version: 66.04
glider: 113
mission: 4
dive: 436
start: 12 16 108 6 5 52
data:
$ID,113
$MISSION,4
$DIVE,436
$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,-40713.57
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,055807,6702.614,-5703.070,36,0.8,41,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-60.6
$GPS2,060457,6702.639,-5703.172,15,1.7,15,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.198,0.105
$KALMAN_X,-132246.2,1281.8,-373.9,146855.6,-909.0
$KALMAN_Y,-2694.6,-1810.0,1190.8,17652.5,-1841.9
$MHEAD_RNG_PITCHd_Wd,99.6,10977,-12.9,-7.021
$D_GRID,677
$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,-146.0,0.0,0.0,0,149,0.00,0.00,-130.25,0.000,2,0.000,0.000,157,2340,2986
$GC,153,-1.08,-146.0,3.1,-2.2,23,168,8.68,2.30,-1.08,0.000,4,0.258,0.067,2200,934,3019
$GC,326,-0.63,-146.0,33.2,-15.2,53,333,0.35,2.25,0.00,0.000,6,0.162,0.051,2300,2341,3021
$GC,672,-0.63,-146.0,64.4,-8.3,114,678,0.00,2.33,0.00,0.000,4,0.000,0.064,2300,3753,3021
$GC,775,-0.68,-146.0,73.0,-8.6,132,782,0.00,2.22,0.00,0.000,6,0.000,0.038,2300,2322,3021
$GC,1130,-0.76,-146.0,102.0,-7.9,192,1132,0.12,0.00,0.00,0.000,6,0.100,0.000,2251,2322,3020
$GC,1440,-0.68,-146.0,129.9,-8.0,207,1442,0.15,0.00,0.00,0.000,6,0.159,0.000,2291,2322,3021
$GC,1749,-0.77,-146.0,149.8,-6.7,222,1754,0.10,2.40,0.00,0.000,4,0.107,0.064,2255,3746,3021
$GC,1767,-0.82,-146.0,151.1,-6.9,223,1771,0.00,2.20,0.00,0.000,6,0.000,0.038,2255,2334,3021
$GC,2100,-0.82,-146.0,175.1,-6.9,239,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2334,3021
$GC,2409,-0.82,-146.0,194.1,-5.5,254,2413,0.00,2.38,0.00,0.000,4,0.000,0.064,2255,3745,3020
$GC,2436,-0.82,-146.0,195.8,-6.6,255,2440,0.00,2.20,0.00,0.000,6,0.000,0.038,2255,2340,3020
$GC,2764,-0.82,-146.0,219.6,-7.6,271,2768,0.00,2.25,0.00,0.000,4,0.000,0.051,2255,926,3019
$GC,2797,-0.82,-146.0,222.4,-8.2,272,2801,0.00,2.28,0.00,0.000,6,0.000,0.048,2255,2339,3019
$GC,3118,-0.82,-146.0,250.2,-9.8,288,3122,0.00,2.33,0.00,0.000,4,0.000,0.063,2255,3745,3019
$GC,3202,-0.89,-146.0,257.8,-9.2,291,3209,0.00,2.20,0.00,0.000,6,0.000,0.038,2255,2331,3019
$GC,3519,-0.89,-146.0,281.9,-6.5,307,3522,0.00,2.38,0.00,0.000,4,0.000,0.062,2255,3753,3019
$GC,3543,-0.94,-146.0,283.4,-6.3,308,3547,0.10,2.20,0.00,0.000,6,0.101,0.036,2219,2333,3020
$GC,3876,-0.87,-146.0,306.1,-7.0,324,3881,0.12,2.35,0.00,0.000,4,0.159,0.061,2249,3743,3021
$GC,3927,-0.94,-146.0,309.7,-6.9,326,3930,0.00,2.20,0.00,0.000,6,0.000,0.036,2249,2327,3021
$GC,4249,-0.94,-146.0,331.4,-7.0,342,4253,0.00,2.35,0.00,0.000,4,0.000,0.061,2249,3750,3021
$GC,4288,-1.02,-146.0,334.5,-7.1,343,4295,0.12,2.20,0.00,0.000,6,0.102,0.035,2204,2328,3021
$GC,4604,-0.91,-146.0,362.8,-9.2,359,4609,0.12,2.38,0.00,0.000,4,0.151,0.058,2234,3752,3022
$GC,4645,-0.91,-146.0,366.3,-8.8,361,4649,0.00,2.20,0.00,0.000,6,0.000,0.035,2234,2329,3022
$GC,4977,-0.91,-146.0,394.1,-8.4,377,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2328,3023
$GC,5304,-0.91,-146.0,417.4,-6.6,387,5308,0.00,2.38,0.00,0.000,4,0.000,0.060,2234,3750,3024
$GC,5343,-0.91,-146.0,420.2,-7.0,387,5349,0.00,2.20,0.00,0.000,6,0.000,0.035,2234,2330,3023
$GC,5675,-0.91,-146.0,442.2,-6.6,396,5679,0.00,2.38,0.00,0.000,4,0.000,0.060,2234,3753,3024
$GC,5709,-0.91,-146.0,444.6,-6.8,396,5713,0.00,2.20,0.00,0.000,6,0.000,0.035,2234,2331,3024
$GC,6046,-0.91,-146.0,468.2,-7.1,405,6050,0.00,2.35,0.00,0.000,4,0.000,0.060,2234,3744,3024
$GC,6074,-0.95,-146.0,470.3,-7.8,405,6078,0.00,2.17,0.00,0.000,6,0.000,0.035,2234,2337,3024
$GC,6417,-0.95,-146.0,493.9,-7.0,414,6421,0.00,2.35,0.00,0.000,4,0.000,0.060,2234,3750,3025
$GC,6464,-1.01,-146.0,497.2,-7.6,415,6467,0.00,2.20,0.00,0.000,6,0.000,0.035,2234,2327,3025
$GC,6795,-1.01,-146.0,519.4,-6.6,423,6799,0.00,2.35,0.00,0.000,4,0.000,0.060,2234,3745,3025
$GC,6822,-1.01,-146.0,521.5,-7.4,423,6826,0.00,2.17,0.00,0.000,6,0.000,0.035,2234,2337,3026
$GC,7164,-1.01,-146.0,545.7,-7.4,432,7168,0.00,2.35,0.00,0.000,4,0.000,0.060,2234,3749,3026
$GC,7204,-1.06,-146.0,548.7,-7.6,432,7211,0.10,2.20,0.00,0.000,6,0.109,0.035,2199,2330,3026
$GC,7537,-0.96,-146.0,575.8,-8.5,441,7541,0.12,2.38,0.00,0.000,4,0.155,0.060,2232,3745,3026
$GC,7558,-0.96,-146.0,577.8,-8.1,441,7562,0.00,2.17,0.00,0.000,6,0.000,0.035,2231,2340,3026
$GC,7901,-0.96,-146.0,604.2,-7.9,450,7905,0.00,2.35,0.00,0.000,4,0.000,0.061,2232,3748,3026
$GC,7940,-1.01,-146.0,607.2,-8.0,450,7947,0.00,2.20,0.00,0.000,6,0.000,0.036,2231,2332,3026
$GC,8272,-1.01,-146.0,632.2,-7.5,459,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2332,3026
$GC,8597,-1.01,-146.0,655.7,-7.1,467,8601,0.00,2.38,0.00,0.000,4,0.000,0.062,2231,3748,3026
$GC,8659,-1.07,-146.0,660.4,-7.3,468,8663,0.12,2.20,0.00,0.000,6,0.097,0.036,2189,2334,3025
$STATE,8876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8876,begin apogee
$GC,8884,-0.34,0.0,678.1,7.8,474,9019,0.57,0.00,132.10,1.275,6,0.136,0.000,2364,2523,2420
$STATE,9020,end apogee,CONTROL_FINISHED_OK
$STATE,9020,begin climb
$GC,9023,1.08,146.0,680.4,0.0,477,9184,1.02,2.80,144.05,1.164,4,0.096,0.061,2665,3921,1824
$GC,9291,0.83,146.0,660.6,9.0,483,9296,0.20,2.42,0.00,0.000,6,0.139,0.037,2615,2520,1823
$GC,9604,0.88,185.1,643.0,5.7,491,9643,0.00,0.00,33.33,1.208,6,0.000,0.000,2615,2520,1666
$GC,9970,1.00,217.2,621.1,5.9,500,10001,0.12,0.00,27.83,1.203,6,0.077,0.000,2665,2518,1534
$GC,10294,0.94,217.2,594.7,8.1,508,10296,0.10,0.00,0.00,0.000,6,0.142,0.000,2638,2518,1535
$GC,10619,0.94,217.2,570.4,7.7,516,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2518,1534
$GC,10944,0.94,217.2,546.8,7.2,524,10948,0.00,2.22,0.00,0.000,4,0.000,0.051,2639,1111,1534
$GC,10984,1.04,232.4,544.1,6.5,524,11005,0.10,2.25,13.77,1.140,6,0.091,0.046,2679,2531,1472
$GC,11319,0.96,232.4,517.3,7.7,533,11321,0.12,0.00,0.00,0.000,6,0.125,0.000,2641,2531,1472
$GC,11645,0.96,232.4,496.0,7.1,541,11648,0.00,2.28,0.00,0.000,4,0.000,0.050,2641,1105,1471
$GC,11684,1.05,236.7,493.3,6.9,541,11695,0.08,2.25,4.85,0.853,6,0.104,0.046,2677,2526,1455
$GC,12021,0.95,236.7,461.3,9.9,550,12023,0.12,0.00,0.00,0.000,6,0.124,0.000,2640,2527,1456
$GC,12345,0.95,236.7,436.7,7.4,558,12349,0.00,2.28,0.00,0.000,4,0.000,0.050,2640,1103,1455
$GC,12396,1.06,240.5,432.9,6.9,559,12406,0.10,2.25,5.03,0.842,6,0.087,0.045,2680,2523,1439
$GC,12723,0.99,240.5,401.0,10.3,567,12728,0.12,2.30,0.00,0.000,4,0.128,0.061,2642,3933,1441
$GC,12758,0.99,240.5,397.0,11.0,567,12764,0.00,2.20,0.00,0.000,6,0.000,0.037,2642,2511,1440
$GC,13073,0.99,240.5,370.5,7.7,583,13077,0.00,2.20,0.00,0.000,4,0.000,0.048,2642,1118,1441
$GC,13126,1.08,240.5,366.7,7.3,585,13131,0.10,2.22,0.00,0.000,6,0.087,0.043,2686,2528,1441
$GC,13454,1.00,240.5,338.7,8.6,601,13458,0.12,2.30,0.00,0.000,4,0.128,0.060,2650,3932,1441
$GC,13493,1.00,240.5,335.3,8.9,603,13497,0.00,2.20,0.00,0.000,6,0.000,0.037,2650,2510,1442
$GC,13826,1.00,240.5,312.0,7.2,619,13830,0.00,2.20,0.00,0.000,4,0.000,0.048,2650,1116,1442
$GC,13882,1.07,240.5,307.5,7.9,621,13886,0.00,2.22,0.00,0.000,6,0.000,0.044,2650,2523,1442
$GC,14203,1.07,240.5,282.3,7.8,637,14207,0.00,2.25,0.00,0.000,4,0.000,0.047,2650,1108,1442
$GC,14242,1.16,240.5,279.2,7.7,638,14249,0.15,2.25,0.00,0.000,6,0.071,0.043,2709,2534,1442
$GC,14559,1.01,240.5,245.0,10.9,654,14561,0.20,0.00,0.00,0.000,6,0.123,0.000,2648,2534,1443
$GC,14869,1.11,267.7,225.0,6.1,669,14899,0.10,2.35,23.88,0.953,4,0.087,0.048,2692,1113,1328
$GC,14928,1.11,267.7,220.2,7.3,671,14934,0.00,2.22,0.00,0.000,6,0.000,0.043,2692,2520,1328
$GC,15243,1.11,267.7,196.1,8.2,687,15247,0.00,2.22,0.00,0.000,4,0.000,0.048,2692,1112,1330
$GC,15283,1.11,267.7,192.5,8.7,688,15289,0.00,2.22,0.00,0.000,6,0.000,0.042,2693,2536,1331
$GC,15599,1.11,267.7,163.9,9.2,704,15600,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2536,1331
$GC,15908,1.11,267.7,136.7,7.7,719,15912,0.00,2.25,0.00,0.000,4,0.000,0.048,2692,1120,1331
$GC,15954,1.11,272.3,133.5,6.9,721,15965,0.00,2.22,5.60,0.744,6,0.000,0.044,2692,2532,1310
$GC,16281,1.11,272.3,110.1,8.1,737,16285,0.00,2.28,0.00,0.000,4,0.000,0.061,2692,3930,1311
$GC,16314,1.03,272.3,106.7,10.2,738,16319,0.12,2.17,0.00,0.000,6,0.137,0.037,2656,2519,1311
$GC,16651,1.26,329.6,83.0,5.1,786,16705,0.17,2.35,47.15,0.940,4,0.066,0.050,2730,1112,1076
$GC,16768,1.26,329.6,73.1,9.3,806,16774,0.00,2.22,0.00,0.000,6,0.000,0.044,2730,2520,1074
$GC,17112,1.26,329.6,40.6,8.8,867,17118,0.00,2.22,0.00,0.000,4,0.000,0.050,2730,1120,1071
$GC,17142,1.26,329.6,37.9,8.8,872,17149,0.00,2.22,0.00,0.000,6,0.000,0.045,2730,2530,1071
$GC,17487,1.26,329.6,6.6,8.7,933,17493,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2529,1070
$STATE,17536,end climb,SURFACE_DEPTH_REACHED
$STATE,17536,begin surface coast
$FINISH,0.9,1.024949
$STATE,17560,end surface coast,CONTROL_FINISHED_OK
$STATE,17560,begin surface
$SM_CCo,17639,0.00,0.000,0,0,1068,331.65
$SM_GC,1.79,7.12,0.00,0.00,0.059,0.000,0.000,155,2336,1068,-10.41,-0.11,331.65
$RAFOS_CLK,940
$RAFOS,4,1229417072,8.750000,8.742222,68,61,56,55,52,52,136,211,149,229,172,191
$RAFOS,3,1229416468,8.583333,8.574445,64,62,61,56,55,53,192,207,163,152,222,134
$RAFOS,2,1229415861,8.416667,8.405833,123,59,55,55,54,54,536,197,227,155,187,209
$RAFOS,1,1229415247,8.250000,8.235278,130,61,56,54,54,53,841,198,216,167,124,158
$RAFOS,0,1229414673,8.083333,8.075833,62,60,59,59,58,58,206,192,150,225,241,870
$RAFOS_FIX,6705.274902,-5708.893066,161208,080820,2,126,0.78
$IRIDIUM_FIX,6631.12,-5713.57,120398,000003
$TT8_MAMPS,0.027612
$HUMID,1912
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,20.2,80.183
$10V_AH,10.5,36.033
$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,21.000,155.225,437.575,0.000,0.000,23.083,32.875,200.497,0.000,0.000,0.000,16.697,1748.238,13255.478,607.821,1828.842,608.506,33.377,1629.583,0.000,1794.828,1800.000,0.529,0.000
$DEVICE_MAMPS,257.712,67.496,1274.754,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.428,643.310,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34661,946
$CAP_FILE_SIZE,137841,0
$CFSIZE,260165632,218640384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.7
$GPS,161208,110107,6701.896,-5657.177,23,1.4,23,-37.5