version: 66.04
glider: 113
mission: 4
dive: 361
start: 11 27 108 20 39 57
data:
$ID,113
$MISSION,4
$DIVE,361
$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,-31792.021
$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,33
$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
$GPS1,203228,6704.428,-5701.870,28,2.5,47,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.4
$GPS2,203902,6704.415,-5701.854,10,1.2,15,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.184,-0.128
$KALMAN_X,-75980.4,-424.7,250.6,92633.4,-1895.3
$KALMAN_Y,-25791.1,433.2,-580.2,43594.1,1898.2
$MHEAD_RNG_PITCHd_Wd,162.5,10342,-12.9,-7.021
$D_GRID,612
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-102.55,0.000,2,0.000,0.000,166,2331,2951
$GC,125,-1.08,-146.0,3.5,-2.7,18,144,8.52,2.35,-2.22,0.000,4,0.252,0.072,2192,3741,3019
$GC,341,-0.68,-146.0,40.7,-15.3,56,348,0.35,2.15,0.00,0.000,6,0.160,0.036,2293,2340,3020
$GC,686,-0.68,-146.0,72.3,-8.7,117,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2339,3020
$GC,1044,-0.72,-146.0,102.0,-8.2,178,1048,0.00,2.20,0.00,0.000,4,0.000,0.050,2293,933,3018
$GC,1083,-0.72,-146.0,105.4,-8.4,179,1089,0.00,2.22,0.00,0.000,6,0.000,0.045,2292,2350,3018
$GC,1400,-0.82,-146.0,126.5,-6.0,195,1405,0.12,2.25,0.00,0.000,4,0.090,0.048,2246,930,3018
$GC,1456,-0.70,-146.0,131.0,-8.1,197,1463,0.15,2.22,0.00,0.000,6,0.158,0.045,2285,2343,3018
$GC,1772,-0.80,-146.0,149.2,-5.6,213,1774,0.10,0.00,0.00,0.000,6,0.098,0.000,2247,2344,3017
$GC,2081,-0.80,-146.0,171.0,-7.1,228,2085,0.00,2.28,0.00,0.000,4,0.000,0.061,2247,3750,3017
$GC,2109,-0.80,-146.0,173.3,-7.5,229,2113,0.00,2.17,0.00,0.000,6,0.000,0.035,2247,2323,3017
$GC,2435,-0.80,-146.0,197.1,-7.2,245,2439,0.00,2.33,0.00,0.000,4,0.000,0.059,2247,3749,3017
$GC,2463,-0.80,-146.0,199.3,-7.7,246,2467,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2342,3017
$GC,2790,-0.80,-146.0,221.4,-6.8,262,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2342,3018
$GC,3099,-0.80,-146.0,241.5,-6.4,277,3103,0.00,2.30,0.00,0.000,4,0.000,0.059,2247,3753,3019
$GC,3111,-0.80,-146.0,242.3,-6.7,277,3115,0.00,2.15,0.00,0.000,6,0.000,0.034,2246,2336,3019
$GC,3432,-0.80,-146.0,264.4,-6.8,293,3435,0.00,2.30,0.00,0.000,4,0.000,0.058,2247,3749,3020
$GC,3455,-0.80,-146.0,265.9,-6.9,294,3459,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2338,3019
$GC,3788,-0.80,-146.0,288.5,-6.7,310,3792,0.00,2.30,0.00,0.000,4,0.000,0.059,2247,3745,3020
$GC,3827,-0.86,-146.0,291.2,-6.3,311,3833,0.00,2.15,0.00,0.000,6,0.000,0.035,2247,2336,3020
$GC,4143,-0.86,-146.0,309.7,-5.7,327,4146,0.00,2.30,0.00,0.000,4,0.000,0.058,2247,3747,3020
$GC,4154,-0.86,-146.0,310.4,-5.7,327,4158,0.00,2.15,0.00,0.000,6,0.000,0.033,2246,2328,3020
$GC,4476,-0.86,-146.0,327.6,-5.3,343,4479,0.00,2.33,0.00,0.000,4,0.000,0.058,2247,3756,3022
$GC,4487,-0.86,-146.0,328.2,-5.3,343,4491,0.00,2.15,0.00,0.000,6,0.000,0.033,2247,2341,3021
$GC,4808,-0.86,-146.0,345.3,-5.4,359,4812,0.00,2.28,0.00,0.000,4,0.000,0.058,2246,3745,3022
$GC,4820,-0.86,-146.0,346.1,-5.3,359,4824,0.00,2.15,0.00,0.000,6,0.000,0.033,2247,2328,3022
$GC,5141,-0.86,-146.0,363.8,-5.6,375,5145,0.00,2.30,0.00,0.000,4,0.000,0.058,2247,3745,3023
$GC,5158,-0.92,-146.0,364.7,-5.4,375,5164,0.00,2.15,0.00,0.000,6,0.000,0.032,2246,2325,3022
$GC,5475,-0.97,-146.0,382.5,-5.5,391,5480,0.08,2.33,0.00,0.000,4,0.115,0.058,2214,3746,3023
$GC,5507,-0.97,-146.0,384.9,-7.2,392,5514,0.00,2.15,0.00,0.000,6,0.000,0.034,2213,2330,3023
$GC,5824,-0.92,-146.0,405.7,-6.7,406,5829,0.10,2.30,0.00,0.000,4,0.161,0.058,2241,3746,3023
$GC,5835,-0.92,-146.0,406.6,-6.7,406,5839,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2331,3024
$GC,6149,-0.97,-146.0,425.8,-6.2,414,6153,0.00,2.33,0.00,0.000,4,0.000,0.058,2241,3754,3023
$GC,6161,-1.02,-146.0,426.5,-6.2,414,6165,0.10,2.15,0.00,0.000,6,0.094,0.032,2203,2338,3023
$GC,6480,-0.94,-146.0,450.5,-7.6,422,6484,0.12,2.33,0.00,0.000,4,0.145,0.058,2239,3755,3024
$GC,6490,-0.89,-146.0,451.4,-7.6,422,6494,0.00,2.15,0.00,0.000,6,0.000,0.033,2238,2329,3024
$GC,6803,-0.89,-146.0,471.7,-6.4,430,6807,0.00,2.33,0.00,0.000,4,0.000,0.058,2239,3753,3025
$GC,6814,-0.94,-146.0,472.4,-6.3,430,6818,0.00,2.15,0.00,0.000,6,0.000,0.032,2239,2336,3025
$GC,7134,-0.99,-146.0,491.5,-5.9,438,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2336,3024
$GC,7458,-0.99,-146.0,510.1,-5.7,446,7462,0.00,2.30,0.00,0.000,4,0.000,0.057,2239,3747,3025
$GC,7469,-1.04,-146.0,510.7,-5.7,446,7473,0.12,2.15,0.00,0.000,6,0.091,0.032,2192,2331,3025
$GC,7788,-0.93,-146.0,534.3,-7.2,454,7792,0.15,2.33,0.00,0.000,4,0.142,0.058,2234,3753,3025
$GC,7834,-1.00,-146.0,537.3,-6.3,455,7838,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2340,3025
$GC,8164,-1.00,-146.0,557.8,-6.4,463,8168,0.00,2.30,0.00,0.000,4,0.000,0.059,2234,3748,3025
$GC,8176,-1.05,-146.0,558.5,-6.3,463,8180,0.10,2.15,0.00,0.000,6,0.105,0.033,2196,2333,3025
$GC,8494,-0.98,-146.0,581.5,-7.3,471,8496,0.12,0.00,0.00,0.000,6,0.150,0.000,2230,2330,3025
$GC,8819,-0.98,-146.0,601.6,-5.7,479,8823,0.00,2.33,0.00,0.000,4,0.000,0.059,2230,3756,3025
$GC,8960,-1.35,-146.0,602.3,-0.1,482,8965,0.28,2.17,0.00,0.000,6,0.064,0.035,2125,2330,3025
$STATE,8979,end dive,NO_VERTICAL_VELOCITY
$STATE,8979,begin apogee
$GC,8986,-0.34,0.0,602.4,0.0,482,9119,0.70,0.00,129.32,1.176,6,0.108,0.000,2359,2523,2420
$STATE,9119,end apogee,CONTROL_FINISHED_OK
$STATE,9119,begin climb
$GC,9123,1.08,146.0,601.7,0.0,486,9262,1.02,0.00,135.52,1.100,6,0.103,0.000,2671,2523,1824
$GC,9570,0.91,146.0,561.8,9.2,497,9575,0.15,2.30,0.00,0.000,4,0.140,0.058,2627,3944,1824
$GC,9637,0.80,146.0,555.5,9.8,498,9641,0.00,2.17,0.00,0.000,6,0.000,0.035,2627,2515,1824
$GC,9980,0.80,146.0,530.7,7.2,507,9983,0.00,2.17,0.00,0.000,4,0.000,0.047,2627,1111,1824
$GC,10046,0.80,146.0,525.9,7.7,508,10050,0.00,2.22,0.00,0.000,6,0.000,0.044,2627,2538,1823
$GC,10394,0.80,146.0,500.8,7.2,517,10398,0.00,2.22,0.00,0.000,4,0.000,0.059,2627,3933,1822
$GC,10474,0.70,146.0,494.2,8.4,518,10478,0.15,2.15,0.00,0.000,6,0.137,0.035,2583,2520,1822
$GC,10810,0.89,184.9,474.9,5.7,527,10853,0.15,2.30,32.42,1.099,4,0.069,0.046,2651,1119,1666
$GC,10909,0.89,184.9,467.0,8.9,529,10914,0.00,2.20,0.00,0.000,6,0.000,0.043,2650,2530,1666
$GC,11228,0.89,184.9,438.1,9.3,537,11232,0.00,2.22,0.00,0.000,4,0.000,0.060,2650,3927,1667
$GC,11295,0.75,184.9,430.9,11.2,538,11300,0.20,2.15,0.00,0.000,6,0.130,0.035,2590,2510,1666
$GC,11638,0.92,184.9,406.3,7.1,547,11642,0.15,2.12,0.00,0.000,4,0.069,0.044,2653,1120,1666
$GC,11715,0.92,184.9,399.1,9.4,548,11719,0.00,2.20,0.00,0.000,6,0.000,0.044,2652,2532,1666
$GC,12037,0.92,184.9,368.0,9.6,564,12041,0.00,2.25,0.00,0.000,4,0.000,0.060,2653,3938,1666
$GC,12099,0.78,184.9,361.3,11.0,566,12106,0.17,2.17,0.00,0.000,6,0.135,0.035,2601,2508,1666
$GC,12416,0.92,184.9,337.5,7.4,582,12420,0.12,2.15,0.00,0.000,4,0.072,0.044,2654,1120,1666
$GC,12501,0.92,184.9,329.7,9.6,585,12507,0.00,2.20,0.00,0.000,6,0.000,0.043,2655,2532,1666
$GC,12816,0.92,184.9,300.1,9.1,601,12820,0.00,2.25,0.00,0.000,4,0.000,0.060,2655,3937,1666
$GC,12877,0.78,184.9,293.7,10.3,603,12884,0.17,2.17,0.00,0.000,6,0.136,0.035,2603,2506,1666
$GC,13194,0.96,217.2,273.4,5.9,619,13227,0.15,2.20,27.15,0.974,4,0.065,0.046,2666,1120,1534
$GC,13307,0.96,217.2,264.3,8.2,624,13311,0.00,2.20,0.00,0.000,6,0.000,0.044,2666,2522,1535
$GC,13634,0.92,217.2,236.4,8.8,640,13639,0.12,2.25,0.00,0.000,4,0.130,0.058,2628,3930,1534
$GC,13696,0.92,217.2,231.2,8.3,643,13700,0.00,2.12,0.00,0.000,6,0.000,0.035,2628,2518,1534
$GC,14030,1.06,253.6,211.1,5.8,659,14066,0.12,2.22,29.88,0.934,4,0.075,0.046,2682,1119,1386
$GC,14128,1.06,253.6,203.2,8.5,663,14132,0.00,2.20,0.00,0.000,6,0.000,0.041,2682,2525,1387
$GC,14449,1.06,253.6,174.0,9.5,679,14450,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2525,1387
$GC,14759,1.06,253.6,144.3,9.6,694,14763,0.00,2.20,0.00,0.000,4,0.000,0.046,2682,1116,1387
$GC,14808,1.06,253.6,139.3,9.7,696,14812,0.00,2.17,0.00,0.000,6,0.000,0.042,2682,2520,1388
$GC,15135,1.06,253.6,109.6,8.8,712,15139,0.00,2.20,0.00,0.000,4,0.000,0.046,2682,1119,1388
$GC,15186,1.06,253.6,105.2,8.8,714,15190,0.00,2.20,0.00,0.000,6,0.000,0.042,2682,2534,1388
$GC,15525,1.06,253.6,77.2,8.2,764,15531,0.00,2.22,0.00,0.000,4,0.000,0.045,2682,1111,1389
$GC,15578,1.16,253.6,73.1,7.3,773,15584,0.00,2.20,0.00,0.000,6,0.000,0.042,2682,2527,1388
$GC,15923,1.27,279.7,50.8,6.1,834,15953,0.10,2.30,22.20,0.847,4,0.080,0.061,2731,3932,1278
$GC,15983,1.13,279.7,45.5,9.3,844,15990,0.17,2.17,0.00,0.000,6,0.133,0.036,2681,2518,1279
$GC,16329,1.28,297.2,23.1,6.4,905,16354,0.12,2.25,15.40,0.821,4,0.073,0.047,2735,1113,1208
$GC,16451,1.28,297.2,12.7,8.6,926,16457,0.00,2.20,0.00,0.000,6,0.000,0.044,2735,2520,1208
$STATE,16573,end climb,SURFACE_DEPTH_REACHED
$STATE,16573,begin surface coast
$FINISH,1.2,1.026302
$STATE,16605,end surface coast,CONTROL_FINISHED_OK
$STATE,16605,begin surface
$SM_CCo,16683,0.00,0.000,0,0,1206,297.55
$SM_GC,1.96,7.10,0.00,0.00,0.064,0.000,0.000,155,2321,1206,-10.41,-0.54,297.55
$RAFOS_CLK,840
$RAFOS,4,1227833050,0.750000,0.736111,61,59,58,56,55,53,212,770,132,174,202,185
$RAFOS,3,1227832441,0.583333,0.566944,65,61,58,53,52,51,219,139,202,170,191,157
$RAFOS,2,1227831842,0.416667,0.400556,61,59,59,58,57,56,215,158,647,628,186,174
$RAFOS,1,1227831244,0.250000,0.234444,67,59,54,53,52,51,849,207,135,121,174,152
$RAFOS,0,1227830644,0.083333,0.067778,60,60,59,58,58,54,203,226,171,214,124,137
$RAFOS,4,1227818646,20.750000,20.735001,75,68,66,59,58,56,796,197,215,226,183,129
$RAFOS,2,1227817442,20.416666,20.400555,123,66,60,59,59,59,639,206,158,119,217,191
$RAFOS_FIX,6704.132324,-5707.433594,271108,202016,2,99,0.00
$IRIDIUM_FIX,6636.54,-5702.96,210298,151541
$TT8_MAMPS,0.027612
$HUMID,1857
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,20.8,67.232
$10V_AH,10.6,29.711
$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,21.325,169.250,391.900,0.000,0.000,30.741,34.316,188.621,0.000,0.000,0.000,16.799,1782.088,12274.107,554.677,1892.443,577.168,33.377,1599.343,0.000,1858.406,2160.000,0.528,0.000
$DEVICE_MAMPS,252.343,72.098,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.602,644.842,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34723,953
$CAP_FILE_SIZE,143269,0
$CFSIZE,260165632,224182272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.7
$GPS,281108,012001,6704.568,-5702.230,67,1.2,67,-37.6