version: 66.04
glider: 113
mission: 4
dive: 329
start: 11 20 108 2 57 51
data:
$ID,113
$MISSION,4
$DIVE,329
$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,-29160.385
$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,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
$GPS1,025108,6703.336,-5701.753,37,0.9,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-64.5
$GPS2,025656,6703.317,-5701.789,11,1.1,11,-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,0.195,-0.111
$KALMAN_X,-61446.1,648.4,709.6,76603.2,-3508.6
$KALMAN_Y,-24305.9,186.3,-1192.6,40951.9,2000.9
$MHEAD_RNG_PITCHd_Wd,157.4,9975,-12.9,-7.021
$D_GRID,630
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-114.25,0.000,2,0.000,0.000,158,2335,2933
$GC,136,-1.08,-146.0,3.0,-1.9,20,156,8.68,2.22,-3.10,0.000,4,0.258,0.064,2199,936,3019
$GC,308,-0.63,-146.0,33.8,-14.8,50,315,0.35,2.22,0.00,0.000,6,0.171,0.048,2299,2351,3021
$GC,653,-0.63,-146.0,67.4,-8.1,111,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2351,3021
$GC,996,-0.69,-146.0,90.7,-6.0,172,1003,0.00,2.22,0.00,0.000,4,0.000,0.050,2299,936,3020
$GC,1010,-0.74,-146.0,91.6,-6.1,174,1016,0.10,2.22,0.00,0.000,6,0.097,0.048,2260,2351,3020
$GC,1341,-0.74,-146.0,119.2,-7.8,203,1345,0.00,2.22,0.00,0.000,4,0.000,0.050,2260,935,3020
$GC,1455,-0.68,-146.0,127.5,-7.1,208,1459,0.12,2.22,0.00,0.000,6,0.164,0.048,2293,2345,3019
$GC,1787,-0.80,-146.0,145.1,-5.2,224,1791,0.12,2.25,0.00,0.000,4,0.093,0.049,2246,925,3019
$GC,1798,-0.88,-146.0,145.9,-5.2,224,1802,0.00,2.22,0.00,0.000,6,0.000,0.046,2246,2341,3019
$GC,2119,-0.88,-146.0,169.6,-7.7,240,2123,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,929,3018
$GC,2146,-0.81,-146.0,171.9,-8.3,241,2150,0.00,2.22,0.00,0.000,6,0.000,0.046,2246,2342,3019
$GC,2474,-0.81,-146.0,195.8,-6.2,257,2478,0.00,2.28,0.00,0.000,4,0.000,0.062,2246,3750,3018
$GC,2485,-0.81,-146.0,196.6,-6.0,257,2489,0.00,2.17,0.00,0.000,6,0.000,0.036,2247,2332,3018
$GC,2805,-0.81,-146.0,216.7,-6.9,273,2809,0.00,2.33,0.00,0.000,4,0.000,0.062,2246,3754,3019
$GC,2851,-0.81,-146.0,220.0,-7.2,275,2855,0.00,2.17,0.00,0.000,6,0.000,0.036,2247,2333,3019
$GC,3184,-0.81,-146.0,241.1,-6.1,291,3188,0.00,2.30,0.00,0.000,4,0.000,0.061,2247,3745,3019
$GC,3195,-0.81,-146.0,241.9,-6.2,291,3199,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2338,3019
$GC,3516,-0.81,-146.0,263.2,-6.7,307,3520,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3752,3019
$GC,3527,-0.81,-146.0,263.9,-6.5,307,3530,0.00,2.17,0.00,0.000,6,0.000,0.035,2247,2327,3019
$GC,3848,-0.81,-146.0,283.6,-5.9,323,3852,0.00,2.33,0.00,0.000,4,0.000,0.060,2246,3755,3020
$GC,3859,-0.81,-146.0,284.3,-5.9,323,3863,0.00,2.17,0.00,0.000,6,0.000,0.035,2247,2327,3020
$GC,4180,-0.81,-146.0,303.2,-6.0,339,4185,0.00,2.33,0.00,0.000,4,0.000,0.060,2246,3757,3020
$GC,4231,-0.87,-146.0,306.5,-6.8,341,4235,0.00,2.17,0.00,0.000,6,0.000,0.035,2247,2330,3020
$GC,4552,-0.87,-146.0,326.3,-6.2,357,4556,0.00,2.30,0.00,0.000,4,0.000,0.059,2247,3747,3021
$GC,4570,-0.92,-146.0,327.4,-6.1,357,4578,0.00,2.15,0.00,0.000,6,0.000,0.035,2246,2336,3021
$GC,4886,-0.92,-146.0,347.9,-6.3,373,4889,0.00,2.30,0.00,0.000,4,0.000,0.059,2247,3753,3022
$GC,4919,-0.99,-146.0,350.1,-6.9,374,4924,0.10,2.15,0.00,0.000,6,0.100,0.034,2207,2339,3022
$GC,5241,-0.90,-146.0,373.4,-7.3,390,5246,0.12,2.30,0.00,0.000,4,0.154,0.060,2241,3746,3023
$GC,5286,-0.97,-146.0,376.6,-6.3,392,5289,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2333,3022
$GC,5613,-0.97,-146.0,396.1,-6.0,408,5617,0.00,2.30,0.00,0.000,4,0.000,0.059,2241,3749,3023
$GC,5647,-1.03,-146.0,398.4,-6.3,409,5651,0.12,2.15,0.00,0.000,6,0.088,0.035,2193,2336,3023
$GC,5964,-0.91,-146.0,420.6,-7.0,418,5968,0.17,2.30,0.00,0.000,4,0.144,0.058,2243,3746,3024
$GC,5986,-0.91,-146.0,421.9,-5.8,418,5990,0.00,2.15,0.00,0.000,6,0.000,0.034,2243,2333,3024
$GC,6329,-0.97,-146.0,440.5,-5.4,427,6333,0.00,2.30,0.00,0.000,4,0.000,0.059,2243,3749,3024
$GC,6353,-1.04,-146.0,441.9,-5.9,427,6358,0.12,2.15,0.00,0.000,6,0.091,0.035,2195,2334,3024
$GC,6701,-0.93,-146.0,467.1,-7.4,436,6706,0.15,2.33,0.00,0.000,4,0.148,0.058,2236,3757,3024
$GC,6717,-0.89,-146.0,468.4,-7.3,436,6721,0.00,2.17,0.00,0.000,6,0.000,0.035,2236,2327,3025
$GC,7065,-0.89,-146.0,490.2,-6.3,445,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2327,3025
$GC,7391,-0.89,-146.0,509.4,-5.8,453,7395,0.00,2.33,0.00,0.000,4,0.000,0.059,2235,3753,3025
$GC,7401,-0.89,-146.0,510.0,-5.8,453,7405,0.00,2.15,0.00,0.000,6,0.000,0.034,2235,2340,3024
$GC,7719,-0.89,-146.0,527.9,-5.6,461,7723,0.00,2.30,0.00,0.000,4,0.000,0.058,2235,3756,3025
$GC,7730,-0.89,-146.0,528.7,-5.7,461,7734,0.00,2.17,0.00,0.000,6,0.000,0.035,2235,2328,3025
$GC,8049,-0.89,-146.0,547.7,-6.3,469,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2328,3025
$GC,8373,-0.89,-146.0,569.1,-6.4,477,8377,0.00,2.33,0.00,0.000,4,0.000,0.059,2236,3749,3025
$GC,8424,-0.95,-146.0,572.4,-6.5,478,8428,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2340,3026
$GC,8749,-0.95,-146.0,592.2,-6.1,486,8753,0.00,2.30,0.00,0.000,4,0.000,0.060,2235,3750,3025
$GC,8766,-1.00,-146.0,593.4,-6.3,486,8770,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2337,3025
$GC,9079,-1.00,-146.0,611.7,-5.8,494,9083,0.00,2.30,0.00,0.000,4,0.000,0.061,2236,3745,3025
$GC,9090,-1.05,-146.0,612.4,-5.8,494,9094,0.10,2.15,0.00,0.000,6,0.106,0.034,2198,2331,3025
$STATE,9364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9364,begin apogee
$GC,9371,-0.34,0.0,630.9,6.8,501,9505,0.55,0.00,130.93,1.203,6,0.141,0.000,2365,2525,2420
$STATE,9506,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9509,1.08,146.0,633.1,0.0,504,9652,1.00,2.58,135.05,1.126,4,0.100,0.044,2669,1126,1825
$GC,9705,0.94,146.0,618.8,8.6,508,9710,0.12,2.40,0.00,0.000,6,0.137,0.043,2639,2521,1825
$GC,10041,0.89,146.0,592.7,7.9,517,10045,0.00,2.28,0.00,0.000,4,0.000,0.059,2639,3938,1824
$GC,10120,0.74,146.0,585.3,9.0,518,10125,0.15,2.17,0.00,0.000,6,0.139,0.036,2595,2519,1825
$GC,10457,0.88,179.3,564.9,5.9,527,10492,0.12,2.28,28.45,1.133,4,0.077,0.048,2651,1125,1690
$GC,10543,0.88,179.3,558.0,8.2,529,10548,0.10,2.22,0.00,0.000,6,0.139,0.044,2625,2539,1689
$GC,10873,0.88,179.3,534.1,7.1,537,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2539,1688
$GC,11197,0.88,179.3,511.1,7.2,545,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2539,1688
$GC,11522,0.88,179.3,488.4,7.0,553,11526,0.00,2.22,0.00,0.000,4,0.000,0.048,2625,1111,1687
$GC,11579,0.96,179.3,484.2,7.8,554,11583,0.00,2.20,0.00,0.000,6,0.000,0.043,2625,2528,1687
$GC,11897,0.96,179.3,461.5,7.2,562,11901,0.00,2.22,0.00,0.000,4,0.000,0.059,2625,3928,1687
$GC,11959,0.91,179.3,456.3,8.4,563,11963,0.00,2.15,0.00,0.000,6,0.000,0.036,2624,2513,1687
$GC,12273,0.95,179.3,433.8,7.3,571,12276,0.00,2.15,0.00,0.000,4,0.000,0.048,2625,1124,1687
$GC,12328,1.04,179.3,429.8,7.1,572,12333,0.12,2.17,0.00,0.000,6,0.080,0.044,2677,2522,1687
$GC,12649,0.92,179.3,399.4,9.5,580,12653,0.15,2.25,0.00,0.000,4,0.127,0.061,2632,3930,1687
$GC,12744,0.84,179.3,390.9,8.5,584,12748,0.00,2.15,0.00,0.000,6,0.000,0.036,2632,2518,1687
$GC,13071,0.84,179.3,366.7,7.4,600,13075,0.00,2.17,0.00,0.000,4,0.000,0.048,2632,1112,1687
$GC,13128,0.91,179.4,362.6,7.0,602,13131,0.00,2.20,0.00,0.000,6,0.000,0.043,2632,2528,1688
$GC,13448,0.91,179.4,338.7,7.4,618,13452,0.00,2.25,0.00,0.000,4,0.000,0.061,2632,3933,1687
$GC,13504,0.84,179.4,334.0,8.6,620,13508,0.00,2.15,0.00,0.000,6,0.000,0.035,2632,2518,1687
$GC,13826,0.84,179.4,310.2,7.2,636,13830,0.00,2.17,0.00,0.000,4,0.000,0.047,2632,1111,1688
$GC,13900,0.92,185.4,305.0,6.8,639,13911,0.00,2.20,6.12,0.814,6,0.000,0.042,2632,2528,1664
$GC,14221,0.93,191.6,282.8,6.8,654,14234,0.00,2.30,6.85,0.832,4,0.000,0.059,2632,3926,1639
$GC,14280,0.93,191.6,278.1,7.8,656,14287,0.00,2.12,0.00,0.000,6,0.000,0.035,2632,2515,1639
$GC,14596,0.99,198.7,256.7,6.8,672,14610,0.00,2.25,7.62,0.841,4,0.000,0.046,2632,1110,1609
$GC,14664,1.12,211.2,252.2,6.6,675,14685,0.15,2.17,11.55,0.895,6,0.072,0.042,2694,2520,1559
$GC,14996,0.99,211.2,221.9,9.5,691,15000,0.15,2.25,0.00,0.000,4,0.125,0.057,2650,3927,1560
$GC,15057,0.93,211.2,215.8,9.1,693,15063,0.00,2.15,0.00,0.000,6,0.000,0.035,2650,2513,1560
$GC,15372,0.93,211.2,191.3,7.8,709,15376,0.00,2.15,0.00,0.000,4,0.000,0.047,2650,1120,1560
$GC,15445,1.01,211.2,185.5,7.9,712,15449,0.00,2.17,0.00,0.000,6,0.000,0.042,2650,2523,1560
$GC,15772,1.06,211.2,160.8,7.1,728,15776,0.00,2.25,0.00,0.000,4,0.000,0.060,2650,3930,1560
$GC,15827,1.06,211.2,155.8,8.5,730,15831,0.00,2.15,0.00,0.000,6,0.000,0.035,2650,2515,1561
$GC,16148,1.11,211.2,132.2,7.1,746,16153,0.10,2.17,0.00,0.000,4,0.080,0.046,2696,1112,1561
$GC,16228,1.06,211.2,125.5,8.6,749,16232,0.12,2.20,0.00,0.000,6,0.130,0.042,2660,2531,1560
$GC,16549,1.17,258.7,104.0,5.4,765,16595,0.10,2.35,39.10,0.892,4,0.084,0.059,2706,3929,1364
$GC,16642,1.04,258.7,97.4,8.1,773,16649,0.17,2.20,0.00,0.000,6,0.128,0.035,2654,2508,1365
$GC,16988,1.24,300.7,78.7,5.6,834,17030,0.17,2.22,34.35,0.865,4,0.064,0.048,2731,1115,1193
$GC,17103,1.24,300.7,69.6,7.6,854,17110,0.10,2.22,0.00,0.000,6,0.133,0.043,2704,2533,1193
$GC,17448,1.33,300.7,43.4,7.7,915,17454,0.08,0.00,0.00,0.000,6,0.094,0.000,2744,2533,1192
$GC,17792,1.28,300.7,12.3,9.7,976,17799,0.12,2.25,0.00,0.000,4,0.132,0.048,2708,1107,1193
$GC,17845,1.39,300.7,8.0,7.6,985,17852,0.12,2.20,0.00,0.000,6,0.075,0.043,2761,2523,1192
$STATE,17912,end climb,SURFACE_DEPTH_REACHED
$STATE,17912,begin surface coast
$FINISH,1.0,1.014437
$STATE,17936,end surface coast,CONTROL_FINISHED_OK
$STATE,17936,begin surface
$SM_CCo,18015,0.00,0.000,0,0,1190,301.72
$SM_GC,1.89,7.12,0.00,0.00,0.061,0.000,0.000,157,2335,1190,-10.40,-0.14,301.72
$RAFOS_CLK,923
$RAFOS,4,1227156244,4.750000,4.734445,74,59,55,53,52,51,821,211,195,220,152,132
$RAFOS,3,1227155669,4.583333,4.574722,59,59,58,53,52,51,194,209,218,169,138,185
$RAFOS,2,1227155047,4.416667,4.401945,67,58,57,56,55,55,610,218,207,171,229,194
$RAFOS,1,1227154445,4.250000,4.234722,61,59,57,56,56,55,125,202,211,175,853,141
$RAFOS,0,1227153842,4.083333,4.067222,75,65,60,53,53,52,1039,196,219,186,162,207
$RAFOS_FIX,6703.844238,-5705.063477,201108,040436,2,74,0.48
$IRIDIUM_FIX,6636.54,-5702.96,130298,212125
$TT8_MAMPS,0.026845
$HUMID,1861
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,20.9,61.585
$10V_AH,10.6,27.111
$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,21.125,187.650,400.025,0.000,0.000,25.880,29.367,155.747,0.500,0.000,0.000,12.972,1912.375,13345.480,553.724,2020.201,533.601,33.381,1690.245,0.000,1989.438,1800.000,0.529,0.000
$DEVICE_MAMPS,258.479,64.428,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.711,678.551,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37837,1001
$CAP_FILE_SIZE,153962,0
$CFSIZE,260165632,226488320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,201108,075937,6702.268,-5659.430,38,1.8,38,-37.6