version: 66.04
glider: 113
mission: 4
dive: 354
start: 11 26 108 6 21 29
data:
$ID,113
$MISSION,4
$DIVE,354
$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,-31685.002
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,061338,6701.379,-5701.043,35,1.1,35,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-65.0
$GPS2,062033,6701.408,-5701.103,12,1.1,12,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,-0.205,-0.091
$KALMAN_X,-61221.1,714.5,-282.1,77820.7,-846.8
$KALMAN_Y,-37017.0,-90.0,-126.6,49327.2,720.0
$MHEAD_RNG_PITCHd_Wd,283.5,166478,-12.9,-7.021
$D_GRID,697
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-108.88,0.000,2,0.000,0.000,162,2339,2915
$GC,130,-1.08,-146.0,3.0,-1.9,19,150,8.68,2.33,-3.55,0.000,4,0.258,0.074,2192,3753,3017
$GC,271,-0.62,-146.0,28.3,-15.7,43,278,0.38,2.17,0.00,0.000,6,0.166,0.037,2298,2340,3019
$GC,615,-0.62,-146.0,62.5,-8.6,104,622,0.00,2.20,0.00,0.000,4,0.000,0.051,2298,932,3019
$GC,746,-0.57,-146.0,74.6,-9.4,127,753,0.00,2.22,0.00,0.000,6,0.000,0.047,2298,2345,3018
$GC,1087,-0.64,-146.0,103.4,-7.9,182,1091,0.00,2.28,0.00,0.000,4,0.000,0.064,2298,3746,3018
$GC,1188,-0.77,-146.0,111.6,-8.2,186,1193,0.12,2.17,0.00,0.000,6,0.086,0.037,2248,2330,3018
$GC,1509,-0.71,-146.0,141.0,-8.9,202,1514,0.12,2.20,0.00,0.000,4,0.163,0.048,2281,929,3017
$GC,1582,-0.71,-146.0,147.0,-8.1,205,1586,0.00,2.22,0.00,0.000,6,0.000,0.045,2281,2345,3017
$GC,1910,-0.80,-146.0,167.5,-5.2,221,1914,0.00,2.28,0.00,0.000,4,0.000,0.062,2281,3749,3017
$GC,2011,-0.94,-146.0,173.4,-6.2,225,2016,0.17,2.17,0.00,0.000,6,0.081,0.037,2218,2333,3017
$GC,2333,-0.83,-146.0,198.8,-7.7,241,2338,0.15,2.20,0.00,0.000,4,0.151,0.049,2259,934,3017
$GC,2406,-0.83,-146.0,204.0,-7.3,244,2410,0.00,2.22,0.00,0.000,6,0.000,0.045,2259,2349,3016
$GC,2734,-0.88,-146.0,223.8,-6.0,260,2738,0.00,2.25,0.00,0.000,4,0.000,0.061,2259,3747,3017
$GC,2779,-0.97,-146.0,226.6,-6.2,262,2784,0.12,2.15,0.00,0.000,6,0.097,0.035,2215,2338,3016
$GC,3112,-0.89,-146.0,253.9,-8.5,278,3113,0.12,0.00,0.00,0.000,6,0.155,0.000,2249,2336,3017
$GC,3421,-0.89,-146.0,275.5,-6.3,293,3425,0.00,2.30,0.00,0.000,4,0.000,0.061,2249,3745,3018
$GC,3517,-0.97,-146.0,281.9,-7.1,297,3521,0.10,2.15,0.00,0.000,6,0.110,0.035,2213,2340,3018
$GC,3844,-0.88,-146.0,306.5,-7.7,313,3848,0.12,2.20,0.00,0.000,4,0.154,0.048,2246,933,3019
$GC,3911,-0.88,-146.0,311.6,-7.1,316,3915,0.00,2.22,0.00,0.000,6,0.000,0.044,2246,2350,3018
$GC,4243,-0.88,-146.0,332.7,-6.3,332,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2351,3019
$GC,4553,-0.93,-146.0,351.5,-6.1,347,4557,0.00,2.25,0.00,0.000,4,0.000,0.061,2246,3745,3020
$GC,4599,-1.02,-146.0,354.4,-6.2,349,4604,0.12,2.15,0.00,0.000,6,0.097,0.035,2201,2331,3019
$GC,4932,-0.92,-146.0,378.1,-7.0,365,4936,0.12,2.17,0.00,0.000,4,0.152,0.045,2234,938,3020
$GC,5000,-0.92,-146.0,382.4,-6.2,368,5004,0.00,2.20,0.00,0.000,6,0.000,0.044,2235,2341,3020
$GC,5353,-0.92,-146.0,403.3,-6.0,384,5357,0.00,2.28,0.00,0.000,4,0.000,0.061,2235,3750,3021
$GC,5455,-0.97,-146.0,409.7,-6.0,386,5459,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2342,3021
$GC,5774,-0.97,-146.0,427.4,-5.5,394,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2342,3022
$GC,6099,-0.97,-146.0,445.6,-5.8,402,6102,0.00,2.30,0.00,0.000,4,0.000,0.060,2234,3750,3022
$GC,6161,-1.04,-146.0,449.5,-6.4,403,6166,0.10,2.17,0.00,0.000,6,0.105,0.035,2200,2325,3022
$GC,6475,-0.95,-146.0,471.3,-7.2,411,6479,0.12,2.17,0.00,0.000,4,0.149,0.045,2233,930,3022
$GC,6520,-0.95,-146.0,474.4,-6.6,412,6524,0.00,2.22,0.00,0.000,6,0.000,0.044,2234,2354,3023
$GC,6850,-0.95,-146.0,494.6,-6.1,420,6854,0.00,2.25,0.00,0.000,4,0.000,0.060,2234,3752,3023
$GC,6896,-1.01,-146.0,497.4,-6.3,421,6900,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2336,3023
$GC,7226,-1.01,-146.0,518.0,-6.3,429,7230,0.00,2.17,0.00,0.000,4,0.000,0.045,2234,931,3023
$GC,7265,-1.01,-146.0,520.6,-6.5,429,7271,0.00,2.20,0.00,0.000,6,0.000,0.043,2233,2340,3023
$GC,7597,-1.01,-146.0,541.3,-6.1,438,7601,0.00,2.28,0.00,0.000,4,0.000,0.059,2234,3755,3023
$GC,7659,-1.08,-146.0,545.2,-6.6,439,7663,0.12,2.15,0.00,0.000,6,0.095,0.034,2189,2337,3024
$GC,7973,-0.97,-146.0,568.5,-7.4,447,7975,0.15,0.00,0.00,0.000,6,0.147,0.000,2231,2334,3024
$GC,8296,-0.97,-146.0,587.9,-5.7,455,8300,0.00,2.30,0.00,0.000,4,0.000,0.060,2231,3747,3024
$GC,8375,-1.04,-146.0,592.5,-5.4,456,8379,0.00,2.15,0.00,0.000,6,0.000,0.035,2231,2333,3024
$GC,8713,-1.04,-146.0,611.3,-5.9,465,8716,0.00,2.15,0.00,0.000,4,0.000,0.046,2231,946,3024
$GC,8785,-1.04,-146.0,615.8,-6.0,466,8789,0.00,2.17,0.00,0.000,6,0.000,0.043,2231,2341,3024
$GC,9128,-1.04,-146.0,634.0,-5.3,475,9132,0.00,2.28,0.00,0.000,4,0.000,0.059,2231,3753,3024
$GC,9186,-1.12,-146.0,637.4,-6.3,476,9190,0.15,2.15,0.00,0.000,6,0.084,0.034,2177,2341,3024
$GC,9504,-0.99,-146.0,662.4,-8.2,484,9506,0.17,0.00,0.00,0.000,6,0.146,0.000,2227,2338,3024
$GC,9829,-0.99,-146.0,683.7,-6.4,492,9833,0.00,2.30,0.00,0.000,4,0.000,0.061,2227,3745,3024
$GC,9885,-1.05,-146.0,687.4,-7.0,493,9889,0.00,2.15,0.00,0.000,6,0.000,0.035,2227,2334,3024
$STATE,10039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10039,begin apogee
$GC,10045,-0.34,0.0,697.4,6.4,497,10180,0.43,0.00,131.62,1.247,6,0.134,0.000,2361,2528,2420
$STATE,10181,end apogee,CONTROL_FINISHED_OK
$STATE,10181,begin climb
$GC,10183,1.08,146.0,700.6,0.0,500,10334,1.02,2.72,138.02,1.168,4,0.102,0.058,2669,3922,1824
$GC,10357,0.82,146.0,689.5,9.8,504,10362,0.22,2.42,0.00,0.000,6,0.136,0.034,2613,2525,1824
$GC,10676,0.85,167.0,668.7,6.3,512,10697,0.00,0.00,18.67,1.143,6,0.000,0.000,2613,2525,1739
$GC,11001,0.87,180.8,647.7,6.5,520,11016,0.00,0.00,12.95,1.113,6,0.000,0.000,2613,2525,1682
$GC,11326,0.92,182.8,625.1,7.0,528,11336,0.10,2.25,3.38,0.644,4,0.085,0.048,2660,1114,1675
$GC,11365,0.87,182.8,621.7,8.5,528,11372,0.15,2.20,0.00,0.000,6,0.137,0.044,2616,2524,1675
$GC,11696,0.93,182.8,595.5,8.0,537,11698,0.08,0.00,0.00,0.000,6,0.100,0.000,2652,2525,1676
$GC,12021,0.86,182.8,565.2,9.3,545,12023,0.12,0.00,0.00,0.000,6,0.135,0.000,2615,2525,1676
$GC,12347,0.93,187.1,542.0,6.9,553,12355,0.08,0.00,5.15,0.871,6,0.096,0.000,2652,2525,1657
$GC,12671,0.86,187.1,517.3,7.4,561,12675,0.12,2.25,0.00,0.000,4,0.133,0.048,2614,1102,1659
$GC,12688,0.86,187.1,516.3,7.1,561,12691,0.00,2.22,0.00,0.000,6,0.000,0.044,2614,2526,1659
$GC,13002,0.99,229.5,498.8,5.6,569,13042,0.12,0.00,36.25,1.144,6,0.073,0.000,2668,2527,1485
$GC,13366,0.92,229.5,467.5,8.8,578,13370,0.12,2.22,0.00,0.000,4,0.127,0.046,2631,1114,1484
$GC,13393,1.00,240.3,465.2,6.7,578,13411,0.10,2.20,10.23,1.004,6,0.088,0.043,2676,2525,1441
$GC,13736,0.93,240.3,431.1,10.3,587,13738,0.15,0.00,0.00,0.000,6,0.120,0.000,2629,2526,1442
$GC,14060,1.01,240.3,403.7,8.4,595,14064,0.10,2.22,0.00,0.000,4,0.084,0.047,2676,1103,1442
$GC,14120,1.01,240.3,397.5,9.9,596,14127,0.00,2.22,0.00,0.000,6,0.000,0.044,2676,2533,1442
$GC,14437,0.93,240.3,365.4,9.7,612,14441,0.15,2.22,0.00,0.000,4,0.130,0.046,2630,1114,1442
$GC,14465,1.06,263.2,363.2,6.2,613,14490,0.12,2.20,20.27,1.022,6,0.074,0.043,2681,2530,1346
$GC,14815,1.00,263.2,330.9,9.2,630,14819,0.12,2.22,0.00,0.000,4,0.121,0.046,2643,1113,1347
$GC,14853,1.11,263.2,327.7,7.2,631,14860,0.12,2.20,0.00,0.000,6,0.077,0.042,2694,2532,1347
$GC,15169,1.02,263.2,297.8,9.6,647,15173,0.15,2.22,0.00,0.000,4,0.123,0.046,2650,1115,1347
$GC,15215,1.12,263.2,294.1,7.4,649,15219,0.12,2.17,0.00,0.000,6,0.075,0.043,2705,2518,1347
$GC,15547,1.01,263.2,258.9,10.2,665,15551,0.17,2.22,0.00,0.000,4,0.121,0.046,2651,1105,1348
$GC,15569,1.01,263.2,256.8,8.9,666,15573,0.00,2.20,0.00,0.000,6,0.000,0.042,2651,2523,1348
$GC,15902,1.08,263.2,232.6,7.1,682,15906,0.00,2.22,0.00,0.000,4,0.000,0.046,2651,1100,1348
$GC,15952,1.19,263.2,228.9,7.4,684,15957,0.15,2.22,0.00,0.000,6,0.071,0.042,2715,2533,1348
$GC,16279,1.06,263.2,194.2,10.7,700,16284,0.17,2.25,0.00,0.000,4,0.120,0.045,2661,1103,1348
$GC,16296,1.01,263.2,192.5,10.1,700,16302,0.00,2.20,0.00,0.000,6,0.000,0.042,2661,2517,1347
$GC,16612,1.06,263.2,170.0,7.1,716,16615,0.00,2.20,0.00,0.000,4,0.000,0.046,2661,1110,1348
$GC,16640,1.15,263.2,167.9,8.0,717,16645,0.10,2.20,0.00,0.000,6,0.082,0.042,2705,2529,1348
$GC,16967,1.08,263.2,135.9,9.4,733,16971,0.15,2.25,0.00,0.000,4,0.123,0.058,2659,3931,1348
$GC,16982,1.08,263.2,134.4,9.1,733,16989,0.00,2.17,0.00,0.000,6,0.000,0.035,2659,2498,1348
$GC,17299,1.19,272.4,112.7,6.7,749,17314,0.12,2.17,9.20,0.818,4,0.076,0.048,2716,1119,1309
$GC,17336,1.19,272.4,109.8,7.9,750,17343,0.00,2.20,0.00,0.000,6,0.000,0.042,2716,2529,1310
$GC,17668,1.19,272.4,81.8,8.7,793,17675,0.00,2.22,0.00,0.000,4,0.000,0.046,2716,1111,1311
$GC,17687,1.19,272.4,80.2,8.7,796,17693,0.00,2.20,0.00,0.000,6,0.000,0.043,2716,2524,1311
$GC,18031,1.19,272.4,50.3,8.1,857,18037,0.00,2.22,0.00,0.000,4,0.000,0.048,2716,1110,1311
$GC,18068,1.19,272.4,47.6,7.7,863,18074,0.00,2.20,0.00,0.000,6,0.000,0.044,2716,2520,1310
$GC,18412,1.19,272.4,20.0,8.0,924,18417,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2520,1311
$STATE,18645,end climb,SURFACE_DEPTH_REACHED
$STATE,18645,begin surface coast
$FINISH,1.1,1.013639
$STATE,18674,end surface coast,CONTROL_FINISHED_OK
$STATE,18675,begin surface
$SM_CCo,18753,0.00,0.000,0,0,1309,272.53
$SM_GC,1.94,7.07,0.00,0.00,0.064,0.000,0.000,155,2343,1309,-10.40,0.08,272.53
$RAFOS_CLK,966
$RAFOS,4,1227689076,8.750000,8.743333,107,62,61,57,56,54,634,215,179,127,191,168
$RAFOS,3,1227688457,8.583333,8.571389,63,57,57,56,55,52,172,147,206,215,194,117
$RAFOS,2,1227687880,8.416667,8.411111,163,68,62,56,56,55,424,171,130,208,156,196
$RAFOS,1,1227687254,8.250000,8.237223,67,59,59,57,56,54,794,174,161,208,232,194
$RAFOS,0,1227686642,8.083333,8.067223,73,67,56,55,52,52,192,223,1027,165,128,208
$RAFOS_FIX,6720.875000,-6027.650879,261108,080818,3,114,20.11
$IRIDIUM_FIX,6631.12,-5704.33,200298,000023
$TT8_MAMPS,0.027612
$HUMID,1881
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,20.6,66.223
$10V_AH,10.6,29.189
$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,22.850,165.000,385.750,0.000,0.000,29.046,33.710,214.507,0.500,0.000,0.000,14.051,1902.615,14156.562,554.644,1991.093,597.882,33.376,1640.918,0.000,1952.408,1800.000,0.529,0.000
$DEVICE_MAMPS,258.479,73.632,1247.142,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.515,659.080,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34716,971
$CAP_FILE_SIZE,153228,0
$CFSIZE,260165632,224665600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.0
$GPS,261108,113608,6701.407,-5707.448,35,1.5,41,-37.6