version: 66.04
glider: 113
mission: 4
dive: 367
start: 11 29 108 3 2 52
data:
$ID,113
$MISSION,4
$DIVE,367
$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,-31886.529
$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,24
$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
$GPS1,025456,6705.359,-5705.645,61,1.1,61,-37.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.1
$GPS2,030157,6705.374,-5705.729,12,1.5,12,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.219,-0.047
$KALMAN_X,-99618.3,662.1,150.0,112458.8,-4485.4
$KALMAN_Y,-13437.0,42.1,392.7,32447.3,1040.9
$MHEAD_RNG_PITCHd_Wd,139.8,13536,-12.9,-7.021
$D_GRID,616
$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,-146.0,0.0,0.0,0,117,0.00,0.00,-97.95,0.000,2,0.000,0.000,162,2356,2892
$GC,120,-1.08,-146.0,3.0,-2.0,17,140,8.55,2.25,-4.53,0.000,4,0.254,0.059,2197,921,3018
$GC,169,0.06,-146.0,12.7,-18.8,25,177,0.88,2.25,0.00,0.000,6,0.166,0.046,2450,2349,3020
$GC,515,-0.51,-146.0,31.6,-6.1,86,522,0.35,2.28,0.00,0.000,4,0.074,0.062,2316,3745,3020
$GC,569,-0.55,-146.0,35.4,-7.7,95,575,0.00,2.20,0.00,0.000,6,0.000,0.037,2316,2311,3020
$GC,914,-0.62,-146.0,62.3,-8.3,156,920,0.00,2.35,0.00,0.000,4,0.000,0.062,2316,3742,3020
$GC,966,-0.74,-146.0,66.5,-8.0,165,973,0.15,2.15,0.00,0.000,6,0.085,0.037,2259,2342,3020
$GC,1312,-0.69,-146.0,93.5,-7.5,226,1319,0.12,2.22,0.00,0.000,4,0.155,0.049,2294,929,3018
$GC,1326,-0.69,-146.0,94.6,-7.7,228,1332,0.00,2.22,0.00,0.000,6,0.000,0.047,2294,2340,3018
$GC,1656,-0.78,-146.0,116.1,-6.5,254,1658,0.10,0.00,0.00,0.000,6,0.099,0.000,2257,2340,3017
$GC,1963,-0.78,-146.0,138.9,-7.7,269,1966,0.00,2.28,0.00,0.000,4,0.000,0.061,2256,3742,3017
$GC,1974,-0.78,-146.0,139.7,-7.6,269,1978,0.00,2.15,0.00,0.000,6,0.000,0.035,2256,2328,3016
$GC,2295,-0.78,-146.0,163.6,-7.6,285,2299,0.00,2.35,0.00,0.000,4,0.000,0.062,2256,3753,3017
$GC,2306,-0.78,-146.0,164.4,-7.4,285,2310,0.00,2.17,0.00,0.000,6,0.000,0.035,2257,2334,3016
$GC,2628,-0.78,-146.0,186.9,-6.6,301,2632,0.00,2.33,0.00,0.000,4,0.000,0.061,2256,3750,3017
$GC,2644,-0.78,-146.0,188.0,-5.9,301,2650,0.00,2.17,0.00,0.000,6,0.000,0.035,2256,2328,3017
$GC,2960,-0.78,-146.0,207.4,-6.0,317,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2328,3017
$GC,3270,-0.78,-146.0,226.1,-5.8,332,3274,0.00,2.33,0.00,0.000,4,0.000,0.060,2256,3753,3018
$GC,3383,-0.86,-146.0,233.0,-5.8,337,3387,0.00,2.17,0.00,0.000,6,0.000,0.035,2256,2327,3017
$GC,3716,-0.91,-146.0,251.5,-5.6,353,3720,0.00,2.15,0.00,0.000,4,0.000,0.047,2256,942,3018
$GC,3734,-0.91,-146.0,252.5,-5.4,353,3740,0.00,2.20,0.00,0.000,6,0.000,0.044,2256,2344,3018
$GC,4051,-0.97,-146.0,271.0,-5.9,369,4053,0.12,0.00,0.00,0.000,6,0.089,0.000,2206,2344,3018
$GC,4359,-0.88,-146.0,294.1,-7.3,384,4361,0.15,0.00,0.00,0.000,6,0.146,0.000,2248,2344,3019
$GC,4669,-0.88,-146.0,310.5,-5.3,399,4672,0.00,2.28,0.00,0.000,4,0.000,0.060,2248,3750,3021
$GC,4719,-0.96,-146.0,313.6,-6.4,401,4723,0.00,2.15,0.00,0.000,6,0.000,0.035,2248,2340,3020
$GC,5048,-1.02,-146.0,333.6,-6.3,417,5052,0.12,2.30,0.00,0.000,4,0.096,0.058,2202,3742,3021
$GC,5132,-0.94,-146.0,340.2,-8.1,421,5137,0.12,2.15,0.00,0.000,6,0.149,0.035,2235,2325,3021
$GC,5465,-0.94,-146.0,361.5,-6.3,437,5471,0.00,2.30,0.00,0.000,4,0.000,0.060,2235,3742,3021
$GC,5512,-0.99,-146.0,364.6,-6.3,439,5515,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2330,3021
$GC,5845,-0.99,-146.0,385.3,-6.1,455,5849,0.00,2.33,0.00,0.000,4,0.000,0.059,2235,3750,3022
$GC,5886,-1.04,-146.0,387.8,-6.3,456,5892,0.10,2.17,0.00,0.000,6,0.103,0.035,2200,2326,3022
$GC,6200,-0.95,-146.0,409.9,-7.0,469,6205,0.12,2.35,0.00,0.000,4,0.149,0.058,2233,3753,3023
$GC,6274,-1.00,-146.0,414.4,-6.2,470,6277,0.00,2.17,0.00,0.000,6,0.000,0.034,2233,2326,3023
$GC,6611,-1.00,-146.0,433.6,-5.6,479,6615,0.00,2.33,0.00,0.000,4,0.000,0.059,2233,3746,3023
$GC,6633,-1.00,-146.0,434.9,-5.8,479,6637,0.00,2.15,0.00,0.000,6,0.000,0.034,2233,2334,3023
$GC,6981,-1.00,-146.0,454.3,-5.6,488,6985,0.00,2.30,0.00,0.000,4,0.000,0.059,2233,3746,3023
$GC,7016,-1.05,-146.0,456.3,-6.1,488,7020,0.12,2.15,0.00,0.000,6,0.097,0.035,2189,2335,3023
$GC,7352,-0.93,-146.0,480.2,-7.1,497,7357,0.17,2.33,0.00,0.000,4,0.144,0.058,2240,3749,3023
$GC,7414,-1.02,-146.0,484.0,-5.6,498,7419,0.10,2.15,0.00,0.000,6,0.095,0.035,2203,2335,3023
$GC,7763,-0.95,-146.0,506.6,-6.7,507,7765,0.10,0.00,0.00,0.000,6,0.149,0.000,2230,2333,3023
$GC,8087,-0.95,-146.0,526.3,-6.1,515,8091,0.00,2.30,0.00,0.000,4,0.000,0.060,2230,3744,3024
$GC,8155,-1.01,-146.0,530.6,-6.6,516,8158,0.00,2.15,0.00,0.000,6,0.000,0.035,2231,2335,3023
$GC,8503,-1.01,-146.0,551.7,-6.0,525,8507,0.00,2.30,0.00,0.000,4,0.000,0.059,2230,3743,3024
$GC,8515,-1.01,-146.0,552.4,-6.1,525,8519,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2331,3023
$GC,8834,-1.01,-146.0,572.3,-6.4,533,8838,0.00,2.30,0.00,0.000,4,0.000,0.058,2231,3742,3024
$GC,8846,-1.01,-146.0,572.9,-6.1,533,8850,0.00,2.12,0.00,0.000,6,0.000,0.034,2231,2341,3024
$GC,9164,-1.01,-146.0,593.1,-6.5,541,9168,0.00,2.30,0.00,0.000,4,0.000,0.059,2231,3746,3024
$GC,9193,-1.07,-146.0,594.9,-6.7,541,9197,0.12,2.15,0.00,0.000,6,0.091,0.034,2185,2329,3024
$GC,9536,-1.14,-146.0,615.3,-4.2,550,9540,0.00,2.17,0.00,0.000,4,0.000,0.046,2185,932,3024
$STATE,9692,end dive,NO_VERTICAL_VELOCITY
$STATE,9692,begin apogee
$GC,9703,-0.34,0.0,615.5,0.0,553,9836,0.50,0.00,129.55,1.180,6,0.095,0.000,2360,2521,2420
$STATE,9836,end apogee,CONTROL_FINISHED_OK
$STATE,9836,begin climb
$GC,9840,1.08,146.0,615.3,0.0,556,9983,1.00,2.65,135.32,1.106,4,0.104,0.058,2665,3922,1824
$GC,10093,0.84,146.0,593.0,11.5,561,10100,0.20,2.28,0.00,0.000,6,0.134,0.035,2611,2527,1825
$GC,10424,0.84,146.0,569.3,7.3,570,10428,0.00,2.20,0.00,0.000,4,0.000,0.046,2611,1109,1824
$GC,10470,0.95,168.8,566.7,6.2,571,10496,0.12,2.20,19.90,1.086,6,0.074,0.043,2664,2522,1731
$GC,10839,0.84,168.8,535.7,8.5,580,10843,0.17,2.25,0.00,0.000,4,0.127,0.058,2611,3930,1731
$GC,10939,0.84,168.8,528.3,7.2,582,10943,0.00,2.15,0.00,0.000,6,0.000,0.035,2611,2516,1731
$GC,11258,0.97,210.1,510.0,5.6,590,11300,0.12,2.25,34.42,1.109,4,0.076,0.048,2665,1119,1563
$GC,11357,0.97,210.1,502.1,7.7,592,11361,0.00,2.20,0.00,0.000,6,0.000,0.043,2665,2522,1563
$GC,11675,0.90,210.1,475.5,8.3,600,11679,0.12,2.25,0.00,0.000,4,0.134,0.058,2628,3929,1564
$GC,11721,0.90,210.1,471.8,7.9,601,11724,0.00,2.15,0.00,0.000,6,0.000,0.035,2628,2515,1564
$GC,12052,0.99,233.0,450.9,6.2,609,12077,0.10,2.22,20.02,1.056,4,0.086,0.047,2674,1110,1470
$GC,12150,0.99,233.0,442.6,9.1,611,12154,0.00,2.22,0.00,0.000,6,0.000,0.042,2674,2535,1470
$GC,12464,0.93,233.0,415.4,8.6,619,12469,0.15,2.22,0.00,0.000,4,0.131,0.057,2628,3927,1470
$GC,12503,0.93,233.0,412.1,8.1,619,12509,0.00,2.15,0.00,0.000,6,0.000,0.035,2627,2510,1470
$GC,12816,1.05,253.1,391.9,6.3,630,12840,0.12,2.25,17.77,1.019,4,0.077,0.046,2680,1120,1388
$GC,12931,1.05,253.1,381.7,8.9,635,12935,0.00,2.20,0.00,0.000,6,0.000,0.043,2680,2525,1389
$GC,13264,0.98,253.1,351.3,9.0,651,13266,0.12,0.00,0.00,0.000,6,0.135,0.000,2642,2526,1388
$GC,13574,1.05,253.1,329.2,7.3,666,13578,0.08,2.22,0.00,0.000,4,0.099,0.045,2679,1110,1388
$GC,13651,1.05,253.1,322.1,9.8,669,13655,0.00,2.20,0.00,0.000,6,0.000,0.043,2679,2529,1389
$GC,13973,1.00,253.1,289.5,10.4,685,13975,0.12,0.00,0.00,0.000,6,0.133,0.000,2641,2529,1388
$GC,14283,1.08,253.1,264.9,7.7,700,14287,0.10,2.22,0.00,0.000,4,0.083,0.045,2690,1113,1388
$GC,14360,1.08,253.1,257.2,9.7,703,14364,0.00,2.20,0.00,0.000,6,0.000,0.042,2689,2529,1388
$GC,14682,1.01,253.1,225.5,9.7,719,14684,0.12,0.00,0.00,0.000,6,0.128,0.000,2653,2529,1388
$GC,14990,1.07,253.1,201.0,7.9,734,14994,0.00,2.22,0.00,0.000,4,0.000,0.046,2653,1110,1388
$GC,15069,1.16,253.1,194.7,8.1,737,15073,0.12,2.20,0.00,0.000,6,0.076,0.042,2707,2522,1388
$GC,15390,1.06,253.1,161.5,10.8,753,15392,0.15,0.00,0.00,0.000,6,0.123,0.000,2661,2522,1388
$GC,15699,1.11,253.1,136.3,7.8,768,15703,0.00,2.20,0.00,0.000,4,0.000,0.047,2661,1116,1388
$GC,15755,1.20,253.1,131.7,8.1,770,15759,0.12,2.20,0.00,0.000,6,0.077,0.042,2712,2530,1388
$GC,16076,1.11,253.1,98.4,10.0,786,16083,0.12,2.22,0.00,0.000,4,0.127,0.059,2674,3923,1389
$GC,16146,1.06,253.1,91.6,9.6,798,16152,0.00,2.15,0.00,0.000,6,0.000,0.035,2673,2508,1388
$GC,16490,1.16,288.2,67.0,5.8,859,16525,0.00,0.00,29.17,0.857,6,0.000,0.000,2674,2508,1245
$GC,16864,1.34,322.7,44.6,5.8,925,16900,0.17,2.20,28.83,0.842,4,0.064,0.047,2749,1123,1103
$GC,16952,1.34,322.7,37.0,9.0,940,16959,0.00,2.20,0.00,0.000,6,0.000,0.042,2749,2526,1103
$GC,17297,1.25,322.7,5.5,11.8,1001,17303,0.15,2.25,0.00,0.000,4,0.130,0.061,2704,3924,1101
$STATE,17324,end climb,SURFACE_DEPTH_REACHED
$STATE,17324,begin surface coast
$FINISH,0.7,1.013739
$STATE,17342,end surface coast,CONTROL_FINISHED_OK
$STATE,17342,begin surface
$SM_CCo,17422,0.00,0.000,0,0,1100,323.80
$SM_GC,1.72,6.93,0.00,0.00,0.059,0.000,0.000,161,2336,1100,-10.38,-0.11,323.80
$RAFOS_CLK,880
$RAFOS,4,1227933847,4.750000,4.735278,58,57,57,53,52,52,175,195,204,217,117,921
$RAFOS,3,1227933241,4.583333,4.566945,60,59,59,58,55,54,199,168,222,187,158,146
$RAFOS,2,1227932650,4.416667,4.402778,61,59,58,57,57,53,132,117,586,210,183,168
$RAFOS,1,1227932045,4.250000,4.234722,72,64,56,55,52,50,845,177,226,155,215,146
$RAFOS,0,1227931444,4.083333,4.067778,59,55,54,53,49,48,210,135,151,197,160,178
$RAFOS_FIX,6704.449707,-5710.710938,291108,000016,2,110,0.43
$IRIDIUM_FIX,6636.54,-5712.23,220298,222210
$TT8_MAMPS,0.027612
$HUMID,1858
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.70
$XPDR_PINGS,3
$24V_AH,20.7,68.054
$10V_AH,10.6,30.153
$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,22.475,165.475,415.000,0.000,0.000,24.019,30.477,225.532,0.750,0.000,0.000,14.252,1892.849,12744.606,550.147,2047.372,604.051,33.384,1672.167,0.000,2006.942,1800.000,0.529,0.000
$DEVICE_MAMPS,253.877,62.127,1180.413,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.031,682.861,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37845,1009
$CAP_FILE_SIZE,150365,0
$CFSIZE,260165632,223748096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.6
$GPS,291108,075458,6705.069,-5704.304,38,2.6,57,-37.7