version: 66.04
glider: 113
mission: 4
dive: 317
start: 11 17 108 12 59 52
data:
$ID,113
$MISSION,4
$DIVE,317
$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,-28718.336
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,125208,6705.993,-5708.609,30,1.4,30,-37.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-58.9
$GPS2,125856,6705.996,-5708.792,14,1.6,14,-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,0.096,-0.203
$KALMAN_X,-25824.2,-80.9,755.6,36592.3,-4902.9
$KALMAN_Y,-39287.8,-570.7,-1251.4,61704.4,4781.2
$MHEAD_RNG_PITCHd_Wd,192.2,16007,-12.9,-7.021
$D_GRID,626
$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,-146.0,0.0,0.0,0,131,0.00,0.00,-112.80,0.000,6,0.000,0.000,161,2326,3016
$GC,135,-1.08,-146.0,3.2,-2.3,20,149,8.80,2.28,0.00,0.000,4,0.261,0.058,2198,939,3020
$GC,346,-0.61,-146.0,42.7,-15.1,57,353,0.38,2.25,0.00,0.000,6,0.170,0.051,2305,2350,3022
$GC,691,-0.67,-146.0,69.5,-6.9,118,697,0.00,2.25,0.00,0.000,4,0.000,0.054,2305,936,3023
$GC,777,-0.67,-146.0,75.7,-6.9,133,784,0.00,2.25,0.00,0.000,6,0.000,0.050,2305,2352,3023
$GC,1122,-0.77,-146.0,97.2,-7.1,194,1129,0.12,2.28,0.00,0.000,4,0.094,0.064,2258,3746,3022
$GC,1136,-0.85,-146.0,98.3,-7.1,196,1142,0.00,2.17,0.00,0.000,6,0.000,0.038,2259,2330,3022
$GC,1464,-0.80,-146.0,125.9,-7.7,214,1468,0.00,2.33,0.00,0.000,4,0.000,0.065,2258,3743,3022
$GC,1487,-0.80,-146.0,127.8,-7.9,215,1491,0.00,2.17,0.00,0.000,6,0.000,0.038,2258,2330,3023
$GC,1820,-0.80,-146.0,155.8,-8.6,231,1823,0.00,2.35,0.00,0.000,4,0.000,0.066,2259,3755,3023
$GC,1858,-0.80,-146.0,159.4,-8.8,232,1865,0.00,2.20,0.00,0.000,6,0.000,0.039,2258,2330,3022
$GC,2174,-0.80,-146.0,184.5,-8.0,248,2177,0.00,2.35,0.00,0.000,4,0.000,0.067,2258,3750,3022
$GC,2230,-0.80,-146.0,189.1,-8.2,250,2233,0.00,2.20,0.00,0.000,6,0.000,0.039,2258,2328,3022
$GC,2551,-0.80,-146.0,211.8,-6.5,266,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2329,3021
$GC,2860,-0.80,-146.0,229.5,-5.8,281,2864,0.00,2.35,0.00,0.000,4,0.000,0.066,2258,3749,3020
$GC,2888,-0.84,-146.0,231.1,-6.0,282,2892,0.00,2.17,0.00,0.000,6,0.000,0.038,2258,2331,3021
$GC,3215,-0.84,-146.0,251.9,-6.8,298,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2331,3021
$GC,3525,-0.89,-146.0,272.7,-6.4,313,3529,0.00,2.20,0.00,0.000,4,0.000,0.052,2259,930,3020
$GC,3536,-0.89,-146.0,273.5,-6.4,313,3540,0.00,2.25,0.00,0.000,6,0.000,0.048,2259,2350,3020
$GC,3858,-0.94,-146.0,294.7,-6.4,329,3860,0.10,0.00,0.00,0.000,6,0.104,0.000,2220,2349,3020
$GC,4166,-0.88,-146.0,317.1,-7.3,344,4168,0.10,0.00,0.00,0.000,6,0.168,0.000,2245,2350,3020
$GC,4476,-0.88,-146.0,336.9,-6.2,359,4480,0.00,2.28,0.00,0.000,4,0.000,0.066,2245,3741,3021
$GC,4486,-0.88,-146.0,337.7,-6.3,359,4490,0.00,2.17,0.00,0.000,6,0.000,0.038,2245,2327,3021
$GC,4807,-0.88,-146.0,357.0,-6.0,375,4810,0.00,2.35,0.00,0.000,4,0.000,0.064,2245,3753,3021
$GC,4858,-0.94,-146.0,360.1,-6.3,377,4862,0.00,2.17,0.00,0.000,6,0.000,0.038,2245,2341,3021
$GC,5185,-0.94,-146.0,379.2,-5.7,393,5189,0.00,2.33,0.00,0.000,4,0.000,0.064,2245,3753,3021
$GC,5224,-1.00,-146.0,381.6,-5.8,394,5231,0.10,2.17,0.00,0.000,6,0.100,0.038,2209,2340,3021
$GC,5540,-0.92,-146.0,404.0,-7.4,409,5542,0.12,0.00,0.00,0.000,6,0.153,0.000,2242,2338,3021
$GC,5864,-0.92,-146.0,424.4,-6.3,417,5868,0.00,2.33,0.00,0.000,4,0.000,0.064,2242,3752,3021
$GC,5903,-0.98,-146.0,426.9,-6.4,417,5910,0.00,2.17,0.00,0.000,6,0.000,0.038,2242,2338,3021
$GC,6235,-0.98,-146.0,446.6,-5.8,426,6239,0.00,2.33,0.00,0.000,4,0.000,0.063,2242,3754,3022
$GC,6246,-0.98,-146.0,447.4,-5.7,426,6250,0.00,2.17,0.00,0.000,6,0.000,0.037,2242,2338,3022
$GC,6565,-0.98,-146.0,466.5,-6.0,434,6569,0.00,2.33,0.00,0.000,4,0.000,0.063,2242,3753,3022
$GC,6575,-1.04,-146.0,467.2,-5.9,434,6580,0.12,2.17,0.00,0.000,6,0.091,0.036,2195,2336,3022
$GC,6895,-0.92,-146.0,491.3,-7.8,442,6899,0.15,2.33,0.00,0.000,4,0.152,0.061,2237,3743,3023
$GC,6939,-0.97,-146.0,494.5,-7.0,443,6943,0.00,2.17,0.00,0.000,6,0.000,0.036,2238,2326,3023
$GC,7263,-0.97,-146.0,514.8,-6.1,451,7267,0.00,2.33,0.00,0.000,4,0.000,0.064,2237,3742,3024
$GC,7275,-0.97,-146.0,515.7,-6.1,451,7278,0.00,2.15,0.00,0.000,6,0.000,0.037,2237,2340,3024
$GC,7593,-0.97,-146.0,534.8,-5.8,459,7597,0.00,2.33,0.00,0.000,4,0.000,0.063,2237,3753,3024
$GC,7621,-1.03,-146.0,536.4,-6.3,459,7626,0.10,2.17,0.00,0.000,6,0.106,0.036,2203,2334,3024
$GC,7965,-0.95,-146.0,560.1,-7.0,468,7969,0.10,2.33,0.00,0.000,4,0.158,0.064,2229,3742,3024
$GC,8059,-0.95,-146.0,566.2,-6.3,470,8063,0.00,2.15,0.00,0.000,6,0.000,0.037,2229,2340,3024
$GC,8384,-0.95,-146.0,586.3,-6.2,478,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2340,3025
$GC,8709,-0.95,-146.0,606.7,-6.2,486,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2340,3025
$STATE,9031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9031,begin apogee
$GC,9038,-0.34,0.0,626.6,6.2,494,9173,0.43,0.00,132.73,1.222,6,0.136,0.000,2362,2516,2420
$STATE,9174,end apogee,CONTROL_FINISHED_OK
$STATE,9174,begin climb
$GC,9177,1.08,146.0,628.6,0.0,497,9329,1.05,2.72,140.05,1.130,4,0.104,0.062,2669,3929,1824
$GC,9380,0.83,146.0,613.1,10.5,502,9385,0.22,2.40,0.00,0.000,6,0.137,0.037,2615,2527,1823
$GC,9716,0.86,169.5,591.7,6.2,511,9742,0.00,2.30,20.73,1.127,4,0.000,0.050,2615,1109,1729
$GC,9821,0.99,179.7,584.9,6.7,513,9837,0.12,2.28,10.30,1.034,6,0.077,0.045,2664,2538,1687
$GC,10163,0.90,179.7,555.2,8.8,521,10167,0.12,2.22,0.00,0.000,4,0.135,0.062,2628,3929,1685
$GC,10230,0.83,179.7,549.4,8.3,522,10234,0.00,2.17,0.00,0.000,6,0.000,0.038,2628,2512,1685
$GC,10577,0.83,179.7,524.6,7.1,531,10581,0.00,2.17,0.00,0.000,4,0.000,0.050,2628,1114,1685
$GC,10644,0.90,181.8,519.8,6.9,532,10648,0.00,2.20,0.00,0.000,6,0.000,0.045,2628,2522,1684
$GC,10992,0.90,181.8,494.5,7.4,541,10996,0.00,2.25,0.00,0.000,4,0.000,0.062,2628,3929,1684
$GC,11048,0.84,181.8,489.5,9.5,542,11053,0.00,2.17,0.00,0.000,6,0.000,0.038,2628,2508,1683
$GC,11366,0.84,182.0,466.7,7.0,550,11370,0.00,2.17,0.00,0.000,4,0.000,0.049,2628,1107,1683
$GC,11424,0.92,182.0,462.8,7.4,551,11428,0.00,2.22,0.00,0.000,6,0.000,0.044,2628,2532,1683
$GC,11742,0.97,182.0,440.1,7.2,559,11746,0.00,2.25,0.00,0.000,4,0.000,0.062,2628,3934,1683
$GC,11792,0.97,182.0,435.8,8.3,560,11796,0.00,2.17,0.00,0.000,6,0.000,0.038,2627,2509,1684
$GC,12117,1.02,182.0,412.4,7.2,568,12121,0.10,2.17,0.00,0.000,4,0.087,0.048,2673,1112,1684
$GC,12178,0.96,182.0,407.3,8.8,569,12182,0.12,2.20,0.00,0.000,6,0.142,0.045,2639,2524,1683
$GC,12493,0.96,182.0,384.3,7.2,582,12497,0.00,2.25,0.00,0.000,4,0.000,0.062,2639,3929,1683
$GC,12562,0.87,182.0,378.6,8.2,585,12565,0.00,2.15,0.00,0.000,6,0.000,0.038,2639,2521,1684
$GC,12894,0.87,182.0,354.4,7.2,601,12897,0.00,2.17,0.00,0.000,4,0.000,0.049,2639,1120,1684
$GC,12963,0.93,184.9,349.6,6.9,604,12973,0.00,2.20,5.57,0.828,6,0.000,0.045,2639,2527,1666
$GC,13289,0.95,197.1,327.0,6.6,620,13310,0.00,2.33,11.82,0.979,4,0.000,0.062,2639,3926,1615
$GC,13355,0.95,197.1,322.0,7.6,623,13359,0.00,2.17,0.00,0.000,6,0.000,0.037,2639,2508,1614
$GC,13688,0.98,224.0,301.4,6.1,639,13718,0.00,2.28,23.23,1.009,4,0.000,0.049,2639,1109,1506
$GC,13764,1.13,247.8,296.8,6.2,642,13790,0.15,2.25,21.15,0.980,6,0.073,0.044,2702,2532,1409
$GC,14102,1.03,247.8,266.1,9.4,658,14107,0.15,2.25,0.00,0.000,4,0.127,0.061,2657,3926,1406
$GC,14151,1.03,247.8,261.2,8.7,660,14155,0.00,2.15,0.00,0.000,6,0.000,0.037,2656,2516,1407
$GC,14474,1.10,247.8,236.7,7.5,676,14477,0.00,2.17,0.00,0.000,4,0.000,0.049,2657,1117,1407
$GC,14546,1.19,247.8,231.2,7.6,679,14551,0.12,2.20,0.00,0.000,6,0.077,0.044,2707,2526,1406
$GC,14872,1.11,247.8,200.5,9.5,695,14877,0.12,2.28,0.00,0.000,4,0.133,0.063,2668,3936,1406
$GC,14952,1.11,247.8,193.4,9.4,698,14958,0.00,2.17,0.00,0.000,6,0.000,0.038,2668,2515,1406
$GC,15268,1.16,247.8,169.3,7.3,714,15272,0.00,2.17,0.00,0.000,4,0.000,0.051,2668,1116,1406
$GC,15341,1.26,256.8,164.3,6.7,717,15358,0.15,2.20,8.70,0.888,6,0.072,0.046,2730,2520,1373
$GC,15667,1.14,256.8,134.3,9.6,733,15672,0.17,2.28,0.00,0.000,4,0.128,0.061,2677,3927,1372
$GC,15711,1.14,256.8,130.1,9.4,735,15715,0.00,2.17,0.00,0.000,6,0.000,0.039,2677,2510,1372
$GC,16038,1.20,256.8,104.9,7.9,751,16042,0.00,2.17,0.00,0.000,4,0.000,0.051,2677,1120,1372
$GC,16112,1.31,256.8,99.3,7.9,755,16119,0.15,2.20,0.00,0.000,6,0.074,0.047,2734,2519,1371
$GC,16457,1.20,256.8,66.5,10.3,816,16464,0.15,2.30,0.00,0.000,4,0.129,0.063,2689,3936,1371
$GC,16499,1.14,256.8,63.0,8.2,823,16505,0.00,2.20,0.00,0.000,6,0.000,0.040,2690,2508,1371
$GC,16843,1.28,298.9,44.2,5.6,884,16886,0.10,2.28,34.95,0.965,4,0.087,0.051,2734,1110,1201
$GC,17027,1.28,298.9,30.6,7.5,916,17033,0.00,2.25,0.00,0.000,6,0.000,0.047,2734,2529,1196
$STATE,17341,end climb,SURFACE_DEPTH_REACHED
$STATE,17341,begin surface coast
$FINISH,0.8,1.022704
$STATE,17364,end surface coast,CONTROL_FINISHED_OK
$STATE,17364,begin surface
$SM_CCo,17442,0.00,0.000,0,0,1193,301.23
$SM_GC,1.53,7.18,0.00,0.00,0.068,0.000,0.000,157,2342,1193,-10.41,0.06,301.23
$RAFOS_CLK,934
$RAFOS,4,1226940250,16.750000,16.736111,73,67,55,55,52,48,225,193,203,135,178,163
$RAFOS,3,1226939642,16.583334,16.567223,74,60,60,56,52,49,207,142,113,185,198,174
$RAFOS,2,1226939076,16.416666,16.410000,83,64,61,57,55,53,435,166,199,220,157,124
$RAFOS,1,1226938450,16.250000,16.236111,63,58,57,56,52,46,201,168,183,222,124,106
$RAFOS,0,1226937844,16.083334,16.067778,66,59,54,52,51,51,210,179,147,197,164,130
$RAFOS,4,1226925845,12.750000,12.734722,64,59,55,54,52,51,776,203,162,151,216,120
$RAFOS_FIX,7544.612793,-8455.451172,171108,161633,3,77,94.26
$IRIDIUM_FIX,6636.54,-5707.59,110298,080846
$TT8_MAMPS,0.026845
$HUMID,1900
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,15.60
$XPDR_PINGS,1
$24V_AH,20.7,59.687
$10V_AH,10.5,26.197
$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,20.825,170.875,409.225,0.000,0.000,24.017,48.912,200.476,0.250,0.000,0.000,15.967,1854.945,12919.141,588.209,1951.532,570.956,33.371,1652.483,0.000,1916.310,1800.000,0.529,0.000
$DEVICE_MAMPS,260.780,68.263,1221.831,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.751,663.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37858,976
$CAP_FILE_SIZE,146271,0
$CFSIZE,260165632,227344384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.1
$GPS,171108,175328,6706.531,-5712.841,70,2.1,89,-37.7