version: 66.04
glider: 113
mission: 4
dive: 328
start: 11 19 108 21 34 16
data:
$ID,113
$MISSION,4
$DIVE,328
$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,-29146.783
$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,40
$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
$GPS1,212738,6704.099,-5707.565,32,1.6,32,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.4
$GPS2,213321,6704.092,-5707.643,14,1.7,14,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.222,0.035
$KALMAN_X,-58899.3,-572.1,-624.5,72367.3,-1102.9
$KALMAN_Y,-24540.3,333.0,1000.3,40281.5,-1111.4
$MHEAD_RNG_PITCHd_Wd,118.7,14329,-12.9,-7.021
$D_GRID,672
$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,-146.0,0.0,0.0,0,143,0.00,0.00,-123.82,0.000,2,0.000,0.000,164,2324,3000
$GC,146,-1.08,-146.0,3.3,-2.4,22,160,8.68,2.28,-0.55,0.000,4,0.258,0.065,2196,932,3018
$GC,263,-0.55,-146.0,24.7,-15.7,42,270,0.45,2.22,0.00,0.000,6,0.171,0.048,2319,2344,3021
$GC,607,-0.55,-146.0,54.0,-7.6,103,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2344,3020
$GC,951,-0.66,-146.0,75.5,-4.8,164,957,0.12,2.22,0.00,0.000,4,0.093,0.050,2273,938,3019
$GC,1031,-0.58,-146.0,81.6,-8.1,178,1038,0.15,2.22,0.00,0.000,6,0.157,0.048,2313,2352,3019
$GC,1388,-0.71,-146.0,103.9,-6.5,233,1393,0.12,2.25,0.00,0.000,4,0.091,0.062,2261,3740,3018
$GC,1438,-0.71,-146.0,108.6,-9.7,235,1442,0.00,2.15,0.00,0.000,6,0.000,0.037,2261,2334,3017
$GC,1759,-0.71,-146.0,137.0,-9.1,251,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2334,3017
$GC,2069,-0.71,-146.0,163.5,-7.9,266,2072,0.00,2.33,0.00,0.000,4,0.000,0.063,2261,3753,3017
$GC,2114,-0.76,-146.0,167.0,-8.0,268,2118,0.00,2.17,0.00,0.000,6,0.000,0.036,2261,2330,3017
$GC,2447,-0.76,-146.0,190.0,-6.5,284,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2330,3017
$GC,2757,-0.81,-146.0,208.9,-6.0,299,2761,0.00,2.30,0.00,0.000,4,0.000,0.062,2260,3742,3017
$GC,2780,-0.87,-146.0,210.4,-6.5,300,2784,0.00,2.15,0.00,0.000,6,0.000,0.036,2261,2334,3017
$GC,3113,-0.93,-146.0,231.5,-6.5,316,3118,0.10,2.30,0.00,0.000,4,0.105,0.061,2221,3745,3017
$GC,3134,-0.93,-146.0,233.3,-7.7,317,3138,0.00,2.15,0.00,0.000,6,0.000,0.035,2221,2336,3017
$GC,3462,-0.86,-146.0,259.0,-7.9,333,3463,0.12,0.00,0.00,0.000,6,0.160,0.000,2254,2333,3017
$GC,3772,-0.91,-146.0,279.7,-6.6,348,3776,0.00,2.30,0.00,0.000,4,0.000,0.061,2254,3750,3018
$GC,3800,-1.00,-146.0,281.5,-6.8,349,3804,0.12,2.17,0.00,0.000,6,0.087,0.036,2207,2326,3018
$GC,4126,-0.91,-146.0,305.6,-7.1,365,4131,0.12,2.33,0.00,0.000,4,0.154,0.060,2241,3747,3019
$GC,4148,-0.91,-146.0,307.0,-6.4,366,4152,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2338,3019
$GC,4474,-0.91,-146.0,326.4,-6.1,382,4478,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3750,3020
$GC,4508,-0.96,-146.0,328.8,-6.5,383,4512,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2340,3020
$GC,4830,-0.96,-146.0,348.0,-5.9,399,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2340,3020
$GC,5139,-0.96,-146.0,365.5,-5.7,414,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2340,3021
$GC,5448,-0.96,-146.0,383.2,-5.7,429,5452,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3752,3022
$GC,5459,-0.96,-146.0,383.8,-5.7,429,5463,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2328,3022
$GC,5780,-0.96,-146.0,402.7,-6.0,444,5783,0.00,2.30,0.00,0.000,4,0.000,0.059,2241,3743,3022
$GC,5842,-1.03,-146.0,406.4,-6.1,445,5846,0.12,2.15,0.00,0.000,6,0.089,0.035,2193,2327,3022
$GC,6155,-0.92,-146.0,428.4,-6.9,453,6160,0.15,2.33,0.00,0.000,4,0.149,0.059,2235,3749,3023
$GC,6207,-0.97,-146.0,431.6,-6.0,454,6211,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2335,3023
$GC,6531,-0.97,-146.0,449.6,-5.5,462,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2336,3023
$GC,6857,-0.97,-146.0,469.1,-6.4,470,6860,0.00,2.30,0.00,0.000,4,0.000,0.060,2235,3748,3024
$GC,6867,-0.97,-146.0,469.7,-6.2,470,6871,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2334,3024
$GC,7186,-0.97,-146.0,490.9,-6.7,478,7190,0.00,2.30,0.00,0.000,4,0.000,0.059,2235,3753,3024
$GC,7197,-0.97,-146.0,491.6,-6.5,478,7201,0.00,2.15,0.00,0.000,6,0.000,0.034,2235,2340,3024
$GC,7516,-0.97,-146.0,510.5,-5.8,486,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2340,3024
$GC,7841,-0.97,-146.0,528.6,-5.6,494,7844,0.00,2.30,0.00,0.000,4,0.000,0.061,2235,3747,3025
$GC,7851,-0.97,-146.0,529.3,-5.6,494,7855,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2336,3025
$GC,8171,-0.97,-146.0,546.9,-5.5,502,8175,0.00,2.30,0.00,0.000,4,0.000,0.061,2235,3750,3024
$GC,8181,-0.97,-146.0,547.6,-5.6,502,8185,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2340,3024
$GC,8500,-0.97,-146.0,565.6,-5.6,510,8503,0.00,2.30,0.00,0.000,4,0.000,0.060,2235,3748,3025
$GC,8556,-1.04,-146.0,568.9,-5.9,511,8560,0.10,2.15,0.00,0.000,6,0.107,0.035,2200,2334,3025
$GC,8875,-0.96,-146.0,590.2,-6.7,519,8880,0.10,2.33,0.00,0.000,4,0.160,0.061,2227,3746,3025
$GC,8908,-1.01,-146.0,592.1,-5.8,519,8912,0.00,2.15,0.00,0.000,6,0.000,0.035,2227,2336,3025
$GC,9246,-1.01,-146.0,612.5,-6.4,528,9250,0.00,2.30,0.00,0.000,4,0.000,0.060,2227,3746,3025
$GC,9292,-1.01,-146.0,615.4,-6.2,529,9295,0.00,2.15,0.00,0.000,6,0.000,0.035,2227,2334,3025
$GC,9624,-1.01,-146.0,636.3,-6.1,537,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2334,3025
$GC,9947,-1.01,-146.0,657.0,-6.4,545,9951,0.00,2.33,0.00,0.000,4,0.000,0.061,2227,3752,3025
$GC,9975,-1.01,-146.0,658.8,-6.3,545,9978,0.00,2.17,0.00,0.000,6,0.000,0.035,2227,2329,3025
$STATE,10195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10195,begin apogee
$GC,10202,-0.34,0.0,672.2,6.1,551,10336,0.45,0.00,131.55,1.234,6,0.137,0.000,2366,2522,2420
$STATE,10338,end apogee,CONTROL_FINISHED_OK
$STATE,10338,begin climb
$GC,10341,1.08,146.0,674.6,0.0,554,10487,1.00,2.58,136.60,1.156,4,0.100,0.044,2669,1124,1824
$GC,10544,0.97,146.0,660.1,8.2,558,10551,0.10,2.40,0.00,0.000,6,0.143,0.043,2645,2522,1824
$GC,10876,0.88,146.0,633.6,7.9,567,10879,0.00,2.28,0.00,0.000,4,0.000,0.060,2646,3939,1824
$GC,10948,0.71,146.0,626.2,9.9,568,10953,0.20,2.17,0.00,0.000,6,0.140,0.037,2587,2522,1824
$GC,11285,0.90,202.1,608.3,5.1,577,11340,0.15,2.35,47.08,1.177,4,0.070,0.048,2651,1119,1596
$GC,11374,0.90,202.1,601.5,8.2,579,11378,0.00,2.28,0.00,0.000,6,0.000,0.044,2652,2532,1595
$GC,11698,0.90,202.1,574.1,8.3,587,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2532,1595
$GC,12023,0.90,202.1,547.1,8.2,595,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2532,1594
$GC,12349,0.90,202.1,520.2,8.2,603,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2532,1594
$GC,12673,0.90,202.1,494.3,7.9,611,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2532,1594
$GC,12998,0.90,202.1,468.7,8.0,619,13002,0.00,2.22,0.00,0.000,4,0.000,0.048,2651,1114,1594
$GC,13047,0.90,202.1,464.8,7.5,620,13051,0.00,2.20,0.00,0.000,6,0.000,0.044,2652,2529,1594
$GC,13372,0.90,202.1,438.8,7.9,628,13376,0.00,2.25,0.00,0.000,4,0.000,0.061,2652,3930,1593
$GC,13406,0.80,202.1,435.6,9.3,628,13410,0.15,2.17,0.00,0.000,6,0.138,0.037,2608,2505,1593
$GC,13742,1.00,244.3,416.2,5.6,637,13785,0.15,2.25,35.45,1.083,4,0.069,0.048,2675,1109,1423
$GC,13825,1.00,244.3,409.5,7.8,638,13832,0.10,2.25,0.00,0.000,6,0.135,0.043,2649,2527,1423
$GC,14138,1.00,244.3,386.2,7.6,651,14142,0.00,2.22,0.00,0.000,4,0.000,0.048,2649,1110,1423
$GC,14178,1.07,244.3,383.3,7.8,652,14184,0.00,2.20,0.00,0.000,6,0.000,0.043,2649,2521,1423
$GC,14493,1.07,244.3,358.1,7.9,668,14494,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2521,1422
$GC,14802,1.07,244.3,333.1,8.1,683,14806,0.00,2.20,0.00,0.000,4,0.000,0.048,2648,1118,1422
$GC,14865,1.16,250.7,328.4,6.8,685,14876,0.15,2.17,6.30,0.833,6,0.071,0.042,2709,2522,1398
$GC,15200,1.01,250.7,291.6,11.5,702,15202,0.20,0.00,0.00,0.000,6,0.123,0.000,2647,2522,1400
$GC,15508,1.07,250.7,267.1,7.6,717,15511,0.00,2.20,0.00,0.000,4,0.000,0.048,2648,1117,1400
$GC,15570,1.18,250.7,262.4,7.7,719,15577,0.15,2.17,0.00,0.000,6,0.072,0.042,2709,2521,1400
$GC,15885,1.04,250.7,230.1,10.4,735,15887,0.17,0.00,0.00,0.000,6,0.123,0.000,2654,2522,1400
$GC,16196,1.11,263.6,209.0,6.6,750,16218,0.08,2.30,12.25,0.890,4,0.099,0.048,2692,1108,1346
$GC,16273,1.11,263.6,202.0,9.2,753,16278,0.00,2.20,0.00,0.000,6,0.000,0.043,2692,2531,1347
$GC,16595,1.11,263.6,170.6,10.3,769,16596,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2531,1347
$GC,16905,1.11,263.6,140.9,9.3,784,16908,0.00,2.22,0.00,0.000,4,0.000,0.047,2692,1114,1348
$GC,16960,1.11,263.6,135.9,8.7,786,16964,0.00,2.20,0.00,0.000,6,0.000,0.042,2692,2534,1348
$GC,17281,1.11,263.6,109.9,7.7,802,17282,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2534,1348
$GC,17604,1.11,263.6,85.7,7.6,841,17611,0.00,2.22,0.00,0.000,4,0.000,0.048,2692,1115,1348
$GC,17691,1.22,263.6,78.8,8.4,856,17697,0.00,2.20,0.00,0.000,6,0.000,0.044,2692,2531,1348
$GC,18035,1.30,263.6,54.4,7.0,917,18042,0.10,2.25,0.00,0.000,4,0.077,0.060,2743,3934,1349
$GC,18100,1.09,263.6,48.1,10.9,928,18107,0.25,2.17,0.00,0.000,6,0.129,0.038,2667,2510,1349
$GC,18447,1.30,301.6,25.9,5.7,989,18486,0.17,2.22,32.15,0.888,4,0.065,0.049,2745,1111,1189
$GC,18565,1.30,301.6,16.6,8.2,1009,18572,0.12,2.22,0.00,0.000,6,0.136,0.044,2710,2525,1188
$STATE,18778,end climb,SURFACE_DEPTH_REACHED
$STATE,18778,begin surface coast
$FINISH,0.9,1.018298
$STATE,18808,end surface coast,CONTROL_FINISHED_OK
$STATE,18808,begin surface
$SM_CCo,18885,0.00,0.000,0,0,1186,302.70
$SM_GC,1.85,7.00,0.00,0.00,0.063,0.000,0.000,158,2337,1186,-10.39,-0.08,302.70
$RAFOS_CLK,972
$RAFOS,4,1227141845,0.750000,0.734722,104,76,58,58,56,54,796,214,223,190,199,165
$RAFOS,3,1227141247,0.583333,0.568611,65,54,54,53,53,51,171,188,224,129,115,148
$RAFOS,2,1227140648,0.416667,0.402222,73,64,56,53,53,52,201,192,180,118,225,153
$RAFOS,1,1227140075,0.250000,0.243056,75,62,60,54,52,52,683,174,148,214,67,200
$RAFOS,0,1227139455,0.083333,0.070833,65,59,59,57,55,54,190,211,956,966,160,119
$RAFOS_FIX,4713.158691,-580707.375000,201108,000009,3,84,41150.12
$IRIDIUM_FIX,6636.54,-5707.59,130298,161617
$TT8_MAMPS,0.027612
$HUMID,1858
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,20.8,61.449
$10V_AH,10.6,27.037
$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,21.175,152.575,401.375,0.000,0.000,22.585,31.255,152.174,0.000,0.000,0.000,16.165,1962.044,14245.760,546.223,1989.312,523.037,33.379,1644.919,0.000,1957.988,1800.000,0.528,0.000
$DEVICE_MAMPS,257.712,65.195,1234.103,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.655,713.551,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37928,1052
$CAP_FILE_SIZE,146290,0
$CFSIZE,260165632,226566144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.9
$GPS,201108,025108,6703.336,-5701.753,37,0.9,37,-37.6