version: 66.04
glider: 113
mission: 4
dive: 357
start: 11 26 108 22 56 47
data:
$ID,113
$MISSION,4
$DIVE,357
$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,-31734.033
$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,41
$R_STBD_OVSHOOT,30
$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
$GPS1,224908,6701.784,-5700.326,35,1.0,35,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-66.1
$GPS2,225551,6701.833,-5700.404,13,1.6,13,-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,-0.163,-0.154
$KALMAN_X,-65038.5,-431.9,332.1,82679.8,-1148.4
$KALMAN_Y,-32445.8,229.2,-553.9,45662.8,2038.8
$MHEAD_RNG_PITCHd_Wd,264.2,167148,-12.9,-7.021
$D_GRID,689
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-107.50,0.000,2,0.000,0.000,160,2335,2943
$GC,129,-1.08,-146.0,3.1,-1.6,19,148,8.70,2.22,-2.58,0.000,4,0.258,0.062,2199,945,3018
$GC,251,-0.54,-146.0,25.9,-17.0,40,258,0.43,2.20,0.00,0.000,6,0.173,0.046,2320,2344,3019
$GC,596,-0.54,-146.0,58.7,-8.3,101,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2344,3019
$GC,940,-0.62,-146.0,84.5,-7.8,162,946,0.00,2.28,0.00,0.000,4,0.000,0.064,2317,3744,3018
$GC,1060,-0.77,-146.0,92.8,-6.5,183,1067,0.17,2.17,0.00,0.000,6,0.083,0.038,2248,2330,3018
$GC,1391,-0.68,-146.0,123.3,-9.3,209,1395,0.15,2.17,0.00,0.000,4,0.158,0.048,2289,936,3017
$GC,1492,-0.68,-146.0,131.3,-7.0,213,1496,0.00,2.22,0.00,0.000,6,0.000,0.047,2289,2349,3017
$GC,1814,-0.78,-146.0,152.9,-7.0,229,1817,0.00,2.28,0.00,0.000,4,0.000,0.064,2289,3749,3016
$GC,1927,-0.92,-146.0,160.4,-6.1,234,1932,0.17,2.17,0.00,0.000,6,0.084,0.037,2227,2328,3016
$GC,2262,-0.84,-146.0,186.0,-8.1,250,2266,0.10,2.33,0.00,0.000,4,0.167,0.060,2249,3745,3016
$GC,2306,-0.84,-146.0,189.7,-7.6,252,2310,0.00,2.15,0.00,0.000,6,0.000,0.035,2249,2340,3016
$GC,2633,-0.84,-146.0,212.6,-7.0,268,2637,0.00,2.17,0.00,0.000,4,0.000,0.048,2249,938,3016
$GC,2711,-0.84,-146.0,218.5,-7.4,271,2715,0.00,2.20,0.00,0.000,6,0.000,0.044,2249,2352,3016
$GC,3033,-0.84,-146.0,240.6,-6.9,287,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2352,3017
$GC,3341,-0.84,-146.0,261.9,-6.8,302,3345,0.00,2.22,0.00,0.000,4,0.000,0.047,2249,932,3018
$GC,3368,-0.84,-146.0,263.8,-7.0,303,3372,0.00,2.22,0.00,0.000,6,0.000,0.044,2249,2352,3018
$GC,3696,-0.84,-146.0,286.0,-6.8,319,3699,0.00,2.25,0.00,0.000,4,0.000,0.059,2249,3750,3018
$GC,3752,-0.91,-146.0,290.0,-6.7,321,3756,0.00,2.17,0.00,0.000,6,0.000,0.035,2249,2323,3018
$GC,4074,-0.91,-146.0,310.4,-6.2,337,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2323,3019
$GC,4383,-0.96,-146.0,329.4,-6.1,352,4387,0.00,2.33,0.00,0.000,4,0.000,0.060,2249,3749,3020
$GC,4424,-1.03,-146.0,331.8,-6.1,353,4430,0.12,2.15,0.00,0.000,6,0.100,0.035,2203,2338,3019
$GC,4740,-0.93,-146.0,354.4,-7.4,369,4745,0.12,2.30,0.00,0.000,4,0.150,0.058,2234,3745,3020
$GC,4795,-0.93,-146.0,358.3,-7.0,371,4801,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2328,3020
$GC,5111,-0.93,-146.0,379.0,-6.5,387,5115,0.00,2.15,0.00,0.000,4,0.000,0.046,2234,939,3021
$GC,5144,-0.93,-146.0,381.6,-7.4,388,5148,0.00,2.20,0.00,0.000,6,0.000,0.044,2234,2345,3021
$GC,5485,-0.93,-146.0,403.8,-6.3,404,5488,0.00,2.25,0.00,0.000,4,0.000,0.060,2234,3740,3022
$GC,5535,-0.93,-146.0,407.0,-6.3,405,5539,0.00,2.15,0.00,0.000,6,0.000,0.034,2234,2326,3022
$GC,5863,-0.93,-146.0,425.3,-5.4,413,5867,0.00,2.15,0.00,0.000,4,0.000,0.045,2234,939,3022
$GC,5890,-0.93,-146.0,427.2,-6.6,413,5894,0.00,2.20,0.00,0.000,6,0.000,0.043,2234,2348,3022
$GC,6234,-0.93,-146.0,444.1,-4.8,422,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2348,3022
$GC,6558,-0.93,-146.0,463.2,-6.3,430,6562,0.00,2.25,0.00,0.000,4,0.000,0.060,2234,3742,3023
$GC,6605,-0.99,-146.0,466.1,-6.2,431,6608,0.00,2.12,0.00,0.000,6,0.000,0.034,2234,2340,3023
$GC,6935,-0.99,-146.0,486.2,-6.1,439,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2340,3023
$GC,7260,-0.99,-146.0,507.2,-6.4,447,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2341,3024
$GC,7585,-0.99,-146.0,528.1,-6.4,455,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2340,3024
$GC,7910,-0.99,-146.0,548.5,-6.3,463,7914,0.00,2.28,0.00,0.000,4,0.000,0.059,2234,3742,3024
$GC,7972,-1.06,-146.0,552.6,-6.8,464,7976,0.12,2.15,0.00,0.000,6,0.100,0.035,2189,2327,3024
$GC,8285,-0.95,-146.0,577.7,-8.0,472,8287,0.15,0.00,0.00,0.000,6,0.147,0.000,2230,2324,3024
$GC,8609,-0.95,-146.0,598.4,-6.3,480,8613,0.00,2.33,0.00,0.000,4,0.000,0.058,2231,3754,3024
$GC,8711,-1.02,-146.0,604.7,-6.4,482,8715,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2341,3024
$GC,9030,-1.02,-146.0,622.6,-5.6,490,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2341,3024
$GC,9354,-1.02,-146.0,640.9,-5.8,498,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2341,3024
$GC,9679,-1.02,-146.0,659.6,-5.7,506,9683,0.00,2.30,0.00,0.000,4,0.000,0.060,2231,3745,3024
$GC,9834,-1.09,-146.0,668.7,-5.5,509,9838,0.12,2.15,0.00,0.000,6,0.091,0.035,2186,2333,3024
$STATE,10103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10103,begin apogee
$GC,10110,-0.34,0.0,689.3,7.6,516,10244,0.57,0.00,131.73,1.246,6,0.143,0.000,2359,2526,2420
$STATE,10245,end apogee,CONTROL_FINISHED_OK
$STATE,10245,begin climb
$GC,10249,1.08,146.0,692.4,0.0,519,10398,1.02,2.65,138.05,1.165,4,0.104,0.044,2666,1131,1824
$GC,10421,1.00,146.0,681.3,7.2,523,10426,0.00,2.47,0.00,0.000,6,0.000,0.043,2666,2521,1824
$GC,10740,0.85,146.0,654.9,8.5,531,10744,0.17,2.28,0.00,0.000,4,0.136,0.059,2614,3930,1823
$GC,10808,0.78,146.0,649.6,7.7,532,10812,0.00,2.17,0.00,0.000,6,0.000,0.036,2614,2513,1823
$GC,11156,0.81,171.2,628.1,6.2,541,11179,0.00,0.00,21.73,1.174,6,0.000,0.000,2614,2513,1723
$GC,11482,0.90,186.9,606.9,6.5,549,11501,0.00,2.35,14.45,1.134,4,0.000,0.061,2614,3930,1658
$GC,11525,0.91,194.1,604.0,6.8,550,11539,0.00,2.17,7.82,1.002,6,0.000,0.036,2614,2520,1628
$GC,11855,1.04,239.4,585.7,5.5,558,11898,0.15,2.33,38.17,1.191,4,0.075,0.048,2676,1121,1444
$GC,11950,0.99,239.4,578.0,8.9,560,11954,0.10,2.25,0.00,0.000,6,0.137,0.044,2650,2534,1444
$GC,12273,0.99,239.4,552.9,7.9,568,12277,0.00,2.22,0.00,0.000,4,0.000,0.048,2650,1118,1443
$GC,12307,0.99,239.4,550.2,7.6,568,12311,0.00,2.20,0.00,0.000,6,0.000,0.044,2650,2529,1443
$GC,12643,0.99,239.4,522.7,8.3,577,12647,0.00,2.22,0.00,0.000,4,0.000,0.048,2650,1112,1443
$GC,12676,1.05,239.4,519.9,8.3,577,12680,0.00,2.20,0.00,0.000,6,0.000,0.044,2650,2524,1443
$GC,13012,1.05,239.4,493.0,7.9,586,13016,0.00,2.22,0.00,0.000,4,0.000,0.048,2650,1109,1443
$GC,13051,1.09,239.4,489.9,7.5,586,13058,0.10,2.20,0.00,0.000,6,0.085,0.044,2692,2519,1443
$GC,13383,0.95,239.4,455.8,10.5,595,13387,0.17,2.22,0.00,0.000,4,0.127,0.048,2639,1112,1442
$GC,13404,0.95,239.4,453.9,8.9,595,13408,0.00,2.20,0.00,0.000,6,0.000,0.044,2639,2525,1442
$GC,13753,1.00,239.4,426.5,8.0,604,13757,0.00,2.20,0.00,0.000,4,0.000,0.047,2639,1120,1443
$GC,13792,1.08,239.4,423.2,7.9,604,13799,0.12,2.20,0.00,0.000,6,0.079,0.043,2692,2531,1443
$GC,14105,0.95,239.4,389.0,11.0,614,14107,0.17,0.00,0.00,0.000,6,0.118,0.000,2638,2532,1443
$GC,14415,1.00,239.4,365.2,7.3,629,14418,0.00,2.22,0.00,0.000,4,0.000,0.047,2638,1111,1443
$GC,14476,1.10,239.4,360.9,7.2,631,14483,0.12,2.20,0.00,0.000,6,0.078,0.044,2692,2522,1443
$GC,14792,0.98,239.4,331.0,9.4,647,14796,0.15,2.22,0.00,0.000,4,0.120,0.047,2647,1115,1444
$GC,14826,1.07,247.5,328.3,6.7,648,14839,0.00,2.20,8.15,0.898,6,0.000,0.043,2646,2525,1410
$GC,15146,1.07,247.5,304.3,7.8,664,15147,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2525,1412
$GC,15457,1.13,247.5,280.7,7.4,679,15461,0.12,2.22,0.00,0.000,4,0.072,0.045,2705,1111,1412
$GC,15502,1.02,247.5,276.5,10.0,681,15507,0.17,2.20,0.00,0.000,6,0.125,0.042,2653,2528,1412
$GC,15834,1.02,247.5,250.9,7.6,697,15838,0.00,2.22,0.00,0.000,4,0.000,0.046,2653,1109,1412
$GC,15863,1.10,252.7,248.8,6.8,698,15874,0.08,2.20,6.03,0.790,6,0.102,0.043,2690,2520,1389
$GC,16185,1.03,252.7,219.1,9.6,713,16187,0.12,0.00,0.00,0.000,6,0.125,0.000,2653,2521,1391
$GC,16494,1.08,252.7,195.7,7.7,728,16498,0.00,2.20,0.00,0.000,4,0.000,0.047,2653,1118,1391
$GC,16556,1.18,256.8,191.0,6.9,730,16566,0.15,2.20,5.07,0.715,6,0.071,0.042,2718,2531,1373
$GC,16896,1.04,256.8,155.0,10.8,747,16898,0.20,0.00,0.00,0.000,6,0.120,0.000,2655,2531,1375
$GC,17204,1.14,270.8,132.8,6.5,762,17226,0.12,2.28,13.10,0.862,4,0.076,0.047,2709,1123,1315
$GC,17282,1.14,270.8,126.3,8.4,765,17287,0.10,2.17,0.00,0.000,6,0.135,0.043,2681,2520,1316
$GC,17603,1.14,270.8,102.7,7.5,781,17607,0.00,2.20,0.00,0.000,4,0.000,0.047,2681,1116,1317
$GC,17637,1.24,278.1,100.2,6.8,782,17650,0.10,2.20,7.30,0.764,6,0.081,0.042,2721,2531,1286
$GC,17988,1.24,278.1,69.6,9.1,843,17995,0.00,2.22,0.00,0.000,4,0.000,0.046,2721,1110,1287
$GC,18069,1.24,278.1,62.4,8.8,857,18075,0.00,2.20,0.00,0.000,6,0.000,0.044,2722,2519,1287
$GC,18413,1.24,278.1,33.1,7.9,918,18419,0.00,2.25,0.00,0.000,4,0.000,0.060,2721,3927,1288
$GC,18454,1.17,278.1,29.5,9.2,925,18461,0.12,2.15,0.00,0.000,6,0.132,0.036,2684,2516,1288
$GC,18800,1.36,309.5,8.0,6.0,986,18832,0.15,2.30,26.50,0.866,4,0.070,0.049,2749,1110,1158
$GC,18862,1.36,309.5,3.0,8.0,996,18868,0.00,2.22,0.00,0.000,6,0.000,0.044,2749,2521,1157
$STATE,18872,end climb,SURFACE_DEPTH_REACHED
$STATE,18872,begin surface coast
$FINISH,1.0,1.002382
$STATE,18896,end surface coast,CONTROL_FINISHED_OK
$STATE,18896,begin surface
$SM_CCo,18974,0.00,0.000,0,0,1156,310.30
$SM_GC,1.82,7.10,0.00,0.00,0.061,0.000,0.000,161,2338,1156,-10.39,-0.06,310.30
$RAFOS_CLK,979
$RAFOS,0,1227758641,4.083333,4.066945,65,63,59,56,55,54,219,204,170,183,151,117
$RAFOS,4,1227746681,0.750000,0.744722,67,61,56,55,54,49,605,156,228,209,192,177
$RAFOS,3,1227746063,0.583333,0.573056,99,58,57,51,51,49,858,181,215,138,193,116
$RAFOS,2,1227745442,0.416667,0.400556,91,61,57,55,53,52,628,181,212,157,194,122
$RAFOS,1,1227744861,0.250000,0.239167,97,65,59,56,55,55,753,193,220,118,173,151
$RAFOS,0,1227744257,0.083333,0.071389,83,59,56,56,56,51,948,190,136,212,166,224
$RAFOS_FIX,6700.893555,-5707.036133,271108,000020,4,92,1.00
$IRIDIUM_FIX,6631.12,-5701.34,200298,171709
$TT8_MAMPS,0.027612
$HUMID,1867
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,20.5,66.666
$10V_AH,10.6,29.418
$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,21.800,160.850,418.100,0.000,0.000,27.733,33.868,199.638,0.500,0.000,0.000,15.214,1901.835,14299.993,563.935,2016.178,603.317,33.379,1676.875,0.000,1985.401,2160.000,0.529,0.000
$DEVICE_MAMPS,258.479,63.661,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.799,679.916,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37876,1002
$CAP_FILE_SIZE,151507,0
$CFSIZE,260165632,224448512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.7
$GPS,271108,041438,6701.943,-5709.144,37,1.1,37,-37.6