version: 66.04
glider: 113
mission: 4
dive: 363
start: 11 28 108 6 22 45
data:
$ID,113
$MISSION,4
$DIVE,363
$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,-31822.344
$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,36
$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
$GPS1,061508,6704.205,-5705.257,29,1.0,29,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-64.0
$GPS2,062150,6704.192,-5705.281,12,1.1,12,-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,0.224,-0.000
$KALMAN_X,-83940.0,-171.7,-921.8,99039.5,-1788.1
$KALMAN_Y,-22431.5,-151.2,647.3,39192.7,-412.5
$MHEAD_RNG_PITCHd_Wd,127.7,12673,-12.9,-7.021
$D_GRID,649
$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,-102.43,0.000,2,0.000,0.000,155,2330,2859
$GC,125,-1.08,-146.0,3.1,-1.9,18,145,8.65,2.28,-5.82,0.000,4,0.255,0.060,2199,923,3016
$GC,266,-0.57,-146.0,25.9,-14.7,42,273,0.40,2.25,0.00,0.000,6,0.169,0.047,2312,2349,3019
$GC,611,-0.57,-146.0,56.5,-7.9,103,617,0.00,2.28,0.00,0.000,4,0.000,0.062,2313,3754,3020
$GC,624,-0.57,-146.0,57.5,-7.9,105,630,0.00,2.17,0.00,0.000,6,0.000,0.035,2312,2330,3019
$GC,968,-0.66,-146.0,82.9,-7.4,166,974,0.00,2.17,0.00,0.000,4,0.000,0.049,2313,935,3017
$GC,1038,-0.73,-146.0,87.9,-7.6,178,1045,0.12,2.22,0.00,0.000,6,0.091,0.045,2262,2352,3017
$GC,1366,-0.73,-146.0,114.4,-7.5,212,1370,0.00,2.22,0.00,0.000,4,0.000,0.047,2262,935,3016
$GC,1377,-0.73,-146.0,115.3,-7.5,212,1381,0.00,2.22,0.00,0.000,6,0.000,0.045,2262,2349,3016
$GC,1698,-0.73,-146.0,139.1,-7.1,228,1702,0.00,2.22,0.00,0.000,4,0.000,0.048,2262,931,3016
$GC,1709,-0.73,-146.0,140.0,-6.9,228,1713,0.00,2.22,0.00,0.000,6,0.000,0.045,2262,2345,3016
$GC,2030,-0.73,-146.0,161.3,-6.2,244,2034,0.00,2.28,0.00,0.000,4,0.000,0.061,2262,3752,3016
$GC,2054,-0.73,-146.0,162.7,-6.4,245,2058,0.00,2.15,0.00,0.000,6,0.000,0.034,2261,2337,3016
$GC,2388,-0.73,-146.0,183.8,-6.2,261,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2337,3015
$GC,2696,-0.73,-146.0,203.6,-6.5,276,2700,0.00,2.30,0.00,0.000,4,0.000,0.061,2262,3745,3016
$GC,2764,-0.81,-146.0,207.9,-6.4,279,2768,0.00,2.15,0.00,0.000,6,0.000,0.035,2262,2335,3016
$GC,3098,-0.86,-146.0,227.8,-5.8,295,3102,0.00,2.30,0.00,0.000,4,0.000,0.059,2262,3744,3017
$GC,3115,-0.94,-146.0,228.9,-5.9,295,3122,0.12,2.15,0.00,0.000,6,0.101,0.034,2217,2330,3017
$GC,3432,-0.86,-146.0,251.1,-7.1,311,3436,0.12,2.33,0.00,0.000,4,0.150,0.058,2249,3748,3017
$GC,3442,-0.80,-146.0,252.1,-7.3,311,3446,0.00,2.15,0.00,0.000,6,0.000,0.034,2249,2335,3017
$GC,3764,-0.80,-146.0,272.7,-6.6,327,3768,0.00,2.30,0.00,0.000,4,0.000,0.058,2249,3749,3017
$GC,3780,-0.80,-146.0,273.9,-6.6,327,3787,0.00,2.15,0.00,0.000,6,0.000,0.034,2249,2337,3017
$GC,4097,-0.80,-146.0,295.1,-6.8,343,4101,0.00,2.30,0.00,0.000,4,0.000,0.058,2249,3746,3018
$GC,4136,-0.87,-146.0,298.1,-7.0,344,4142,0.00,2.15,0.00,0.000,6,0.000,0.033,2249,2334,3018
$GC,4452,-0.87,-146.0,320.3,-6.9,360,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2334,3018
$GC,4762,-0.92,-146.0,340.6,-6.6,375,4766,0.00,2.33,0.00,0.000,4,0.000,0.060,2249,3753,3019
$GC,4801,-1.00,-146.0,343.3,-7.1,376,4808,0.12,2.15,0.00,0.000,6,0.099,0.034,2203,2340,3020
$GC,5118,-0.91,-146.0,367.0,-7.5,392,5120,0.12,0.00,0.00,0.000,6,0.148,0.000,2238,2337,3019
$GC,5427,-0.91,-146.0,386.3,-6.0,407,5430,0.00,2.30,0.00,0.000,4,0.000,0.059,2238,3749,3020
$GC,5461,-0.96,-146.0,388.3,-6.1,408,5464,0.00,2.15,0.00,0.000,6,0.000,0.034,2238,2336,3020
$GC,5801,-0.96,-146.0,407.9,-5.8,422,5805,0.00,2.30,0.00,0.000,4,0.000,0.058,2238,3745,3020
$GC,5812,-0.96,-146.0,408.6,-5.9,422,5816,0.00,2.15,0.00,0.000,6,0.000,0.033,2238,2328,3020
$GC,6131,-0.96,-146.0,429.0,-6.5,430,6135,0.00,2.33,0.00,0.000,4,0.000,0.059,2238,3752,3021
$GC,6142,-0.96,-146.0,429.7,-6.5,430,6146,0.00,2.15,0.00,0.000,6,0.000,0.033,2238,2338,3021
$GC,6457,-0.96,-146.0,451.3,-6.9,438,6461,0.00,2.30,0.00,0.000,4,0.000,0.057,2238,3755,3021
$GC,6469,-0.96,-146.0,452.3,-6.9,438,6472,0.00,2.15,0.00,0.000,6,0.000,0.033,2238,2340,3021
$GC,6788,-0.96,-146.0,474.1,-6.8,446,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2340,3022
$GC,7113,-0.96,-146.0,496.2,-6.8,454,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2340,3022
$GC,7438,-1.01,-146.0,518.5,-6.9,462,7442,0.00,2.17,0.00,0.000,4,0.000,0.046,2238,941,3022
$GC,7449,-1.01,-146.0,519.4,-6.6,462,7453,0.00,2.17,0.00,0.000,6,0.000,0.043,2238,2342,3021
$GC,7768,-1.06,-146.0,540.4,-6.7,470,7770,0.12,0.00,0.00,0.000,6,0.093,0.000,2191,2343,3021
$GC,8092,-0.95,-146.0,565.7,-7.6,478,8094,0.15,0.00,0.00,0.000,6,0.142,0.000,2233,2342,3022
$GC,8417,-0.95,-146.0,584.8,-5.7,486,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2343,3022
$GC,8742,-1.00,-146.0,602.1,-5.4,494,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2343,3022
$GC,9067,-1.00,-146.0,622.1,-5.7,502,9071,0.00,2.28,0.00,0.000,4,0.000,0.059,2233,3752,3022
$GC,9113,-1.07,-146.0,624.7,-5.7,503,9117,0.12,2.15,0.00,0.000,6,0.097,0.035,2189,2341,3022
$STATE,9440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9440,begin apogee
$GC,9447,-0.34,0.0,649.5,7.3,511,9580,0.57,0.00,130.02,1.202,6,0.142,0.000,2364,2519,2420
$STATE,9581,end apogee,CONTROL_FINISHED_OK
$STATE,9581,begin climb
$GC,9584,1.08,146.0,650.8,0.0,514,9725,1.00,0.00,136.50,1.127,6,0.097,0.000,2671,2518,1824
$GC,10033,0.91,146.0,612.0,9.1,525,10037,0.15,2.30,0.00,0.000,4,0.142,0.058,2627,3937,1824
$GC,10118,0.80,146.0,605.1,8.4,527,10122,0.00,2.17,0.00,0.000,6,0.000,0.036,2627,2515,1824
$GC,10447,0.80,146.0,580.0,7.4,535,10451,0.00,2.15,0.00,0.000,4,0.000,0.046,2627,1120,1824
$GC,10493,0.80,146.0,577.0,7.2,536,10497,0.00,2.20,0.00,0.000,6,0.000,0.044,2627,2534,1823
$GC,10823,0.80,146.0,553.4,7.2,544,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2534,1823
$GC,11148,0.80,146.0,529.8,7.4,552,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2534,1822
$GC,11473,0.80,146.0,506.6,7.2,560,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2534,1822
$GC,11798,0.80,146.0,483.4,7.0,568,11802,0.00,2.22,0.00,0.000,4,0.000,0.059,2627,3929,1822
$GC,11849,0.70,146.0,479.3,7.8,569,11853,0.15,2.15,0.00,0.000,6,0.135,0.035,2583,2512,1823
$GC,12173,0.93,205.8,462.8,5.0,577,12230,0.17,2.30,49.30,1.099,4,0.064,0.046,2656,1119,1581
$GC,12281,0.93,205.8,454.6,7.9,579,12285,0.00,2.22,0.00,0.000,6,0.000,0.043,2657,2524,1580
$GC,12629,0.93,205.8,426.0,8.4,588,12633,0.00,2.22,0.00,0.000,4,0.000,0.060,2656,3930,1580
$GC,12674,0.81,205.8,421.7,10.2,589,12679,0.17,2.15,0.00,0.000,6,0.136,0.035,2604,2514,1580
$GC,13005,0.96,210.1,399.5,6.9,597,13015,0.15,2.17,4.95,0.767,4,0.068,0.045,2668,1112,1563
$GC,13095,0.96,210.1,390.9,10.0,601,13099,0.10,2.20,0.00,0.000,6,0.143,0.043,2640,2530,1565
$GC,13427,0.96,210.1,362.0,8.4,617,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2530,1565
$GC,13736,0.96,210.1,336.8,8.2,632,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2530,1564
$GC,14045,0.96,210.1,311.4,8.1,647,14049,0.00,2.20,0.00,0.000,4,0.000,0.046,2640,1121,1565
$GC,14098,1.04,210.1,307.4,7.9,649,14102,0.08,2.20,0.00,0.000,6,0.098,0.043,2678,2530,1565
$GC,14424,0.95,210.1,277.7,9.1,665,14429,0.15,2.25,0.00,0.000,4,0.120,0.058,2633,3929,1565
$GC,14486,0.95,210.1,272.3,8.7,667,14492,0.00,2.15,0.00,0.000,6,0.000,0.035,2632,2513,1565
$GC,14802,1.04,217.7,250.5,6.8,683,14817,0.10,2.20,8.05,0.843,4,0.087,0.046,2679,1126,1532
$GC,14862,1.04,217.7,245.4,8.7,685,14869,0.00,2.17,0.00,0.000,6,0.000,0.042,2679,2525,1533
$GC,15179,0.97,217.7,218.8,8.2,701,15183,0.12,2.25,0.00,0.000,4,0.133,0.058,2641,3927,1534
$GC,15228,0.97,217.7,214.7,7.8,703,15232,0.00,2.15,0.00,0.000,6,0.000,0.035,2641,2509,1534
$GC,15556,1.04,225.3,192.6,6.8,719,15570,0.00,2.20,7.90,0.812,4,0.000,0.045,2641,1124,1501
$GC,15646,1.16,231.2,186.3,6.8,723,15657,0.15,2.17,6.40,0.753,6,0.071,0.042,2705,2524,1477
$GC,15976,1.05,231.2,154.4,9.7,739,15977,0.15,0.00,0.00,0.000,6,0.123,0.000,2658,2524,1479
$GC,16283,1.05,231.2,131.8,7.3,754,16284,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2524,1479
$GC,16592,1.10,231.2,109.9,7.3,769,16596,0.00,2.20,0.00,0.000,4,0.000,0.046,2658,1121,1479
$GC,16671,1.20,231.2,104.2,7.9,772,16676,0.12,2.20,0.00,0.000,6,0.075,0.043,2709,2532,1479
$GC,17010,1.12,231.2,77.2,7.3,826,17017,0.12,2.25,0.00,0.000,4,0.125,0.059,2670,3927,1479
$GC,17069,1.12,231.2,72.8,7.1,836,17076,0.00,2.15,0.00,0.000,6,0.000,0.035,2670,2511,1479
$GC,17415,1.23,236.7,51.8,6.8,897,17429,0.12,2.17,6.47,0.722,4,0.072,0.046,2722,1120,1454
$GC,17475,1.23,236.7,46.7,9.0,907,17482,0.00,2.20,0.00,0.000,6,0.000,0.043,2722,2529,1455
$GC,17821,1.16,236.7,17.2,8.7,968,17827,0.12,0.00,0.00,0.000,6,0.127,0.000,2684,2530,1456
$STATE,18054,end climb,SURFACE_DEPTH_REACHED
$STATE,18055,begin surface coast
$FINISH,1.0,1.016283
$STATE,18090,end surface coast,CONTROL_FINISHED_OK
$STATE,18090,begin surface
$SM_CCo,18168,0.00,0.000,0,0,1456,236.47
$SM_GC,1.90,6.82,0.00,0.00,0.052,0.000,0.000,154,2338,1456,-10.41,-0.06,236.47
$RAFOS_CLK,921
$RAFOS,4,1227861860,8.750000,8.738889,65,61,59,59,53,50,202,146,219,712,180,156
$RAFOS,3,1227861251,8.583333,8.569722,70,65,62,58,54,53,216,174,944,191,118,131
$RAFOS,2,1227860677,8.416667,8.410277,99,60,59,57,55,54,440,167,195,214,205,126
$RAFOS,1,1227860068,8.250000,8.241111,62,59,58,58,57,57,128,724,215,117,177,203
$RAFOS,0,1227859452,8.083333,8.070000,67,67,65,63,56,55,193,971,222,153,174,210
$RAFOS_FIX,6538.223145,-5834.633789,281108,080856,2,84,22.37
$IRIDIUM_FIX,6636.54,-5702.96,220298,010157
$TT8_MAMPS,0.027612
$HUMID,1874
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,16.60
$XPDR_PINGS,4
$24V_AH,20.7,67.493
$10V_AH,10.6,29.857
$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,20.625,142.200,349.600,0.000,0.000,22.593,31.616,204.019,1.000,0.000,0.000,14.071,1891.971,13708.084,499.711,1897.450,593.404,33.383,1542.349,0.000,1873.902,1800.000,0.529,0.000
$DEVICE_MAMPS,255.411,62.894,1201.889,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,783.485,689.011,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37848,1016
$CAP_FILE_SIZE,141613,0
$CFSIZE,260165632,224038912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.2
$GPS,281108,112725,6704.621,-5703.799,39,1.0,39,-37.6