version: 66.04
glider: 113
mission: 4
dive: 351
start: 11 25 108 13 27 51
data:
$ID,113
$MISSION,4
$DIVE,351
$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,-31640.424
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,132019,6654.856,-5713.667,39,2.0,51,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.6
$GPS2,132656,6654.815,-5713.712,9,1.6,9,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.160,0.158
$KALMAN_X,-59775.1,-240.1,499.5,67368.9,-3873.6
$KALMAN_Y,-41582.2,146.2,1285.0,40020.4,-3743.9
$MHEAD_RNG_PITCHd_Wd,82.8,23970,-12.9,-7.021
$D_GRID,745
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-118.72,0.000,2,0.000,0.000,160,2333,2952
$GC,141,-1.08,-146.0,3.3,-2.7,21,160,8.90,2.28,-2.22,0.000,4,0.265,0.071,2196,949,3019
$GC,293,-0.60,-146.0,32.1,-16.9,47,300,0.40,2.22,0.00,0.000,6,0.176,0.051,2303,2339,3021
$GC,638,-0.60,-146.0,66.5,-9.8,108,644,0.00,2.25,0.00,0.000,4,0.000,0.056,2304,936,3022
$GC,667,-0.60,-146.0,69.3,-9.8,113,673,0.00,2.25,0.00,0.000,6,0.000,0.051,2303,2348,3022
$GC,1011,-0.70,-146.0,97.3,-8.2,174,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2348,3021
$GC,1335,-0.81,-146.0,121.6,-7.0,194,1340,0.15,2.30,0.00,0.000,4,0.088,0.066,2247,3744,3021
$GC,1376,-0.75,-146.0,124.9,-8.9,196,1380,0.10,2.17,0.00,0.000,6,0.172,0.038,2270,2335,3021
$GC,1708,-0.75,-146.0,149.4,-6.7,212,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2335,3022
$GC,2017,-0.75,-146.0,170.5,-6.7,227,2021,0.00,2.35,0.00,0.000,4,0.000,0.067,2270,3745,3022
$GC,2046,-0.83,-146.0,172.5,-7.4,228,2050,0.00,2.20,0.00,0.000,6,0.000,0.039,2270,2327,3022
$GC,2373,-0.89,-146.0,194.1,-6.1,244,2377,0.12,2.22,0.00,0.000,4,0.092,0.052,2224,927,3022
$GC,2401,-0.79,-146.0,196.3,-9.0,245,2406,0.15,2.25,0.00,0.000,6,0.167,0.050,2263,2341,3021
$GC,2728,-0.84,-146.0,219.2,-7.1,261,2732,0.00,2.30,0.00,0.000,4,0.000,0.066,2263,3750,3021
$GC,2778,-0.93,-146.0,223.0,-7.7,263,2782,0.12,2.20,0.00,0.000,6,0.101,0.038,2218,2331,3020
$GC,3105,-0.85,-146.0,252.6,-9.4,279,3109,0.12,2.22,0.00,0.000,4,0.159,0.052,2251,934,3020
$GC,3143,-0.85,-146.0,256.1,-8.3,280,3149,0.00,2.25,0.00,0.000,6,0.000,0.049,2252,2348,3020
$GC,3459,-0.90,-146.0,280.4,-7.7,296,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2348,3020
$GC,3769,-0.94,-146.0,304.9,-7.7,311,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2348,3020
$GC,4078,-1.01,-146.0,327.5,-7.1,326,4080,0.12,0.00,0.00,0.000,6,0.100,0.000,2206,2348,3021
$GC,4387,-0.92,-146.0,354.7,-8.8,341,4392,0.12,2.33,0.00,0.000,4,0.154,0.064,2240,3755,3021
$GC,4421,-0.98,-146.0,357.6,-8.3,342,4427,0.00,2.20,0.00,0.000,6,0.000,0.036,2240,2325,3021
$GC,4736,-0.98,-146.0,380.9,-7.5,358,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2325,3022
$GC,5045,-0.98,-146.0,403.4,-7.2,372,5049,0.00,2.35,0.00,0.000,4,0.000,0.063,2240,3750,3023
$GC,5107,-1.06,-146.0,407.9,-7.4,373,5112,0.12,2.17,0.00,0.000,6,0.091,0.035,2194,2330,3023
$GC,5420,-0.94,-146.0,434.5,-8.3,381,5422,0.15,0.00,0.00,0.000,6,0.150,0.000,2235,2327,3024
$GC,5745,-0.94,-146.0,456.9,-6.8,389,5749,0.00,2.35,0.00,0.000,4,0.000,0.062,2235,3753,3024
$GC,5813,-1.01,-146.0,461.8,-7.3,390,5817,0.00,2.17,0.00,0.000,6,0.000,0.035,2235,2331,3024
$GC,6161,-1.01,-146.0,484.8,-6.5,399,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2331,3026
$GC,6486,-1.01,-146.0,507.5,-7.0,407,6490,0.00,2.33,0.00,0.000,4,0.000,0.061,2235,3746,3026
$GC,6543,-1.09,-146.0,511.6,-7.4,408,6547,0.15,2.17,0.00,0.000,6,0.091,0.035,2182,2323,3025
$GC,6861,-0.94,-146.0,539.2,-8.5,416,6866,0.17,2.38,0.00,0.000,4,0.153,0.061,2230,3756,3026
$GC,6894,-0.98,-146.0,541.8,-6.9,416,6901,0.00,2.17,0.00,0.000,6,0.000,0.035,2230,2339,3026
$GC,7226,-0.98,-146.0,564.9,-7.0,425,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2339,3027
$GC,7551,-0.98,-146.0,587.6,-7.0,433,7554,0.00,2.33,0.00,0.000,4,0.000,0.061,2230,3755,3027
$GC,7584,-1.03,-146.0,590.0,-7.4,433,7588,0.00,2.17,0.00,0.000,6,0.000,0.036,2230,2337,3028
$GC,7921,-1.03,-146.0,611.8,-6.4,442,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2337,3027
$GC,8246,-1.03,-146.0,632.9,-6.5,450,8250,0.00,2.33,0.00,0.000,4,0.000,0.062,2230,3747,3027
$GC,8315,-1.09,-146.0,637.4,-6.5,451,8319,0.12,2.17,0.00,0.000,6,0.096,0.037,2187,2333,3027
$GC,8662,-0.97,-146.0,664.5,-7.9,460,8664,0.15,0.00,0.00,0.000,6,0.151,0.000,2228,2330,3027
$GC,8988,-0.97,-146.0,686.9,-7.0,468,8992,0.00,2.35,0.00,0.000,4,0.000,0.065,2228,3745,3027
$GC,9055,-1.03,-146.0,691.6,-7.1,469,9059,0.00,2.17,0.00,0.000,6,0.000,0.038,2228,2341,3027
$GC,9406,-1.03,-146.0,714.4,-6.4,478,9410,0.00,2.35,0.00,0.000,4,0.000,0.064,2228,3750,3027
$GC,9440,-1.08,-146.0,716.7,-7.1,478,9446,0.12,2.20,0.00,0.000,6,0.087,0.038,2183,2327,3027
$GC,9772,-0.95,-146.0,743.5,-8.5,487,9777,0.17,2.20,0.00,0.000,4,0.153,0.051,2231,939,3027
$STATE,9785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9785,begin apogee
$GC,9794,-0.34,0.0,745.1,8.7,487,9933,0.40,0.00,135.35,1.326,6,0.140,0.000,2359,2520,2420
$STATE,9934,end apogee,CONTROL_FINISHED_OK
$STATE,9934,begin climb
$GC,9937,1.08,146.0,748.2,0.0,490,10092,1.05,0.00,145.40,1.219,6,0.105,0.000,2664,2520,1824
$GC,10391,0.94,146.0,716.1,7.8,502,10396,0.10,2.33,0.00,0.000,4,0.150,0.064,2638,3931,1824
$GC,10447,0.78,146.0,711.3,8.5,503,10452,0.12,2.20,0.00,0.000,6,0.148,0.038,2603,2522,1824
$GC,10761,0.89,178.8,692.5,5.9,511,10792,0.10,0.00,28.55,1.260,6,0.087,0.000,2649,2521,1691
$GC,11086,0.84,178.8,667.4,7.7,519,11088,0.12,0.00,0.00,0.000,6,0.141,0.000,2613,2521,1692
$GC,11411,0.92,194.9,646.4,6.5,527,11428,0.10,0.00,14.65,1.206,6,0.089,0.000,2655,2520,1625
$GC,11735,0.87,194.9,620.7,7.9,535,11737,0.12,0.00,0.00,0.000,6,0.140,0.000,2619,2520,1627
$GC,12061,0.95,215.9,600.4,6.3,543,12083,0.08,0.00,19.15,1.223,6,0.107,0.000,2653,2520,1539
$GC,12385,0.95,215.9,575.8,7.5,551,12389,0.00,2.33,0.00,0.000,4,0.000,0.067,2652,3929,1541
$GC,12413,0.85,215.9,573.5,8.4,551,12417,0.12,2.20,0.00,0.000,6,0.150,0.040,2618,2507,1541
$GC,12756,1.00,257.6,553.5,5.6,560,12799,0.12,2.28,35.92,1.225,4,0.083,0.051,2673,1119,1369
$GC,12827,1.00,257.6,547.9,7.5,561,12831,0.00,2.28,0.00,0.000,6,0.000,0.047,2673,2528,1370
$GC,13169,0.95,257.6,519.3,8.4,570,13174,0.12,2.25,0.00,0.000,4,0.140,0.050,2638,1116,1370
$GC,13191,0.95,257.6,517.6,7.7,570,13195,0.00,2.22,0.00,0.000,6,0.000,0.046,2638,2528,1370
$GC,13533,1.02,257.6,493.0,7.2,579,13537,0.00,2.25,0.00,0.000,4,0.000,0.050,2638,1106,1370
$GC,13572,1.12,257.6,490.3,7.4,579,13579,0.15,2.22,0.00,0.000,6,0.078,0.046,2699,2520,1369
$GC,13904,0.99,257.6,457.2,9.9,588,13906,0.17,0.00,0.00,0.000,6,0.130,0.000,2646,2520,1369
$GC,14228,0.99,260.9,434.5,6.9,596,14238,0.00,2.28,3.80,0.712,4,0.000,0.051,2646,1117,1356
$GC,14289,1.07,260.9,430.2,7.4,597,14293,0.00,2.22,0.00,0.000,6,0.000,0.045,2646,2534,1357
$GC,14603,1.07,260.9,408.2,7.2,605,14607,0.00,2.25,0.00,0.000,4,0.000,0.049,2646,1111,1359
$GC,14648,1.15,260.9,404.8,7.5,606,14653,0.15,2.22,0.00,0.000,6,0.078,0.045,2705,2530,1359
$GC,14976,1.00,260.9,369.0,11.1,620,14978,0.20,0.00,0.00,0.000,6,0.129,0.000,2643,2531,1359
$GC,15286,1.06,260.9,346.0,7.2,635,15290,0.00,2.25,0.00,0.000,4,0.000,0.049,2644,1107,1360
$GC,15331,1.16,260.9,342.6,7.2,637,15336,0.15,2.22,0.00,0.000,6,0.073,0.044,2705,2528,1360
$GC,15659,1.03,260.9,310.5,9.9,653,15660,0.17,0.00,0.00,0.000,6,0.125,0.000,2652,2529,1361
$GC,15967,1.03,260.9,288.0,7.1,668,15971,0.00,2.25,0.00,0.000,4,0.000,0.049,2652,1108,1361
$GC,16013,1.11,262.1,285.0,7.0,670,16022,0.10,2.22,3.53,0.606,6,0.088,0.044,2693,2528,1351
$GC,16347,1.02,262.1,254.7,9.0,686,16351,0.15,2.25,0.00,0.000,4,0.130,0.048,2649,1111,1353
$GC,16368,1.02,262.1,252.7,7.6,687,16372,0.00,2.22,0.00,0.000,6,0.000,0.044,2649,2534,1353
$GC,16695,1.11,266.1,231.6,6.9,703,16706,0.10,2.25,5.25,0.762,4,0.078,0.048,2696,1118,1335
$GC,16729,1.11,266.1,228.8,9.6,704,16735,0.00,2.22,0.00,0.000,6,0.000,0.044,2695,2535,1336
$GC,17045,1.03,266.1,200.6,8.8,720,17049,0.15,2.25,0.00,0.000,4,0.130,0.048,2651,1117,1337
$GC,17067,1.03,266.1,198.8,7.9,721,17071,0.00,2.20,0.00,0.000,6,0.000,0.044,2651,2523,1337
$GC,17395,1.12,266.1,175.5,7.5,737,17399,0.10,2.22,0.00,0.000,4,0.081,0.047,2701,1118,1337
$GC,17429,1.12,266.1,172.4,9.5,738,17433,0.00,2.20,0.00,0.000,6,0.000,0.044,2701,2521,1338
$GC,17751,1.06,266.1,143.0,8.6,754,17752,0.12,0.00,0.00,0.000,6,0.133,0.000,2664,2521,1338
$GC,18059,1.12,266.1,119.5,8.1,769,18063,0.00,2.22,0.00,0.000,4,0.000,0.049,2664,1116,1338
$GC,18110,1.24,266.1,115.3,8.6,771,18115,0.15,2.22,0.00,0.000,6,0.071,0.044,2722,2535,1338
$GC,18440,1.15,266.1,83.5,8.9,810,18447,0.15,2.25,0.00,0.000,4,0.122,0.060,2677,3927,1339
$GC,18481,1.15,266.1,80.3,7.6,817,18487,0.00,2.17,0.00,0.000,6,0.000,0.037,2676,2508,1339
$GC,18826,1.29,294.6,60.1,6.1,878,18856,0.12,0.00,24.50,0.903,6,0.075,0.000,2732,2507,1219
$GC,19194,1.23,294.6,28.3,7.8,943,19200,0.12,0.00,0.00,0.000,6,0.130,0.000,2694,2507,1219
$GC,19538,1.36,308.6,6.4,6.5,1004,19556,0.12,0.00,12.52,0.854,6,0.075,0.000,2749,2506,1161
$STATE,19588,end climb,SURFACE_DEPTH_REACHED
$STATE,19588,begin surface coast
$FINISH,0.8,1.013636
$STATE,19612,end surface coast,CONTROL_FINISHED_OK
$STATE,19612,begin surface
$SM_CCo,19691,0.00,0.000,0,0,1160,309.08
$SM_GC,1.89,7.03,0.00,0.00,0.055,0.000,0.000,157,2330,1160,-10.39,-0.28,309.08
$RAFOS_CLK,1067
$RAFOS,4,1227631444,16.750000,16.734444,83,69,63,61,53,51,798,210,219,133,164,115
$RAFOS,3,1227630875,16.583334,16.576389,73,59,59,57,56,49,754,225,192,155,169,94
$RAFOS,2,1227630266,16.416666,16.407223,88,69,58,53,53,51,478,216,161,179,199,1215
$RAFOS,1,1227629644,16.250000,16.234444,88,67,59,56,53,53,818,192,206,167,180,231
$RAFOS,0,1227629071,16.083334,16.075277,65,63,62,59,57,57,849,216,198,156,137,147
$RAFOS_FIX,6655.930664,-5717.909668,251108,161628,4,83,0.33
$IRIDIUM_FIX,6625.71,-5730.05,190298,080802
$TT8_MAMPS,0.027612
$HUMID,1844
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,20.2,65.760
$10V_AH,10.5,28.962
$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,23.500,144.325,428.625,0.000,0.000,25.135,42.145,194.513,0.500,0.000,0.000,10.999,1879.046,15130.889,602.076,1894.297,589.160,33.379,1648.757,0.000,1871.119,1800.000,0.529,0.000
$DEVICE_MAMPS,264.615,71.331,1326.143,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.343,693.443,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37856,1017
$CAP_FILE_SIZE,148724,0
$CFSIZE,260165632,224874496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1461.5
$GPS,251108,185758,6656.924,-5709.109,37,2.5,56,-37.5