327,0.15,2.20,19.30,0.920,6,0.073,0.044,2716,2523,1368
$GC,16656,1.11,257.9,102.5,8.8,737,16661,0.15,2.22,0.00,0.000,4,0.124,0.047,2669,1110,1368
$GC,16672,1.11,257.9,100.9,8.5,737,16679,0.00,2.22,0.00,0.000,6,0.000,0.043,2669,2534,1368
$GC,17015,1.22,279.5,78.4,6.3,795,17039,0.12,0.00,18.52,0.875,6,0.069,0.000,2722,2534,1280
$GC,17378,1.16,279.5,41.6,11.0,859,17384,0.12,2.25,0.00,0.000,4,0.123,0.047,2684,1114,1280
$GC,17397,1.16,279.5,39.6,11.1,862,17403,0.00,2.20,0.00,0.000,6,0.000,0.043,2684,2522,1280
$GC,17742,1.23,279.5,14.7,9.3,923,17748,0.00,2.22,0.00,0.000,4,0.000,0.048,2684,1112,1281
$GC,17773,1.34,279.5,12.1,9.1,928,17779,0.15,2.22,0.00,0.000,6,0.071,0.044,2746,2530,1281
$STATE,17867,end climb,SURFACE_DEPTH_REACHED
$STATE,17868,begin surface coast
$FINISH,0.7,1.026829
$STATE,17888,end surface coast,CONTROL_FINISHED_OK
$STATE,17888,begin surface
$SM_CCo,17966,0.00,0.000,0,0,1279,279.89
$SM_GC,1.53,7.30,0.00,0.00,0.071,0.000,0.000,160,2326,1279,-10.40,-0.40,279.89
$RAFOS_CLK,930
$RAFOS,4,1228884267,4.750000,4.740833,60,57,51,51,51,51,165,198,186,156,207,216
$RAFOS,3,1228883674,4.583333,4.576111,61,58,54,54,53,53,187,158,171,214,201,144
$RAFOS,2,1228883055,4.416667,4.404167,64,64,63,58,58,57,206,545,165,132,178,216
$RAFOS,1,1228882445,4.250000,4.234722,57,56,54,52,50,47,191,217,201,162,118,144
$RAFOS,0,1228881875,4.083333,4.076389,60,57,56,53,52,51,215,116,154,200,171,227
$RAFOS_FIX,6702.995605,-5722.701172,091208,000052,3,95,0.49
$IRIDIUM_FIX,6631.12,-5658.34,050398,212136
$TT8_MAMPS,0.027612
$HUMID,1900
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,16.90
$XPDR_PINGS,2
$24V_AH,20.2,75.507
$10V_AH,10.5,33.817
$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,23.000,143.150,393.200,0.000,0.000,30.782,36.744,234.658,0.500,0.000,0.000,15.683,1824.357,13347.890,540.878,2048.590,648.216,33.375,1648.635,0.000,2008.858,1800.000,0.529,0.000
$DEVICE_MAMPS,257.712,61.360,1248.676,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.676,645.242,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34698,948
$CAP_FILE_SIZE,147166,0
$CFSIZE,260165632,220393472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.7
$GPS,101208,072808,6705.437,-5713.341,23,2.0,23,-37.7