version: 66.04
glider: 113
mission: 4
dive: 314
start: 11 16 108 21 18 17
data:
$ID,113
$MISSION,4
$DIVE,314
$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,-28654.387
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,211102,6704.708,-5714.766,67,1.0,67,-37.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-59.6
$GPS2,211720,6704.678,-5714.853,9,1.4,14,-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,0.212,0.074
$KALMAN_X,-14341.1,-928.0,-2266.7,24577.1,6559.1
$KALMAN_Y,-46112.7,716.7,1112.0,62434.8,-3251.0
$MHEAD_RNG_PITCHd_Wd,108.6,19639,-12.9,-7.021
$D_GRID,722
$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,15,-1.08,-146.0,0.0,0.0,0,159,0.00,0.00,-140.45,0.000,2,0.000,0.000,164,2331,2972
$GC,162,-1.08,-146.0,3.4,-3.0,25,182,8.77,2.30,-1.48,0.000,4,0.261,0.072,2201,936,3018
$GC,239,-0.49,-146.0,18.9,-17.2,38,246,0.45,2.28,0.00,0.000,6,0.172,0.053,2328,2352,3020
$GC,583,-0.49,-146.0,51.4,-9.1,99,589,0.00,2.30,0.00,0.000,4,0.000,0.068,2328,3753,3021
$GC,601,-0.49,-146.0,53.0,-8.7,102,607,0.00,2.22,0.00,0.000,6,0.000,0.041,2329,2320,3021
$GC,946,-0.61,-146.0,73.8,-6.0,163,952,0.10,2.20,0.00,0.000,4,0.102,0.054,2290,933,3022
$GC,970,-0.67,-146.0,75.8,-7.1,167,976,0.00,2.25,0.00,0.000,6,0.000,0.052,2290,2344,3021
$GC,1313,-0.67,-146.0,101.5,-6.9,225,1316,0.00,2.30,0.00,0.000,4,0.000,0.068,2290,3745,3022
$GC,1340,-0.73,-146.0,103.5,-7.2,226,1345,0.00,2.17,0.00,0.000,6,0.000,0.041,2290,2338,3022
$GC,1668,-0.73,-146.0,123.2,-5.9,242,1672,0.00,2.22,0.00,0.000,4,0.000,0.056,2290,934,3022
$GC,1684,-0.73,-146.0,124.4,-6.3,242,1690,0.00,2.25,0.00,0.000,6,0.000,0.051,2290,2343,3021
$GC,2000,-0.79,-146.0,144.3,-6.4,258,2005,0.10,2.33,0.00,0.000,4,0.110,0.069,2249,3749,3021
$GC,2027,-0.79,-146.0,146.4,-8.2,259,2031,0.00,2.20,0.00,0.000,6,0.000,0.041,2249,2335,3021
$GC,2349,-0.73,-146.0,173.2,-8.5,275,2353,0.12,2.38,0.00,0.000,4,0.171,0.068,2282,3755,3021
$GC,2359,-0.73,-146.0,174.0,-8.2,275,2365,0.00,2.20,0.00,0.000,6,0.000,0.041,2282,2340,3021
$GC,2675,-0.82,-146.0,195.9,-6.7,291,2677,0.10,0.00,0.00,0.000,6,0.100,0.000,2246,2340,3020
$GC,2984,-0.82,-146.0,217.5,-6.7,306,2987,0.00,2.35,0.00,0.000,4,0.000,0.070,2246,3747,3020
$GC,3029,-0.82,-146.0,220.6,-7.3,308,3033,0.00,2.20,0.00,0.000,6,0.000,0.041,2245,2334,3020
$GC,3361,-0.82,-146.0,244.1,-7.4,324,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2334,3020
$GC,3670,-0.82,-146.0,267.9,-7.7,339,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2334,3020
$GC,3980,-0.82,-146.0,289.9,-6.7,354,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2334,3020
$GC,4289,-0.82,-146.0,311.6,-7.4,369,4293,0.00,2.35,0.00,0.000,4,0.000,0.068,2245,3745,3020
$GC,4323,-0.82,-146.0,314.2,-8.1,370,4327,0.00,2.20,0.00,0.000,6,0.000,0.041,2245,2331,3020
$GC,4644,-0.82,-146.0,337.1,-6.9,386,4648,0.00,2.35,0.00,0.000,4,0.000,0.068,2245,3750,3020
$GC,4671,-0.82,-146.0,339.0,-7.0,387,4675,0.00,2.20,0.00,0.000,6,0.000,0.040,2245,2334,3020
$GC,4998,-0.82,-146.0,361.0,-6.8,403,5001,0.00,2.35,0.00,0.000,4,0.000,0.067,2246,3748,3020
$GC,5025,-0.82,-146.0,363.0,-6.9,404,5029,0.00,2.20,0.00,0.000,6,0.000,0.039,2245,2330,3020
$GC,5352,-0.82,-146.0,386.2,-7.4,420,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2330,3020
$GC,5680,-0.82,-146.0,409.7,-7.3,433,5684,0.00,2.35,0.00,0.000,4,0.000,0.067,2245,3749,3021
$GC,5691,-0.82,-146.0,410.5,-7.1,433,5695,0.00,2.20,0.00,0.000,6,0.000,0.039,2245,2333,3021
$GC,6010,-0.82,-146.0,432.1,-6.7,441,6013,0.00,2.35,0.00,0.000,4,0.000,0.067,2245,3748,3021
$GC,6077,-0.89,-146.0,436.8,-7.0,442,6081,0.00,2.17,0.00,0.000,6,0.000,0.040,2246,2336,3021
$GC,6425,-0.89,-146.0,458.9,-6.6,451,6428,0.00,2.35,0.00,0.000,4,0.000,0.066,2245,3748,3021
$GC,6447,-0.95,-146.0,460.4,-6.8,451,6451,0.00,2.20,0.00,0.000,6,0.000,0.040,2245,2330,3021
$GC,6796,-0.95,-146.0,482.8,-6.6,460,6800,0.00,2.35,0.00,0.000,4,0.000,0.066,2245,3755,3021
$GC,6818,-1.01,-146.0,484.5,-7.0,460,6822,0.12,2.20,0.00,0.000,6,0.100,0.038,2200,2334,3021
$GC,7166,-0.91,-146.0,512.4,-7.9,469,7170,0.15,2.38,0.00,0.000,4,0.151,0.066,2242,3752,3021
$GC,7187,-0.91,-146.0,513.8,-6.6,469,7191,0.00,2.20,0.00,0.000,6,0.000,0.038,2242,2331,3021
$GC,7530,-0.91,-146.0,534.7,-6.0,478,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2331,3022
$GC,7855,-0.96,-146.0,554.5,-6.3,486,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2331,3023
$GC,8179,-0.96,-146.0,575.0,-6.2,494,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2331,3023
$GC,8505,-1.01,-146.0,593.7,-5.7,502,8510,0.10,2.33,0.00,0.000,4,0.100,0.064,2204,3746,3023
$GC,8516,-1.01,-146.0,594.4,-5.6,502,8520,0.00,2.17,0.00,0.000,6,0.000,0.038,2204,2338,3023
$GC,8830,-0.93,-146.0,615.4,-6.7,510,8831,0.12,0.00,0.00,0.000,6,0.152,0.000,2238,2337,3024
$GC,9155,-0.99,-146.0,636.3,-6.3,518,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2337,3024
$GC,9479,-0.99,-146.0,656.1,-6.2,526,9483,0.00,2.35,0.00,0.000,4,0.000,0.065,2239,3756,3025
$GC,9496,-1.04,-146.0,657.2,-6.1,526,9501,0.12,2.20,0.00,0.000,6,0.094,0.038,2194,2331,3024
$GC,9810,-0.94,-146.0,679.8,-6.9,534,9814,0.15,2.38,0.00,0.000,4,0.150,0.064,2235,3753,3024
$GC,9854,-1.01,-146.0,683.0,-6.9,535,9858,0.00,2.20,0.00,0.000,6,0.000,0.038,2235,2330,3024
$GC,10178,-1.07,-146.0,701.5,-5.4,543,10183,0.12,2.35,0.00,0.000,4,0.093,0.064,2188,3751,3025
$STATE,10323,end dive,NO_VERTICAL_VELOCITY
$STATE,10323,begin apogee
$GC,10331,-0.34,0.0,701.5,0.0,546,10469,0.50,0.00,135.07,1.283,6,0.107,0.000,2358,2514,2420
$STATE,10470,end apogee,CONTROL_FINISHED_OK
$STATE,10470,begin climb
$GC,10473,1.08,146.0,700.8,0.0,549,10658,1.05,2.78,149.48,1.138,4,0.101,0.062,2667,3933,1824
$GC,10827,0.83,146.0,669.7,11.2,557,10832,0.20,2.35,0.00,0.000,6,0.144,0.040,2614,2510,1822
$GC,11140,0.83,152.0,648.2,6.8,565,11151,0.00,2.22,6.15,0.958,4,0.000,0.051,2614,1109,1800
$GC,11190,0.96,172.8,644.9,6.3,566,11215,0.12,2.25,19.30,1.175,6,0.077,0.047,2664,2525,1715
$GC,11549,0.86,172.8,614.6,8.5,575,11553,0.15,2.28,0.00,0.000,4,0.133,0.064,2621,3925,1713
$GC,11603,0.86,172.8,609.7,8.5,576,11607,0.00,2.17,0.00,0.000,6,0.000,0.039,2621,2512,1713
$GC,11922,0.86,172.8,587.4,7.2,584,11926,0.00,2.17,0.00,0.000,4,0.000,0.051,2621,1122,1713
$GC,11968,0.94,175.5,584.2,6.9,585,11977,0.00,2.20,3.55,0.699,6,0.000,0.048,2621,2520,1704
$GC,12298,0.99,175.5,561.1,7.1,593,12302,0.12,2.28,0.00,0.000,4,0.082,0.064,2675,3927,1705
$GC,12331,0.77,175.5,557.8,10.5,593,12335,0.25,2.17,0.00,0.000,6,0.141,0.039,2602,2514,1705
$GC,12668,0.91,188.1,535.4,6.6,602,12687,0.12,2.28,12.18,1.118,4,0.077,0.051,2653,1116,1653
$GC,12737,0.91,188.1,529.4,9.1,603,12741,0.00,2.22,0.00,0.000,6,0.000,0.047,2653,2520,1652
$GC,13080,0.91,188.1,500.8,8.4,612,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2520,1652
$GC,13405,0.91,188.1,473.7,8.3,620,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2520,1652
$GC,13730,0.91,188.1,445.4,8.6,628,13731,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2520,1651
$GC,14055,0.91,188.1,417.2,8.7,636,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2520,1651
$GC,14362,0.91,188.1,391.3,8.4,645,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2520,1651
$GC,14670,0.91,188.1,364.5,8.6,660,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2520,1652
$GC,14979,0.91,188.1,338.5,8.3,675,14983,0.00,2.22,0.00,0.000,4,0.000,0.051,2653,1120,1652
$GC,15017,0.91,188.1,335.4,7.7,676,15024,0.00,2.22,0.00,0.000,6,0.000,0.046,2653,2534,1653
$GC,15333,0.91,188.1,310.7,7.7,692,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2534,1653
$GC,15642,0.91,188.1,288.1,7.4,707,15643,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2534,1653
$GC,15952,0.92,193.1,266.8,6.9,722,15960,0.00,0.00,6.12,0.851,6,0.000,0.000,2653,2534,1632
$GC,16261,0.92,193.1,244.6,7.4,737,16265,0.00,2.25,0.00,0.000,4,0.000,0.051,2653,1116,1632
$GC,16311,0.97,193.1,240.8,7.9,739,16315,0.00,2.22,0.00,0.000,6,0.000,0.046,2653,2533,1632
$GC,16638,0.98,199.7,217.4,6.8,755,16652,0.00,2.33,7.10,0.877,4,0.000,0.063,2653,3934,1605
$GC,16682,0.93,199.7,214.3,8.4,757,16686,0.00,2.20,0.00,0.000,6,0.000,0.039,2653,2506,1605
$GC,17014,0.98,234.4,193.9,5.8,773,17045,0.00,0.00,29.60,1.000,6,0.000,0.000,2653,2506,1464
$GC,17344,1.09,259.9,174.0,6.2,789,17372,0.00,2.28,22.08,0.970,4,0.000,0.052,2653,1118,1360
$GC,17400,1.23,259.9,170.4,7.3,791,17407,0.17,2.25,0.00,0.000,6,0.067,0.047,2722,2529,1359
$GC,17716,1.13,259.9,138.5,11.2,807,17721,0.15,2.25,0.00,0.000,4,0.128,0.052,2678,1120,1358
$GC,17755,1.21,259.9,134.7,9.5,808,17762,0.10,2.22,0.00,0.000,6,0.089,0.048,2719,2532,1358
$GC,18071,1.14,259.9,103.4,8.9,824,18075,0.12,2.28,0.00,0.000,4,0.131,0.065,2682,3930,1358
$GC,18108,1.14,259.9,100.2,8.0,825,18115,0.00,2.17,0.00,0.000,6,0.000,0.040,2681,2519,1358
$GC,18453,1.21,259.9,77.5,7.7,886,18459,0.00,2.20,0.00,0.000,4,0.000,0.054,2681,1118,1358
$GC,18517,1.32,259.9,72.7,7.7,897,18524,0.15,2.22,0.00,0.000,6,0.074,0.048,2742,2532,1358
$GC,18862,1.24,259.9,43.5,8.2,958,18869,0.15,2.28,0.00,0.000,4,0.133,0.066,2695,3926,1356
$GC,18959,1.24,259.9,35.5,8.4,975,18966,0.00,2.17,0.00,0.000,6,0.000,0.041,2695,2519,1356
$GC,19304,1.40,309.7,12.1,5.3,1036,19352,0.15,2.30,40.97,0.950,4,0.080,0.054,2758,1111,1155
$GC,19393,1.34,309.7,3.8,10.0,1051,19400,0.12,2.28,0.00,0.000,6,0.142,0.050,2724,2517,1153
$STATE,19409,end climb,SURFACE_DEPTH_REACHED
$STATE,19409,begin surface coast
$FINISH,1.0,1.026211
$STATE,19428,end surface coast,CONTROL_FINISHED_OK
$STATE,19428,begin surface
$SM_CCo,19506,0.00,0.000,0,0,1150,311.78
$SM_GC,1.61,7.18,0.00,0.00,0.067,0.000,0.000,164,2341,1150,-10.38,0.03,311.78
$RAFOS_CLK,1074
$RAFOS,4,1226882677,0.750000,0.743611,63,59,59,51,50,50,601,205,188,129,220,230
$RAFOS,3,1226882054,0.583333,0.570556,72,65,59,57,54,49,213,177,142,195,162,915
$RAFOS,2,1226881441,0.416667,0.400278,77,66,62,59,56,51,624,197,206,155,177,217
$RAFOS,1,1226880845,0.250000,0.234722,60,56,52,52,52,51,216,157,167,203,114,186
$RAFOS,0,1226880269,0.083333,0.074722,56,55,51,51,51,50,207,220,158,176,869,192
$RAFOS_FIX,6536.750488,-5832.361816,171108,000052,2,74,15.00
$IRIDIUM_FIX,6636.54,-5833.70,100298,151503
$TT8_MAMPS,0.027612
$HUMID,1872
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.80
$XPDR_PINGS,1
$24V_AH,20.5,59.261
$10V_AH,10.5,25.979
$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,21.375,158.450,431.600,0.000,0.000,29.218,34.884,177.466,0.250,0.000,0.000,16.033,1942.374,14789.040,616.327,2019.286,541.478,33.382,1737.368,0.000,1976.531,1800.000,0.529,0.000
$DEVICE_MAMPS,260.780,72.098,1283.191,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.674,721.192,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37838,1057
$CAP_FILE_SIZE,150134,0
$CFSIZE,260165632,227549184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$SOUNDSPEED,1456.0
$GPS,171108,024507,6706.224,-5709.693,32,1.2,32,-37.7