version: 66.04
glider: 113
mission: 4
dive: 369
start: 11 29 108 12 59 53
data:
$ID,113
$MISSION,4
$DIVE,369
$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,-31931.768
$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,43
$R_STBD_OVSHOOT,31
$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
$GPS1,125207,6705.345,-5703.400,25,1.3,25,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-63.1
$GPS2,125859,6705.404,-5703.451,9,2.5,28,-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,0.107,-0.197
$KALMAN_X,-104939.8,-333.2,649.5,119943.0,-4409.1
$KALMAN_Y,-9818.9,-413.6,-594.6,30317.9,4342.0
$MHEAD_RNG_PITCHd_Wd,189.1,12013,-12.9,-7.021
$D_GRID,590
$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,16,-1.08,-146.0,0.0,0.0,0,127,0.00,0.00,-108.22,0.000,2,0.000,0.000,164,2331,2985
$GC,130,-1.08,-146.0,3.3,-2.7,19,145,8.65,2.28,-1.00,0.000,4,0.257,0.063,2199,932,3018
$GC,236,-0.54,-146.0,23.8,-15.9,37,243,0.43,2.22,0.00,0.000,6,0.163,0.046,2323,2347,3021
$GC,581,-0.58,-146.0,53.1,-8.2,98,588,0.00,2.28,0.00,0.000,4,0.000,0.063,2323,3750,3019
$GC,651,-0.71,-146.0,58.7,-8.5,110,657,0.15,2.17,0.00,0.000,6,0.081,0.036,2265,2328,3020
$GC,996,-0.65,-146.0,91.9,-9.1,171,1003,0.12,2.33,0.00,0.000,4,0.150,0.059,2298,3743,3018
$GC,1038,-0.73,-146.0,95.5,-8.5,178,1044,0.10,2.15,0.00,0.000,6,0.091,0.036,2260,2340,3018
$GC,1359,-0.73,-146.0,121.8,-7.8,200,1363,0.00,2.30,0.00,0.000,4,0.000,0.061,2259,3743,3018
$GC,1399,-0.73,-146.0,124.8,-7.3,201,1405,0.00,2.15,0.00,0.000,6,0.000,0.035,2260,2340,3017
$GC,1714,-0.73,-146.0,148.4,-7.2,217,1718,0.00,2.30,0.00,0.000,4,0.000,0.061,2260,3749,3017
$GC,1741,-0.73,-146.0,150.5,-7.3,218,1745,0.00,2.17,0.00,0.000,6,0.000,0.035,2259,2325,3016
$GC,2068,-0.73,-146.0,172.1,-6.2,234,2072,0.00,2.33,0.00,0.000,4,0.000,0.060,2259,3746,3016
$GC,2108,-0.80,-146.0,174.8,-6.7,235,2114,0.00,2.15,0.00,0.000,6,0.000,0.034,2259,2338,3016
$GC,2424,-0.80,-146.0,195.1,-6.5,251,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2338,3017
$GC,2733,-0.80,-146.0,215.4,-6.4,266,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2338,3017
$GC,3043,-0.85,-146.0,235.7,-6.5,281,3047,0.00,2.30,0.00,0.000,4,0.000,0.058,2259,3746,3018
$GC,3089,-0.94,-146.0,238.9,-7.1,283,3094,0.10,2.15,0.00,0.000,6,0.094,0.034,2220,2333,3018
$GC,3422,-0.87,-146.0,264.2,-7.4,299,3427,0.10,2.33,0.00,0.000,4,0.159,0.059,2245,3746,3018
$GC,3433,-0.87,-146.0,265.0,-7.3,299,3440,0.00,2.15,0.00,0.000,6,0.000,0.034,2245,2336,3019
$GC,3749,-0.87,-146.0,286.9,-7.2,315,3753,0.00,2.30,0.00,0.000,4,0.000,0.059,2245,3746,3019
$GC,3771,-0.87,-146.0,288.6,-7.7,316,3775,0.00,2.15,0.00,0.000,6,0.000,0.034,2245,2330,3019
$GC,4103,-0.87,-146.0,313.4,-7.3,332,4107,0.00,2.30,0.00,0.000,4,0.000,0.058,2245,3743,3019
$GC,4132,-0.93,-146.0,315.4,-7.9,333,4136,0.00,2.12,0.00,0.000,6,0.000,0.033,2245,2341,3019
$GC,4459,-0.93,-146.0,337.3,-6.4,349,4463,0.00,2.30,0.00,0.000,4,0.000,0.059,2246,3748,3020
$GC,4476,-0.98,-146.0,338.3,-6.4,349,4483,0.00,2.15,0.00,0.000,6,0.000,0.034,2245,2333,3021
$GC,4793,-0.98,-146.0,357.1,-5.6,365,4797,0.00,2.30,0.00,0.000,4,0.000,0.058,2245,3751,3021
$GC,4803,-0.98,-146.0,357.7,-5.7,365,4807,0.00,2.15,0.00,0.000,6,0.000,0.032,2245,2335,3021
$GC,5124,-1.03,-146.0,376.0,-5.8,381,5129,0.12,2.30,0.00,0.000,4,0.095,0.057,2194,3743,3021
$GC,5147,-0.97,-146.0,377.7,-7.5,382,5152,0.12,2.15,0.00,0.000,6,0.144,0.032,2227,2326,3022
$GC,5474,-0.97,-146.0,399.9,-6.6,398,5478,0.00,2.33,0.00,0.000,4,0.000,0.058,2227,3750,3022
$GC,5502,-0.97,-146.0,401.8,-6.5,399,5506,0.00,2.15,0.00,0.000,6,0.000,0.032,2227,2333,3022
$GC,5845,-0.97,-146.0,423.1,-6.1,408,5849,0.00,2.30,0.00,0.000,4,0.000,0.058,2227,3752,3023
$GC,5896,-0.97,-146.0,426.2,-5.8,409,5900,0.00,2.15,0.00,0.000,6,0.000,0.033,2227,2339,3023
$GC,6221,-0.97,-146.0,444.8,-5.7,417,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2339,3023
$GC,6546,-0.97,-146.0,463.1,-5.7,425,6550,0.00,2.30,0.00,0.000,4,0.000,0.058,2227,3746,3023
$GC,6557,-0.97,-146.0,463.8,-5.6,425,6561,0.00,2.15,0.00,0.000,6,0.000,0.033,2227,2331,3023
$GC,6876,-0.97,-146.0,480.7,-5.2,433,6880,0.00,2.30,0.00,0.000,4,0.000,0.058,2227,3746,3024
$GC,6903,-0.97,-146.0,482.2,-5.6,433,6907,0.00,2.15,0.00,0.000,6,0.000,0.033,2227,2331,3024
$GC,7247,-0.97,-146.0,502.0,-5.8,442,7250,0.00,2.30,0.00,0.000,4,0.000,0.058,2227,3745,3024
$GC,7263,-0.97,-146.0,503.0,-5.8,442,7267,0.00,2.15,0.00,0.000,6,0.000,0.032,2227,2330,3024
$GC,7576,-0.97,-146.0,522.2,-6.4,450,7580,0.00,2.30,0.00,0.000,4,0.000,0.057,2227,3743,3024
$GC,7587,-0.97,-146.0,522.8,-6.1,450,7591,0.00,2.15,0.00,0.000,6,0.000,0.033,2227,2327,3024
$GC,7906,-0.97,-146.0,543.2,-6.6,458,7910,0.00,2.33,0.00,0.000,4,0.000,0.057,2227,3752,3024
$GC,7917,-0.97,-146.0,543.8,-6.3,458,7921,0.00,2.15,0.00,0.000,6,0.000,0.032,2227,2336,3024
$GC,8236,-0.97,-146.0,563.0,-5.9,466,8240,0.00,2.30,0.00,0.000,4,0.000,0.058,2227,3743,3025
$GC,8283,-1.02,-146.0,566.0,-6.4,467,8287,0.00,2.15,0.00,0.000,6,0.000,0.033,2227,2327,3024
$GC,8613,-1.02,-146.0,586.4,-5.8,475,8617,0.00,2.33,0.00,0.000,4,0.000,0.058,2227,3752,3025
$GC,8623,-1.02,-146.0,587.1,-5.8,475,8627,0.00,2.15,0.00,0.000,6,0.000,0.032,2227,2335,3024
$STATE,8696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8696,begin apogee
$GC,8703,-0.34,0.0,591.4,5.4,477,8835,0.43,0.00,128.98,1.165,6,0.130,0.000,2362,2532,2420
$STATE,8836,end apogee,CONTROL_FINISHED_OK
$STATE,8836,begin climb
$GC,8838,1.08,146.0,593.0,0.0,480,8981,1.00,2.67,134.48,1.089,4,0.100,0.058,2668,3922,1825
$GC,9057,0.81,146.0,572.9,11.0,485,9063,0.22,2.33,0.00,0.000,6,0.135,0.033,2611,2522,1824
$GC,9376,0.89,162.7,552.0,6.4,493,9396,0.00,2.25,14.90,1.038,4,0.000,0.046,2611,1102,1757
$GC,9459,0.99,162.7,546.2,7.7,494,9466,0.15,2.22,0.00,0.000,6,0.067,0.042,2675,2525,1757
$GC,9790,0.84,162.7,515.6,9.4,503,9795,0.20,2.22,0.00,0.000,4,0.127,0.058,2614,3925,1757
$GC,9873,0.84,162.7,508.9,8.3,504,9880,0.00,2.15,0.00,0.000,6,0.000,0.034,2613,2503,1756
$GC,10206,0.94,195.9,489.1,5.9,513,10241,0.10,2.25,28.15,1.085,4,0.084,0.046,2660,1119,1621
$GC,10292,0.94,195.9,482.1,8.6,515,10296,0.00,2.20,0.00,0.000,6,0.000,0.042,2660,2522,1621
$GC,10623,0.88,195.9,452.4,9.1,523,10627,0.12,2.25,0.00,0.000,4,0.135,0.058,2623,3934,1622
$GC,10684,0.88,195.9,446.6,9.7,524,10688,0.00,2.15,0.00,0.000,6,0.000,0.035,2623,2517,1621
$GC,10997,0.96,195.9,424.7,7.0,532,11001,0.00,2.17,0.00,0.000,4,0.000,0.045,2623,1109,1621
$GC,11065,1.06,200.5,420.1,6.9,533,11075,0.15,2.20,5.18,0.793,6,0.071,0.041,2686,2527,1602
$GC,11389,0.94,200.5,389.4,9.6,544,11394,0.17,2.25,0.00,0.000,4,0.127,0.058,2632,3933,1603
$GC,11467,0.89,200.5,382.7,7.9,547,11471,0.00,2.15,0.00,0.000,6,0.000,0.034,2632,2518,1603
$GC,11789,0.94,200.5,360.7,7.1,563,11793,0.00,2.15,0.00,0.000,4,0.000,0.045,2633,1119,1603
$GC,11879,1.02,200.5,354.0,7.6,567,11883,0.10,2.17,0.00,0.000,6,0.085,0.042,2678,2521,1603
$GC,12212,0.94,200.5,322.3,9.7,583,12216,0.15,2.25,0.00,0.000,4,0.117,0.056,2632,3926,1603
$GC,12279,0.94,200.5,316.3,8.7,586,12283,0.00,2.12,0.00,0.000,6,0.000,0.034,2632,2522,1603
$GC,12611,0.99,200.5,291.7,7.1,602,12616,0.00,2.17,0.00,0.000,4,0.000,0.045,2632,1112,1603
$GC,12702,1.09,202.1,285.4,7.0,606,12707,0.12,2.20,0.00,0.000,6,0.076,0.041,2689,2533,1603
$GC,13035,0.98,202.1,255.2,8.8,622,13040,0.15,2.22,0.00,0.000,4,0.120,0.057,2642,3923,1603
$GC,13126,0.93,202.1,247.9,7.9,626,13130,0.00,2.15,0.00,0.000,6,0.000,0.034,2642,2505,1603
$GC,13454,0.93,202.1,224.3,7.4,642,13458,0.00,2.15,0.00,0.000,4,0.000,0.045,2642,1112,1603
$GC,13516,1.00,202.1,219.7,7.5,644,13523,0.00,2.20,0.00,0.000,6,0.000,0.041,2642,2528,1603
$GC,13833,1.05,202.1,196.1,7.4,660,13838,0.08,2.25,0.00,0.000,4,0.094,0.058,2685,3933,1603
$GC,13884,0.85,202.1,190.9,10.7,662,13888,0.22,2.15,0.00,0.000,6,0.130,0.035,2621,2517,1603
$GC,14211,1.03,240.6,171.6,5.7,678,14254,0.12,2.28,33.12,0.913,4,0.077,0.044,2678,1118,1439
$GC,14310,1.03,240.6,164.0,7.8,682,14314,0.00,2.20,0.00,0.000,6,0.000,0.041,2678,2530,1439
$GC,14632,1.03,240.6,138.8,7.9,698,14633,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2530,1439
$GC,14941,1.03,240.6,113.2,8.1,713,14944,0.00,2.20,0.00,0.000,4,0.000,0.044,2678,1118,1440
$GC,14997,1.07,240.6,108.8,8.4,715,15000,0.00,2.17,0.00,0.000,6,0.000,0.041,2678,2521,1439
$GC,15329,1.07,240.6,83.0,7.8,757,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2521,1440
$GC,15673,1.16,254.9,58.5,6.5,818,15690,0.00,0.00,13.18,0.815,6,0.000,0.000,2679,2521,1380
$GC,16029,1.33,286.0,37.7,6.0,881,16060,0.15,2.30,25.58,0.844,4,0.066,0.047,2749,1120,1254
$GC,16123,1.33,286.0,29.2,8.9,897,16130,0.10,2.20,0.00,0.000,6,0.138,0.042,2721,2528,1253
$GC,16468,1.33,286.0,2.2,7.5,958,16474,0.00,2.22,0.00,0.000,4,0.000,0.047,2721,1105,1253
$STATE,16478,end climb,SURFACE_DEPTH_REACHED
$STATE,16478,begin surface coast
$FINISH,0.9,1.013160
$STATE,16507,end surface coast,CONTROL_FINISHED_OK
$STATE,16508,begin surface
$SM_CCo,16588,0.00,0.000,0,0,1251,286.76
$SM_GC,1.74,6.90,0.00,0.00,0.054,0.000,0.000,160,2342,1251,-10.38,0.06,286.76
$RAFOS_CLK,834
$RAFOS,4,1227977043,16.750000,16.734167,66,59,58,56,52,52,789,212,184,195,151,162
$RAFOS,3,1227976460,16.583334,16.572222,65,57,56,53,51,51,192,334,207,228,165,219
$RAFOS,2,1227975841,16.416666,16.400278,59,58,56,54,54,52,623,192,636,176,157,134
$RAFOS,1,1227975255,16.250000,16.237499,60,51,49,48,47,47,208,113,224,127,150,170
$RAFOS,0,1227974644,16.083334,16.067778,65,59,55,52,51,51,192,175,132,150,212,228
$RAFOS,4,1227962641,12.750000,12.733611,66,60,56,55,53,50,212,200,144,176,124,225
$RAFOS_FIX,6700.551758,-5704.857910,291108,121220,2,90,0.54
$IRIDIUM_FIX,6641.98,-5838.43,230298,080849
$TT8_MAMPS,0.028379
$HUMID,1863
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,20.8,68.316
$10V_AH,10.6,30.298
$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,20.550,173.600,383.550,0.000,0.000,27.127,35.658,193.596,0.500,0.000,0.000,31.297,1795.612,12119.242,528.937,1976.359,573.436,33.380,1612.735,0.000,1917.674,1800.000,0.529,0.000
$DEVICE_MAMPS,256.945,62.894,1165.073,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.138,653.231,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34694,965
$CAP_FILE_SIZE,144347,0
$CFSIZE,260165632,223617024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.9
$GPS,291108,173738,6706.461,-5708.078,31,1.2,31,-37.7