version: 66.04
glider: 113
mission: 4
dive: 352
start: 11 25 108 19 8 28
data:
$ID,113
$MISSION,4
$DIVE,352
$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,-31654.518
$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
$GPS1,185758,6656.924,-5709.109,37,2.5,56,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-65.7
$GPS2,190733,6657.042,-5709.059,11,1.1,11,-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,0.155,0.162
$KALMAN_X,-58484.4,-1203.4,172.9,70738.8,1658.9
$KALMAN_Y,-39783.9,443.1,-18.6,43349.7,139.2
$MHEAD_RNG_PITCHd_Wd,81.2,18789,-12.9,-7.021
$D_GRID,740
$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,-118.22,0.000,2,0.000,0.000,157,2330,2957
$GC,141,-1.08,-146.0,3.3,-2.2,21,160,8.77,2.25,-2.05,0.000,4,0.262,0.068,2196,946,3019
$GC,195,-0.15,-146.0,15.3,-20.4,30,202,0.75,2.22,0.00,0.000,6,0.179,0.048,2401,2348,3020
$GC,541,-0.42,-146.0,39.6,-5.6,91,548,0.20,2.30,0.00,0.000,4,0.080,0.064,2319,3753,3021
$GC,634,-0.48,-146.0,47.2,-8.7,107,640,0.00,2.17,0.00,0.000,6,0.000,0.037,2319,2340,3021
$GC,978,-0.56,-146.0,73.8,-7.6,168,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2340,3021
$GC,1322,-0.70,-146.0,96.4,-6.2,229,1329,0.12,2.33,0.00,0.000,4,0.097,0.064,2272,3754,3020
$GC,1376,-0.70,-146.0,100.3,-7.6,238,1380,0.00,2.20,0.00,0.000,6,0.000,0.038,2272,2330,3020
$GC,1702,-0.70,-146.0,124.7,-7.4,254,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2330,3020
$GC,2012,-0.70,-146.0,147.4,-7.3,269,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2330,3020
$GC,2322,-0.75,-146.0,170.3,-7.5,284,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2329,3019
$GC,2631,-0.82,-146.0,191.5,-6.8,299,2635,0.00,2.35,0.00,0.000,4,0.000,0.064,2272,3747,3020
$GC,2670,-0.94,-146.0,194.3,-7.5,300,2677,0.15,2.17,0.00,0.000,6,0.086,0.038,2217,2338,3020
$GC,2987,-0.84,-146.0,223.6,-9.3,316,2989,0.15,0.00,0.00,0.000,6,0.153,0.000,2257,2336,3020
$GC,3295,-0.88,-146.0,246.3,-7.2,331,3299,0.00,2.33,0.00,0.000,4,0.000,0.064,2257,3744,3020
$GC,3346,-0.98,-146.0,249.9,-7.1,333,3350,0.12,2.17,0.00,0.000,6,0.092,0.038,2213,2332,3020
$GC,3667,-0.89,-146.0,276.8,-8.6,349,3669,0.12,0.00,0.00,0.000,6,0.156,0.000,2245,2331,3019
$GC,3976,-0.89,-146.0,298.2,-6.4,364,3979,0.00,2.33,0.00,0.000,4,0.000,0.064,2246,3745,3020
$GC,4027,-0.97,-146.0,301.7,-6.6,366,4031,0.00,2.17,0.00,0.000,6,0.000,0.037,2245,2329,3021
$GC,4354,-1.01,-146.0,323.3,-6.6,382,4359,0.12,2.35,0.00,0.000,4,0.097,0.060,2198,3755,3021
$GC,4404,-0.92,-146.0,327.4,-8.1,384,4409,0.15,2.17,0.00,0.000,6,0.152,0.035,2239,2334,3020
$GC,4726,-0.92,-146.0,348.0,-6.2,400,4730,0.00,2.33,0.00,0.000,4,0.000,0.061,2239,3751,3022
$GC,4761,-0.97,-146.0,350.3,-6.7,401,4767,0.00,2.17,0.00,0.000,6,0.000,0.035,2239,2330,3022
$GC,5077,-0.97,-146.0,370.8,-6.5,417,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2330,3022
$GC,5385,-0.97,-146.0,390.0,-6.2,432,5389,0.00,2.33,0.00,0.000,4,0.000,0.061,2239,3749,3024
$GC,5425,-1.04,-146.0,392.5,-6.8,433,5432,0.12,2.15,0.00,0.000,6,0.092,0.035,2193,2337,3024
$GC,5740,-0.92,-146.0,418.0,-8.2,444,5742,0.15,0.00,0.00,0.000,6,0.147,0.000,2234,2335,3024
$GC,6062,-0.92,-146.0,440.5,-6.9,452,6066,0.00,2.33,0.00,0.000,4,0.000,0.061,2234,3747,3025
$GC,6136,-0.98,-146.0,445.6,-6.7,453,6140,0.00,2.17,0.00,0.000,6,0.000,0.036,2234,2330,3024
$GC,6479,-0.98,-146.0,467.1,-6.1,462,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2330,3025
$GC,6803,-0.98,-146.0,487.0,-6.2,470,6807,0.00,2.33,0.00,0.000,4,0.000,0.061,2234,3746,3025
$GC,6853,-1.04,-146.0,490.5,-7.3,471,6858,0.10,2.15,0.00,0.000,6,0.107,0.035,2200,2338,3025
$GC,7178,-0.95,-146.0,516.8,-8.3,479,7183,0.12,2.35,0.00,0.000,4,0.152,0.060,2232,3757,3026
$GC,7218,-1.01,-146.0,519.9,-7.0,480,7221,0.00,2.17,0.00,0.000,6,0.000,0.036,2233,2335,3026
$GC,7547,-1.01,-146.0,544.4,-7.4,488,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2335,3026
$GC,7872,-1.01,-146.0,568.1,-7.1,496,7876,0.00,2.33,0.00,0.000,4,0.000,0.061,2233,3746,3026
$GC,7906,-1.06,-146.0,570.6,-7.2,496,7911,0.12,2.15,0.00,0.000,6,0.101,0.035,2189,2341,3026
$GC,8243,-0.94,-146.0,598.3,-8.1,505,8245,0.15,0.00,0.00,0.000,6,0.150,0.000,2231,2338,3026
$GC,8568,-0.94,-146.0,619.6,-6.4,513,8572,0.00,2.33,0.00,0.000,4,0.000,0.064,2231,3745,3026
$GC,8603,-0.99,-146.0,621.8,-6.8,513,8607,0.00,2.17,0.00,0.000,6,0.000,0.036,2231,2330,3026
$GC,8940,-0.99,-146.0,644.2,-6.6,522,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2330,3026
$GC,9265,-0.99,-146.0,666.1,-6.8,530,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2330,3026
$GC,9590,-0.99,-146.0,688.2,-6.8,538,9594,0.00,2.35,0.00,0.000,4,0.000,0.064,2231,3753,3026
$GC,9643,-1.06,-146.0,691.7,-6.8,539,9647,0.10,2.17,0.00,0.000,6,0.099,0.037,2193,2341,3025
$GC,9967,-0.96,-146.0,716.6,-7.6,547,9968,0.12,0.00,0.00,0.000,6,0.151,0.000,2227,2340,3025
$GC,10292,-0.96,-146.0,737.8,-6.5,555,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2340,3025
$STATE,10329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10329,begin apogee
$GC,10336,-0.34,0.0,740.4,6.4,556,10473,0.45,0.00,134.70,1.322,6,0.138,0.000,2366,2529,2420
$STATE,10474,end apogee,CONTROL_FINISHED_OK
$STATE,10474,begin climb
$GC,10477,1.08,146.0,743.3,0.0,559,10664,1.05,0.00,153.48,1.157,6,0.099,0.000,2673,2529,1825
$GC,10978,0.91,146.0,704.7,8.7,572,10983,0.15,2.33,0.00,0.000,4,0.146,0.064,2630,3929,1825
$GC,11028,0.78,146.0,700.5,7.9,573,11033,0.12,2.20,0.00,0.000,6,0.150,0.038,2599,2516,1824
$GC,11342,0.91,179.8,682.2,5.9,581,11373,0.12,0.00,29.25,1.256,6,0.077,0.000,2651,2515,1687
$GC,11667,0.84,179.8,656.4,8.1,589,11669,0.12,0.00,0.00,0.000,6,0.141,0.000,2615,2515,1688
$GC,11991,0.92,205.6,636.2,6.1,597,12021,0.00,2.45,22.38,1.236,4,0.000,0.064,2615,3938,1582
$GC,12044,0.92,205.6,632.6,7.6,598,12048,0.00,2.22,0.00,0.000,6,0.000,0.038,2615,2513,1583
$GC,12364,1.01,215.4,611.3,6.7,606,12379,0.15,2.22,9.88,1.119,4,0.077,0.051,2678,1113,1542
$GC,12413,0.93,215.4,607.0,9.4,607,12418,0.15,2.25,0.00,0.000,6,0.133,0.046,2635,2539,1543
$GC,12731,0.93,215.4,583.6,7.3,615,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2539,1543
$GC,13057,0.93,215.4,560.3,7.2,623,13060,0.00,2.25,0.00,0.000,4,0.000,0.051,2635,1116,1543
$GC,13079,0.98,215.4,558.7,7.1,623,13083,0.00,2.20,0.00,0.000,6,0.000,0.046,2635,2518,1543
$GC,13427,0.98,215.4,533.5,7.1,632,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2518,1543
$GC,13752,0.99,220.3,511.5,6.9,640,13763,0.00,2.25,5.80,0.940,4,0.000,0.049,2635,1109,1522
$GC,13780,1.06,235.0,509.6,6.5,640,13801,0.12,2.22,13.90,1.123,6,0.081,0.045,2689,2522,1461
$GC,14120,0.93,235.0,477.9,9.5,649,14125,0.17,2.28,0.00,0.000,4,0.123,0.061,2636,3939,1462
$GC,14153,0.93,235.0,475.0,8.0,649,14157,0.00,2.20,0.00,0.000,6,0.000,0.038,2636,2507,1462
$GC,14490,0.99,247.2,452.5,6.6,658,14507,0.00,2.25,11.48,1.064,4,0.000,0.050,2637,1121,1412
$GC,14541,1.10,253.0,449.1,6.8,659,14555,0.12,2.22,6.65,0.926,6,0.078,0.046,2691,2529,1388
$GC,14898,1.00,253.0,416.6,9.2,668,14900,0.15,0.00,0.00,0.000,6,0.123,0.000,2645,2529,1391
$GC,15203,1.00,253.0,395.2,7.0,677,15207,0.00,2.22,0.00,0.000,4,0.000,0.049,2646,1117,1391
$GC,15254,1.08,255.7,391.8,6.9,679,15264,0.10,2.20,4.40,0.758,6,0.090,0.044,2690,2527,1377
$GC,15580,0.99,255.7,361.5,9.3,695,15582,0.15,0.00,0.00,0.000,6,0.124,0.000,2645,2528,1379
$GC,15889,1.04,255.7,339.1,7.4,710,15893,0.00,2.22,0.00,0.000,4,0.000,0.048,2645,1116,1379
$GC,15929,1.13,255.7,336.0,7.6,711,15936,0.12,2.20,0.00,0.000,6,0.079,0.044,2695,2522,1380
$GC,16244,1.02,255.7,303.2,10.8,727,16246,0.15,0.00,0.00,0.000,6,0.127,0.000,2650,2522,1379
$GC,16553,1.02,255.7,277.6,8.0,742,16557,0.00,2.20,0.00,0.000,4,0.000,0.049,2650,1119,1380
$GC,16593,1.11,255.7,274.5,7.8,743,16600,0.10,2.20,0.00,0.000,6,0.083,0.044,2693,2528,1380
$GC,16909,1.01,255.7,244.0,9.5,759,16911,0.15,0.00,0.00,0.000,6,0.127,0.000,2649,2528,1380
$GC,17219,1.09,267.4,222.7,6.6,774,17236,0.10,2.30,11.32,0.909,4,0.082,0.048,2694,1120,1330
$GC,17286,1.09,267.4,216.7,9.9,776,17290,0.00,2.22,0.00,0.000,6,0.000,0.044,2694,2546,1331
$GC,17613,1.03,267.4,185.4,9.5,792,17617,0.12,2.28,0.00,0.000,4,0.136,0.048,2657,1109,1332
$GC,17635,1.03,267.4,183.5,8.8,793,17639,0.00,2.20,0.00,0.000,6,0.000,0.044,2657,2519,1332
$GC,17968,1.10,267.4,159.1,7.4,809,17972,0.00,2.20,0.00,0.000,4,0.000,0.048,2657,1119,1332
$GC,18014,1.22,267.4,155.7,7.5,811,18019,0.15,2.20,0.00,0.000,6,0.071,0.044,2718,2529,1332
$GC,18346,1.12,267.4,124.2,9.7,827,18350,0.15,2.25,0.00,0.000,4,0.123,0.060,2671,3926,1333
$GC,18374,1.12,267.4,121.1,9.1,828,18378,0.00,2.15,0.00,0.000,6,0.000,0.036,2672,2514,1333
$GC,18696,1.18,268.8,98.9,7.0,844,18704,0.00,2.25,3.25,0.513,4,0.000,0.048,2671,1113,1324
$GC,18728,1.30,273.9,96.8,6.8,849,18742,0.15,2.20,5.78,0.737,6,0.074,0.043,2731,2525,1303
$GC,19080,1.22,273.9,64.8,9.2,911,19086,0.12,0.00,0.00,0.000,6,0.123,0.000,2694,2525,1306
$GC,19426,1.27,274.2,39.3,7.0,972,19433,0.00,2.22,0.00,0.000,4,0.000,0.048,2694,1115,1306
$GC,19468,1.40,281.0,36.3,6.8,979,19482,0.15,2.20,7.22,0.780,6,0.071,0.044,2758,2520,1274
$GC,19821,1.27,281.0,3.6,8.5,1041,19827,0.17,2.28,0.00,0.000,4,0.129,0.061,2705,3922,1276
$STATE,19837,end climb,SURFACE_DEPTH_REACHED
$STATE,19837,begin surface coast
$FINISH,1.0,1.014119
$STATE,19849,end surface coast,CONTROL_FINISHED_OK
$STATE,19849,begin surface
$SM_CCo,19930,0.00,0.000,0,0,1275,280.87
$SM_GC,2.04,7.03,0.00,0.00,0.064,0.000,0.000,165,2333,1275,-10.37,-0.20,280.87
$RAFOS_CLK,1069
$RAFOS,2,1227659044,0.416667,0.401111,145,60,55,53,53,51,614,209,224,176,167,155
$RAFOS,1,1227658445,0.250000,0.234722,67,57,57,54,51,51,835,235,125,207,178,149
$RAFOS,0,1227657846,0.083333,0.068333,59,57,55,55,54,51,223,116,171,147,157,1004
$RAFOS,4,1227645843,20.750000,20.734167,83,77,61,57,54,53,819,212,191,227,150,134
$RAFOS,3,1227645243,20.583334,20.567499,74,67,63,59,57,56,943,192,219,171,114,209
$RAFOS,2,1227644645,20.416666,20.401388,83,66,64,59,58,57,606,206,148,170,225,189
$RAFOS,1,1227644060,20.250000,20.238890,74,67,59,56,52,50,744,186,170,128,205,225
$RAFOS,0,1227643446,20.083334,20.068333,73,65,63,59,57,55,991,216,192,114,173,148
$RAFOS_FIX,6656.633789,-5713.750488,251108,202048,5,77,0.74
$IRIDIUM_FIX,6631.12,-5707.31,190298,191950
$TT8_MAMPS,0.029913
$HUMID,1882
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,20.3,65.921
$10V_AH,10.5,29.040
$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,23.500,144.025,419.475,0.000,0.000,48.996,60.219,266.917,0.250,0.000,0.000,13.467,1928.823,15333.983,641.669,1900.554,711.313,33.374,1675.425,0.000,1873.622,3240.000,0.529,0.000
$DEVICE_MAMPS,261.547,70.564,1322.308,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.428,712.863,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37855,1046
$CAP_FILE_SIZE,152992,0
$CFSIZE,260165632,224800768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1462.9
$GPS,261108,004208,6659.944,-5704.940,28,1.1,28,-37.5