version: 66.04
glider: 113
mission: 4
dive: 350
start: 11 25 108 8 6 1
data:
$ID,113
$MISSION,4
$DIVE,350
$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,-31628.797
$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,34
$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
$GPS1,075426,6653.028,-5716.334,43,1.1,43,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-64.0
$GPS2,080507,6653.016,-5716.477,13,2.0,29,-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,0.208,0.083
$KALMAN_X,-59559.7,1617.7,744.1,63082.8,-4372.6
$KALMAN_Y,-41878.5,358.5,-232.5,38296.9,-1794.6
$MHEAD_RNG_PITCHd_Wd,105.6,27656,-12.9,-7.021
$D_GRID,721
$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,-146.0,0.0,0.0,0,149,0.00,0.00,-129.70,0.000,2,0.000,0.000,157,2334,2933
$GC,153,-1.08,-146.0,3.3,-2.5,23,172,8.93,2.28,-2.88,0.000,4,0.265,0.071,2196,930,3018
$GC,212,-0.37,-146.0,16.2,-18.9,33,220,0.60,2.28,0.00,0.000,6,0.183,0.051,2356,2352,3020
$GC,558,-0.49,-146.0,46.1,-7.3,94,564,0.10,2.28,0.00,0.000,4,0.112,0.052,2319,932,3021
$GC,605,-0.49,-146.0,50.6,-9.4,102,611,0.00,2.25,0.00,0.000,6,0.000,0.051,2319,2343,3022
$GC,949,-0.60,-146.0,80.5,-7.3,163,955,0.00,2.30,0.00,0.000,4,0.000,0.067,2318,3746,3021
$GC,1030,-0.77,-146.0,86.0,-6.6,177,1037,0.17,2.17,0.00,0.000,6,0.088,0.038,2253,2334,3021
$GC,1376,-0.70,-146.0,117.2,-9.2,214,1378,0.12,0.00,0.00,0.000,6,0.169,0.000,2285,2334,3021
$GC,1690,-0.76,-146.0,139.0,-6.5,229,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2334,3022
$GC,1995,-0.84,-146.0,161.8,-8.0,244,2000,0.12,2.38,0.00,0.000,4,0.094,0.067,2236,3750,3021
$GC,2012,-0.84,-146.0,163.5,-8.6,245,2016,0.00,2.20,0.00,0.000,6,0.000,0.039,2236,2334,3021
$GC,2345,-0.77,-146.0,196.4,-9.5,261,2347,0.12,0.00,0.00,0.000,6,0.172,0.000,2269,2334,3021
$GC,2655,-0.82,-146.0,222.4,-8.6,276,2659,0.00,2.35,0.00,0.000,4,0.000,0.067,2269,3742,3021
$GC,2690,-0.92,-146.0,225.6,-8.7,277,2694,0.12,2.20,0.00,0.000,6,0.089,0.040,2224,2329,3020
$GC,3011,-0.84,-146.0,260.3,-10.5,293,3016,0.12,2.35,0.00,0.000,4,0.163,0.067,2256,3742,3021
$GC,3066,-0.92,-146.0,265.7,-9.6,295,3073,0.00,2.20,0.00,0.000,6,0.000,0.040,2256,2327,3021
$GC,3383,-0.96,-146.0,293.5,-8.5,311,3387,0.12,2.35,0.00,0.000,4,0.097,0.066,2210,3743,3020
$GC,3410,-0.90,-146.0,296.3,-10.4,312,3414,0.12,2.20,0.00,0.000,6,0.161,0.040,2241,2328,3020
$GC,3731,-0.90,-146.0,325.1,-8.8,328,3735,0.00,2.38,0.00,0.000,4,0.000,0.067,2242,3753,3020
$GC,3776,-0.95,-146.0,329.1,-8.9,330,3780,0.00,2.20,0.00,0.000,6,0.000,0.039,2242,2338,3020
$GC,4109,-0.95,-146.0,356.9,-7.9,346,4112,0.00,2.35,0.00,0.000,4,0.000,0.066,2242,3746,3020
$GC,4125,-0.95,-146.0,358.1,-7.8,346,4131,0.00,2.20,0.00,0.000,6,0.000,0.038,2242,2323,3021
$GC,4441,-0.95,-146.0,381.7,-7.2,362,4445,0.00,2.17,0.00,0.000,4,0.000,0.052,2242,936,3020
$GC,4463,-0.95,-146.0,383.5,-7.8,363,4467,0.00,2.25,0.00,0.000,6,0.000,0.050,2242,2348,3021
$GC,4795,-0.95,-146.0,406.7,-6.8,377,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2347,3021
$GC,5120,-0.95,-146.0,428.9,-7.0,385,5124,0.00,2.30,0.00,0.000,4,0.000,0.067,2242,3744,3021
$GC,5187,-1.02,-146.0,433.8,-7.9,386,5192,0.10,2.17,0.00,0.000,6,0.097,0.038,2205,2341,3021
$GC,5535,-0.93,-146.0,462.9,-8.4,395,5540,0.12,2.35,0.00,0.000,4,0.156,0.065,2239,3743,3021
$GC,5569,-1.00,-146.0,465.5,-7.5,395,5575,0.00,2.17,0.00,0.000,6,0.000,0.038,2240,2339,3021
$GC,5900,-1.00,-146.0,488.3,-6.8,404,5904,0.00,2.35,0.00,0.000,4,0.000,0.065,2240,3751,3022
$GC,5917,-1.04,-146.0,489.4,-6.7,404,5922,0.12,2.20,0.00,0.000,6,0.097,0.038,2195,2326,3022
$GC,6231,-0.93,-146.0,515.2,-8.2,412,6236,0.15,2.35,0.00,0.000,4,0.153,0.065,2235,3743,3022
$GC,6248,-0.88,-146.0,516.6,-8.2,412,6252,0.00,2.17,0.00,0.000,6,0.000,0.038,2235,2338,3022
$GC,6597,-0.88,-146.0,540.9,-6.9,421,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2338,3023
$GC,6922,-0.88,-146.0,563.9,-7.0,429,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2338,3023
$GC,7247,-0.88,-146.0,586.0,-6.8,437,7251,0.00,2.33,0.00,0.000,4,0.000,0.065,2235,3742,3023
$GC,7280,-0.93,-146.0,588.3,-7.1,437,7283,0.00,2.17,0.00,0.000,6,0.000,0.038,2235,2340,3023
$GC,7617,-0.93,-146.0,609.9,-6.4,446,7620,0.00,2.35,0.00,0.000,4,0.000,0.066,2235,3745,3023
$GC,7651,-0.99,-146.0,612.3,-7.0,446,7654,0.00,2.17,0.00,0.000,6,0.000,0.037,2235,2338,3023
$GC,7988,-0.99,-146.0,634.0,-6.4,455,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2338,3023
$GC,8313,-0.99,-146.0,654.6,-6.3,463,8316,0.00,2.35,0.00,0.000,4,0.000,0.066,2235,3746,3023
$GC,8347,-1.06,-146.0,656.9,-7.0,463,8351,0.12,2.20,0.00,0.000,6,0.104,0.038,2191,2327,3023
$GC,8684,-0.96,-146.0,685.0,-8.6,472,8688,0.15,2.38,0.00,0.000,4,0.150,0.065,2231,3742,3023
$GC,8717,-1.01,-146.0,687.7,-7.2,472,8723,0.00,2.17,0.00,0.000,6,0.000,0.039,2231,2341,3023
$GC,9048,-1.01,-146.0,709.5,-6.2,481,9052,0.00,2.35,0.00,0.000,4,0.000,0.066,2232,3743,3023
$GC,9072,-1.06,-146.0,710.8,-6.1,481,9077,0.10,2.17,0.00,0.000,6,0.105,0.038,2196,2341,3023
$STATE,9214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9214,begin apogee
$GC,9221,-0.34,0.0,722.3,7.9,485,9358,0.55,0.00,134.68,1.321,6,0.148,0.000,2360,2527,2420
$STATE,9359,end apogee,CONTROL_FINISHED_OK
$STATE,9359,begin climb
$GC,9362,1.08,146.0,725.5,0.0,488,9558,1.05,2.80,154.15,1.157,4,0.104,0.065,2665,3926,1824
$GC,9603,0.81,146.0,710.4,9.8,493,9608,0.22,2.47,0.00,0.000,6,0.138,0.038,2609,2522,1825
$GC,9935,0.87,184.7,691.0,5.7,501,9974,0.00,0.00,33.92,1.250,6,0.000,0.000,2609,2521,1667
$GC,10299,0.99,219.3,669.5,5.8,510,10335,0.15,2.33,30.30,1.253,4,0.075,0.053,2668,1108,1526
$GC,10363,0.99,219.3,664.5,8.3,510,10367,0.00,2.30,0.00,0.000,6,0.000,0.048,2668,2528,1526
$GC,10707,0.91,219.3,635.9,8.4,519,10709,0.12,0.00,0.00,0.000,6,0.144,0.000,2633,2529,1527
$GC,11031,0.92,223.0,613.4,6.9,527,11037,0.00,0.00,4.28,0.836,6,0.000,0.000,2632,2529,1511
$GC,11356,0.92,223.0,590.6,7.1,535,11360,0.00,2.28,0.00,0.000,4,0.000,0.052,2632,1103,1514
$GC,11390,1.01,223.0,588.1,7.4,535,11394,0.10,2.25,0.00,0.000,6,0.094,0.048,2676,2525,1514
$GC,11726,0.92,223.0,556.1,9.8,544,11731,0.15,2.30,0.00,0.000,4,0.126,0.066,2630,3939,1514
$GC,11759,0.92,223.0,553.0,9.5,544,11765,0.00,2.20,0.00,0.000,6,0.000,0.039,2630,2507,1514
$GC,12090,0.99,223.0,529.1,7.0,553,12094,0.00,2.20,0.00,0.000,4,0.000,0.053,2630,1109,1514
$GC,12130,1.09,223.0,526.3,7.3,553,12137,0.15,2.25,0.00,0.000,6,0.077,0.049,2691,2531,1514
$GC,12461,0.95,223.0,494.6,9.7,562,12466,0.17,2.30,0.00,0.000,4,0.129,0.066,2638,3939,1514
$GC,12505,0.90,223.0,490.4,9.6,563,12509,0.00,2.20,0.00,0.000,6,0.000,0.039,2638,2511,1514
$GC,12830,0.90,223.0,465.3,7.8,571,12834,0.00,2.20,0.00,0.000,4,0.000,0.053,2638,1114,1514
$GC,12876,0.98,223.0,461.7,7.4,572,12880,0.00,2.22,0.00,0.000,6,0.000,0.048,2638,2524,1514
$GC,13205,0.98,223.0,436.1,7.9,580,13209,0.00,2.30,0.00,0.000,4,0.000,0.066,2638,3939,1514
$GC,13238,0.98,223.0,433.1,9.7,580,13242,0.00,2.20,0.00,0.000,6,0.000,0.039,2638,2512,1514
$GC,13575,1.03,223.0,407.7,7.3,589,13579,0.00,2.20,0.00,0.000,4,0.000,0.052,2638,1116,1514
$GC,13614,1.13,228.3,404.7,6.8,589,13625,0.15,2.22,6.32,0.948,6,0.077,0.048,2701,2522,1489
$GC,13951,0.99,228.3,371.2,10.0,604,13955,0.17,2.28,0.00,0.000,4,0.130,0.064,2650,3926,1491
$GC,14001,0.92,228.3,366.2,8.6,606,14005,0.00,2.17,0.00,0.000,6,0.000,0.039,2649,2515,1491
$GC,14328,0.92,228.3,341.2,7.1,622,14332,0.00,2.20,0.00,0.000,4,0.000,0.052,2650,1118,1492
$GC,14379,0.99,235.9,337.7,6.8,624,14395,0.00,2.22,7.70,0.967,6,0.000,0.047,2650,2526,1459
$GC,14704,1.01,245.2,315.9,6.7,640,14716,0.00,0.00,9.65,0.996,6,0.000,0.000,2650,2526,1420
$GC,15015,1.07,256.5,295.4,6.6,655,15027,0.00,0.00,11.02,0.998,6,0.000,0.000,2650,2526,1374
$GC,15323,1.13,256.5,274.2,7.1,670,15327,0.12,2.25,0.00,0.000,4,0.077,0.050,2705,1117,1377
$GC,15362,1.05,256.5,270.8,9.3,671,15369,0.15,2.22,0.00,0.000,6,0.131,0.047,2661,2528,1377
$GC,15677,1.05,256.5,246.9,7.2,687,15678,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2528,1377
$GC,15987,1.05,256.5,223.9,7.5,702,15990,0.00,2.25,0.00,0.000,4,0.000,0.051,2661,1113,1377
$GC,16027,1.13,256.5,220.8,7.5,703,16033,0.00,2.22,0.00,0.000,6,0.000,0.047,2661,2523,1377
$GC,16342,1.17,283.6,199.7,6.1,719,16368,0.10,0.00,23.65,1.010,6,0.082,0.000,2706,2523,1263
$GC,16673,1.12,283.6,171.3,8.4,735,16677,0.12,2.25,0.00,0.000,4,0.132,0.051,2669,1114,1264
$GC,16718,1.26,306.1,168.2,6.3,737,16743,0.15,2.22,19.70,0.973,6,0.072,0.047,2730,2525,1172
$GC,17073,1.16,306.1,135.9,9.5,754,17075,0.15,0.00,0.00,0.000,6,0.127,0.000,2685,2525,1172
$GC,17381,1.22,306.1,113.2,7.3,769,17385,0.00,2.25,0.00,0.000,4,0.000,0.052,2685,1110,1173
$GC,17420,1.32,306.1,110.4,7.3,770,17427,0.15,2.25,0.00,0.000,6,0.074,0.048,2747,2534,1173
$GC,17754,1.21,306.1,75.1,11.7,816,17760,0.17,0.00,0.00,0.000,6,0.130,0.000,2693,2534,1172
$GC,18098,1.29,306.1,48.6,7.8,877,18105,0.10,2.28,0.00,0.000,4,0.082,0.051,2740,1109,1171
$GC,18151,1.29,306.1,43.7,9.7,886,18158,0.10,2.25,0.00,0.000,6,0.149,0.048,2713,2532,1171
$GC,18496,1.29,306.1,12.6,8.5,947,18501,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2532,1171
$STATE,18634,end climb,SURFACE_DEPTH_REACHED
$STATE,18634,begin surface coast
$FINISH,0.9,1.019472
$STATE,18660,end surface coast,CONTROL_FINISHED_OK
$STATE,18660,begin surface
$SM_CCo,18738,0.00,0.000,0,0,1169,306.87
$SM_GC,1.89,7.07,0.00,0.00,0.064,0.000,0.000,160,2332,1169,-10.39,-0.23,306.87
$RAFOS_CLK,1053
$RAFOS,4,1227617042,12.750000,12.733889,83,57,53,53,52,49,815,154,210,185,219,105
$RAFOS,3,1227616453,12.583333,12.570278,83,65,65,62,61,59,870,200,120,177,154,220
$RAFOS,2,1227615850,12.416667,12.402778,91,71,66,56,55,54,559,212,226,135,192,148
$RAFOS,1,1227615248,12.250000,12.235556,67,60,58,56,51,51,791,171,187,203,215,137
$RAFOS,0,1227614645,12.083333,12.068055,73,59,56,55,54,53,981,186,124,136,195,147
$RAFOS,4,1227602641,8.750000,8.733611,75,60,56,52,51,51,822,209,138,168,110,121
$RAFOS,3,1227602044,8.583333,8.567778,57,55,52,51,50,49,212,195,224,176,144,163
$RAFOS,2,1227601442,8.416667,8.400556,128,73,61,52,52,51,608,191,208,168,123,221
$RAFOS,1,1227600843,8.250000,8.234167,73,71,61,57,52,51,823,192,144,202,220,177
$RAFOS_FIX,6655.730957,-5717.768555,251108,121248,4,82,0.32
$IRIDIUM_FIX,6620.33,-5651.93,190298,080827
$TT8_MAMPS,0.027612
$HUMID,1879
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.00
$XPDR_PINGS,1
$24V_AH,20.2,65.598
$10V_AH,10.5,28.888
$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,22.950,159.175,435.375,0.000,0.000,51.170,82.722,285.597,0.250,0.000,0.000,31.290,1835.556,14295.237,639.351,1869.384,756.108,33.378,1685.101,0.000,1825.978,3240.000,0.529,0.000
$DEVICE_MAMPS,265.382,72.865,1320.774,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.456,667.547,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34726,976
$CAP_FILE_SIZE,148919,0
$CFSIZE,260165632,224948224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1456.7
$GPS,251108,132019,6654.856,-5713.667,39,2.0,51,-37.5