version: 66.04
glider: 113
mission: 4
dive: 348
start: 11 24 108 20 50 13
data:
$ID,113
$MISSION,4
$DIVE,348
$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,558.3028
$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,-31581.008
$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,37
$R_STBD_OVSHOOT,26
$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
$GPS1,201737,6649.992,-5725.190,29,0.9,30,-37.4
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,3
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-51.5
$GPS2,204916,6650.007,-5725.002,65,1.9,66,-37.4
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.152,0.165
$KALMAN_X,-56960.9,-2143.2,1860.7,56931.5,-1740.8
$KALMAN_Y,-40058.6,94.1,-111.1,31055.7,-2142.5
$MHEAD_RNG_PITCHd_Wd,80.2,35959,-12.9,-7.021
$D_GRID,732
$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,-146.0,0.0,0.0,0,209,0.00,0.00,-190.18,0.000,2,0.000,0.000,158,2335,2943
$GC,213,-1.08,-146.0,3.0,-2.0,34,232,8.98,2.28,-2.62,0.000,4,0.266,0.072,2200,934,3019
$GC,295,-0.48,-146.0,22.5,-22.5,48,302,0.45,2.28,0.00,0.000,6,0.174,0.054,2328,2352,3021
$GC,641,-0.56,-146.0,55.8,-8.4,109,647,0.00,2.28,0.00,0.000,4,0.000,0.055,2328,933,3023
$GC,687,-0.60,-146.0,59.7,-8.2,117,694,0.10,2.25,0.00,0.000,6,0.101,0.051,2291,2348,3023
$GC,1032,-0.60,-146.0,86.3,-7.2,178,1038,0.00,2.28,0.00,0.000,4,0.000,0.055,2291,929,3023
$GC,1067,-0.60,-146.0,89.0,-7.5,184,1073,0.00,2.28,0.00,0.000,6,0.000,0.053,2290,2351,3023
$GC,1406,-0.60,-146.0,113.4,-7.2,220,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2351,3023
$GC,1716,-0.66,-146.0,137.5,-8.0,235,1719,0.00,2.28,0.00,0.000,4,0.000,0.055,2290,933,3023
$GC,1777,-0.66,-146.0,142.9,-8.7,237,1783,0.00,2.25,0.00,0.000,6,0.000,0.052,2290,2341,3023
$GC,2093,-0.74,-146.0,168.2,-7.4,253,2097,0.00,2.33,0.00,0.000,4,0.000,0.070,2291,3750,3023
$GC,2184,-0.87,-146.0,174.8,-7.1,257,2189,0.15,2.20,0.00,0.000,6,0.091,0.041,2234,2339,3023
$GC,2511,-0.79,-146.0,204.9,-9.5,273,2516,0.12,2.38,0.00,0.000,4,0.170,0.068,2267,3756,3023
$GC,2538,-0.79,-146.0,207.6,-8.8,274,2542,0.00,2.22,0.00,0.000,6,0.000,0.041,2267,2327,3023
$GC,2860,-0.84,-146.0,234.6,-8.1,290,2864,0.00,2.22,0.00,0.000,4,0.000,0.055,2267,927,3022
$GC,2910,-0.84,-146.0,239.0,-9.2,292,2914,0.00,2.28,0.00,0.000,6,0.000,0.053,2267,2344,3022
$GC,3238,-0.90,-146.0,262.3,-6.5,308,3242,0.12,2.33,0.00,0.000,4,0.097,0.068,2222,3746,3022
$GC,3282,-0.85,-146.0,265.9,-8.4,310,3287,0.12,2.20,0.00,0.000,6,0.168,0.039,2254,2328,3022
$GC,3603,-0.85,-146.0,288.6,-6.8,326,3607,0.00,2.38,0.00,0.000,4,0.000,0.068,2254,3753,3022
$GC,3648,-0.92,-146.0,291.9,-7.0,328,3652,0.00,2.20,0.00,0.000,6,0.000,0.040,2254,2340,3022
$GC,3976,-0.92,-146.0,313.9,-6.9,344,3980,0.00,2.35,0.00,0.000,4,0.000,0.067,2254,3750,3022
$GC,4026,-0.99,-146.0,317.6,-7.3,346,4030,0.12,2.20,0.00,0.000,6,0.097,0.039,2211,2337,3022
$GC,4341,-0.89,-146.0,344.8,-8.5,361,4346,0.12,2.38,0.00,0.000,4,0.161,0.066,2243,3758,3022
$GC,4375,-0.89,-146.0,347.5,-8.0,362,4381,0.00,2.20,0.00,0.000,6,0.000,0.039,2244,2338,3022
$GC,4690,-0.89,-146.0,369.4,-6.9,378,4694,0.00,2.22,0.00,0.000,4,0.000,0.054,2244,934,3023
$GC,4723,-0.89,-146.0,372.1,-8.2,379,4727,0.00,2.25,0.00,0.000,6,0.000,0.051,2243,2345,3023
$GC,5045,-0.89,-146.0,395.8,-7.4,395,5049,0.00,2.33,0.00,0.000,4,0.000,0.067,2244,3756,3023
$GC,5084,-0.94,-146.0,398.7,-7.8,396,5090,0.00,2.20,0.00,0.000,6,0.000,0.039,2244,2338,3023
$GC,5395,-0.94,-146.0,421.0,-7.1,405,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2338,3024
$GC,5720,-0.94,-146.0,444.7,-7.4,413,5724,0.00,2.35,0.00,0.000,4,0.000,0.067,2244,3749,3025
$GC,5753,-1.00,-146.0,447.3,-8.0,413,5758,0.10,2.20,0.00,0.000,6,0.102,0.038,2207,2329,3025
$GC,6090,-0.91,-146.0,476.2,-8.7,422,6095,0.12,2.38,0.00,0.000,4,0.156,0.065,2241,3750,3025
$GC,6140,-0.98,-146.0,480.4,-8.2,423,6144,0.00,2.20,0.00,0.000,6,0.000,0.037,2241,2325,3025
$GC,6459,-0.98,-146.0,505.1,-7.9,431,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2325,3026
$GC,6784,-0.98,-146.0,530.0,-7.7,439,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2325,3025
$GC,7109,-0.98,-146.0,555.5,-7.9,447,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2325,3026
$GC,7434,-0.98,-146.0,580.8,-7.6,455,7437,0.00,2.38,0.00,0.000,4,0.000,0.067,2241,3746,3026
$GC,7507,-1.05,-146.0,586.3,-7.8,456,7511,0.12,2.17,0.00,0.000,6,0.094,0.038,2196,2340,3026
$GC,7849,-0.94,-146.0,616.0,-8.8,465,7851,0.15,0.00,0.00,0.000,6,0.155,0.000,2237,2339,3026
$GC,8174,-0.94,-146.0,639.6,-7.1,473,8177,0.00,2.35,0.00,0.000,4,0.000,0.067,2237,3745,3026
$GC,8213,-0.99,-146.0,642.6,-7.6,473,8220,0.00,2.17,0.00,0.000,6,0.000,0.038,2237,2341,3026
$GC,8544,-0.99,-146.0,666.1,-7.1,482,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2341,3026
$GC,8870,-0.99,-146.0,687.5,-6.5,490,8874,0.00,2.35,0.00,0.000,4,0.000,0.066,2235,3751,3026
$GC,8903,-1.04,-146.0,689.7,-6.4,490,8910,0.10,2.20,0.00,0.000,6,0.113,0.038,2200,2335,3026
$GC,9235,-0.95,-146.0,713.9,-7.3,499,9237,0.12,0.00,0.00,0.000,6,0.156,0.000,2232,2334,3026
$STATE,9556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9557,begin apogee
$GC,9563,-0.34,0.0,734.3,6.3,507,9698,0.43,0.00,131.52,1.325,6,0.145,0.000,2362,2520,2421
$STATE,9698,end apogee,CONTROL_FINISHED_OK
$STATE,9698,begin climb
$GC,9702,1.08,146.0,737.4,0.0,510,9859,1.05,0.00,147.15,1.224,6,0.107,0.000,2665,2520,1824
$GC,10191,0.93,146.0,699.9,8.9,522,10193,0.12,0.00,0.00,0.000,6,0.146,0.000,2631,2520,1826
$GC,10516,0.93,146.0,674.8,7.7,530,10520,0.00,2.33,0.00,0.000,4,0.000,0.067,2632,3937,1826
$GC,10567,0.81,146.0,670.4,8.6,531,10571,0.00,2.20,0.00,0.000,6,0.000,0.041,2632,2521,1826
$GC,10890,0.81,146.0,646.1,7.4,539,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2520,1825
$GC,11216,0.81,146.4,622.6,7.0,547,11219,0.00,2.35,0.00,0.000,4,0.000,0.067,2632,3944,1825
$GC,11267,0.68,146.4,618.7,8.4,548,11271,0.20,2.22,0.00,0.000,6,0.143,0.040,2576,2506,1825
$GC,11585,0.99,168.3,599.5,6.3,556,11610,0.20,2.42,19.48,1.230,4,0.076,0.067,2660,3933,1734
$GC,11662,0.75,168.3,593.3,9.6,557,11666,0.22,2.22,0.00,0.000,6,0.143,0.040,2596,2513,1736
$GC,11993,0.92,209.9,574.5,5.6,565,12036,0.15,2.30,35.85,1.236,4,0.073,0.052,2660,1116,1565
$GC,12059,0.92,209.9,569.5,7.3,566,12063,0.10,2.30,0.00,0.000,6,0.138,0.048,2634,2529,1565
$GC,12407,0.92,209.9,544.3,7.4,575,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2529,1566
$GC,12731,0.92,209.9,520.7,7.2,583,12735,0.00,2.30,0.00,0.000,4,0.000,0.068,2634,3939,1566
$GC,12758,0.92,209.9,518.4,7.8,583,12762,0.00,2.20,0.00,0.000,6,0.000,0.040,2634,2512,1566
$GC,13101,0.92,209.9,493.9,7.2,592,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2512,1566
$GC,13425,0.92,209.9,470.6,7.1,600,13431,0.00,2.33,0.00,0.000,4,0.000,0.067,2634,3927,1566
$GC,13458,0.92,209.9,467.9,7.9,600,13462,0.00,2.17,0.00,0.000,6,0.000,0.040,2634,2518,1566
$GC,13796,0.92,211.7,444.5,7.0,609,13800,0.00,0.00,2.92,0.545,6,0.000,0.000,2634,2517,1557
$GC,14121,0.97,211.7,420.8,7.2,617,14125,0.00,2.35,0.00,0.000,4,0.000,0.067,2634,3940,1560
$GC,14148,0.97,211.7,418.5,7.7,617,14153,0.00,2.20,0.00,0.000,6,0.000,0.039,2634,2515,1560
$GC,14472,1.05,222.6,396.7,6.7,626,14485,0.10,0.00,10.88,1.057,6,0.091,0.000,2678,2515,1512
$GC,14781,0.97,222.6,370.9,8.4,641,14783,0.12,0.00,0.00,0.000,6,0.126,0.000,2641,2515,1516
$GC,15090,1.03,234.7,350.0,6.6,656,15106,0.00,2.35,11.43,1.032,4,0.000,0.065,2641,3926,1464
$GC,15140,1.03,234.7,346.5,8.0,657,15144,0.00,2.20,0.00,0.000,6,0.000,0.040,2641,2509,1465
$GC,15462,1.14,266.7,326.7,5.9,673,15493,0.15,0.00,28.10,1.078,6,0.074,0.000,2705,2510,1333
$GC,15791,1.03,266.7,297.1,9.1,689,15793,0.17,0.00,0.00,0.000,6,0.128,0.000,2653,2509,1335
$GC,16101,1.11,274.7,275.9,6.7,704,16116,0.10,2.25,8.15,0.930,4,0.093,0.052,2694,1116,1299
$GC,16167,1.11,274.7,270.3,8.6,707,16171,0.00,2.22,0.00,0.000,6,0.000,0.048,2694,2532,1300
$GC,16500,1.06,274.7,239.8,9.9,723,16504,0.12,2.25,0.00,0.000,4,0.140,0.051,2658,1112,1303
$GC,16538,1.18,274.7,236.3,8.9,724,16545,0.12,2.22,0.00,0.000,6,0.081,0.047,2708,2526,1303
$GC,16854,1.11,274.7,202.9,10.7,740,16858,0.12,2.28,0.00,0.000,4,0.134,0.064,2670,3926,1303
$GC,16881,1.11,274.7,199.7,9.8,741,16885,0.00,2.17,0.00,0.000,6,0.000,0.040,2669,2516,1303
$GC,17208,1.17,274.7,170.2,9.3,757,17212,0.00,2.20,0.00,0.000,4,0.000,0.052,2670,1116,1303
$GC,17242,1.28,274.7,167.0,9.6,758,17246,0.15,2.22,0.00,0.000,6,0.075,0.048,2727,2524,1303
$GC,17563,1.17,274.7,131.6,10.8,774,17565,0.15,0.00,0.00,0.000,6,0.129,0.000,2682,2525,1303
$GC,17872,1.21,274.7,103.8,8.7,789,17876,0.00,2.25,0.00,0.000,4,0.000,0.053,2682,1112,1303
$GC,17895,1.30,274.7,101.9,7.9,790,17899,0.12,2.25,0.00,0.000,6,0.078,0.048,2731,2531,1303
$GC,18238,1.19,274.7,67.4,9.5,848,18244,0.15,0.00,0.00,0.000,6,0.125,0.000,2685,2532,1303
$GC,18582,1.37,326.6,46.8,5.3,909,18636,0.15,2.40,43.67,0.973,4,0.073,0.054,2749,1124,1087
$GC,18666,1.37,326.6,40.1,8.3,923,18672,0.00,2.28,0.00,0.000,6,0.000,0.050,2749,2524,1086
$GC,19010,1.30,326.6,10.2,8.0,984,19017,0.12,2.30,0.00,0.000,4,0.140,0.067,2712,3927,1084
$GC,19046,1.30,326.6,6.8,9.3,990,19053,0.00,2.20,0.00,0.000,6,0.000,0.042,2712,2516,1084
$STATE,19107,end climb,SURFACE_DEPTH_REACHED
$STATE,19107,begin surface coast
$FINISH,1.0,1.014103
$STATE,19142,end surface coast,CONTROL_FINISHED_OK
$STATE,19142,begin surface
$SM_CCo,19160,207.65,0.873,1,0,145,558.30
$SM_GC,1.46,0.00,0.00,207.65,0.000,0.000,0.873,161,2335,145,-10.46,-0.14,558.30
$RAFOS_CLK,1139
$RAFOS,4,1227573849,0.750000,0.735833,74,59,59,54,54,54,765,222,165,193,145,120
$RAFOS,3,1227573242,0.583333,0.567222,60,59,58,57,56,49,180,206,126,892,152,215
$RAFOS,2,1227572667,0.416667,0.407500,75,60,59,57,51,51,456,202,160,121,219,174
$RAFOS,1,1227572054,0.250000,0.237222,107,64,58,58,55,54,732,212,159,188,170,221
$RAFOS,0,1227571444,0.083333,0.067778,60,59,56,52,52,51,202,217,155,176,234,957
$RAFOS_FIX,6651.890625,-5729.743164,251108,000052,3,85,0.37
$IRIDIUM_FIX,6620.33,-5720.82,180298,202038
$TT8_MAMPS,0.028379
$HUMID,1828
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,15.60
$XPDR_PINGS,3
$24V_AH,20.1,65.246
$10V_AH,10.5,28.738
$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,22.325,150.250,439.150,207.650,0.000,130.419,259.629,1036.006,0.750,0.000,0.000,69.952,1817.385,14868.934,859.695,1944.380,1789.974,33.378,1928.162,0.000,1860.585,1800.000,0.529,0.000
$DEVICE_MAMPS,266.149,72.865,1325.376,872.846,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.276,688.283,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37890,1007
$CAP_FILE_SIZE,165527,0
$CFSIZE,260165632,225054720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1454.0
$GPS,251108,021438,6652.117,-5721.819,33,1.4,33,-37.5