version: 66.04
glider: 113
mission: 4
dive: 376
start: 11 30 108 21 56 35
data:
$ID,113
$MISSION,4
$DIVE,376
$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,558.3028
$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,-32047.188
$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,49
$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
$GPS1,214038,6707.270,-5712.211,28,1.0,28,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.4
$GPS2,215538,6707.195,-5712.545,9,1.1,14,-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,0.177,-0.137
$KALMAN_X,-129712.0,-816.1,-37.2,139278.8,-2087.4
$KALMAN_Y,7496.6,872.0,-512.8,14966.4,2011.9
$MHEAD_RNG_PITCHd_Wd,165.5,19353,-12.9,-7.021
$D_GRID,644
$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,-146.0,0.0,0.0,0,136,0.00,0.00,-117.45,0.000,2,0.000,0.000,156,2325,2978
$GC,139,-1.08,-146.0,3.3,-2.8,21,159,8.60,2.22,-1.25,0.000,4,0.254,0.062,2196,949,3018
$GC,413,-0.66,-146.0,48.7,-14.3,69,419,0.35,2.20,0.00,0.000,6,0.166,0.047,2293,2344,3019
$GC,757,-0.66,-146.0,79.0,-7.9,130,764,0.00,2.20,0.00,0.000,4,0.000,0.049,2293,948,3019
$GC,770,-0.66,-146.0,80.0,-7.9,132,776,0.00,2.20,0.00,0.000,6,0.000,0.044,2293,2350,3018
$GC,1120,-0.66,-146.0,103.9,-6.3,186,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2350,3019
$GC,1429,-0.73,-146.0,125.5,-6.9,201,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2349,3018
$GC,1738,-0.82,-146.0,145.1,-6.0,216,1740,0.15,0.00,0.00,0.000,6,0.085,0.000,2235,2350,3017
$GC,2048,-0.76,-146.0,170.4,-8.4,231,2053,0.15,2.28,0.00,0.000,4,0.156,0.060,2276,3742,3017
$GC,2098,-0.87,-146.0,174.1,-6.5,233,2103,0.12,2.15,0.00,0.000,6,0.091,0.035,2231,2336,3017
$GC,2421,-0.80,-146.0,198.7,-7.8,249,2425,0.12,2.20,0.00,0.000,4,0.156,0.046,2264,932,3017
$GC,2447,-0.80,-146.0,201.1,-7.9,250,2451,0.00,2.22,0.00,0.000,6,0.000,0.044,2265,2347,3017
$GC,2769,-0.86,-146.0,222.1,-6.0,266,2773,0.00,2.28,0.00,0.000,4,0.000,0.061,2264,3750,3017
$GC,2861,-0.96,-146.0,227.6,-6.0,270,2866,0.12,2.15,0.00,0.000,6,0.093,0.035,2218,2340,3018
$GC,3194,-0.88,-146.0,252.0,-7.3,286,3199,0.10,2.33,0.00,0.000,4,0.157,0.061,2244,3753,3018
$GC,3245,-0.93,-146.0,255.1,-5.7,288,3249,0.00,2.17,0.00,0.000,6,0.000,0.034,2245,2328,3019
$GC,3566,-0.93,-146.0,276.1,-6.4,304,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2328,3019
$GC,3876,-0.93,-146.0,294.8,-6.0,319,3879,0.00,2.33,0.00,0.000,4,0.000,0.059,2245,3749,3019
$GC,3893,-0.93,-146.0,295.9,-6.0,319,3899,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2341,3020
$GC,4209,-0.93,-146.0,315.0,-6.1,335,4212,0.00,2.30,0.00,0.000,4,0.000,0.060,2245,3742,3020
$GC,4242,-0.98,-146.0,317.1,-6.4,336,4246,0.00,2.15,0.00,0.000,6,0.000,0.034,2244,2329,3021
$GC,4565,-0.98,-146.0,334.7,-5.4,352,4568,0.00,2.33,0.00,0.000,4,0.000,0.060,2245,3750,3021
$GC,4577,-0.98,-146.0,335.4,-4.9,352,4581,0.00,2.15,0.00,0.000,6,0.000,0.034,2244,2338,3021
$GC,4899,-0.98,-146.0,352.9,-5.6,368,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2338,3022
$GC,5208,-0.98,-146.0,371.7,-6.2,383,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2338,3023
$GC,5517,-1.03,-146.0,391.5,-6.5,398,5522,0.12,2.33,0.00,0.000,4,0.092,0.058,2193,3748,3023
$GC,5528,-1.03,-146.0,392.4,-6.8,398,5534,0.00,2.15,0.00,0.000,6,0.000,0.033,2193,2336,3023
$GC,5841,-0.91,-146.0,418.3,-8.2,409,5846,0.17,2.33,0.00,0.000,4,0.143,0.059,2244,3743,3023
$GC,5852,-0.83,-146.0,419.4,-8.0,409,5856,0.00,2.15,0.00,0.000,6,0.000,0.033,2243,2330,3023
$GC,6166,-0.88,-146.0,439.7,-6.5,417,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2330,3024
$GC,6491,-0.93,-146.0,459.7,-6.1,425,6495,0.00,2.30,0.00,0.000,4,0.000,0.058,2243,3743,3024
$GC,6503,-0.98,-146.0,460.5,-6.0,425,6506,0.00,2.15,0.00,0.000,6,0.000,0.033,2244,2329,3024
$GC,6822,-1.03,-146.0,479.7,-6.1,433,6827,0.12,2.33,0.00,0.000,4,0.091,0.058,2192,3754,3024
$GC,6833,-1.03,-146.0,480.5,-6.2,433,6837,0.00,2.15,0.00,0.000,6,0.000,0.033,2192,2340,3024
$GC,7147,-0.92,-146.0,503.5,-7.3,441,7152,0.15,2.33,0.00,0.000,4,0.146,0.058,2233,3752,3025
$GC,7203,-0.97,-146.0,507.2,-6.5,442,7207,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2340,3024
$GC,7516,-0.97,-146.0,526.0,-6.0,450,7520,0.00,2.30,0.00,0.000,4,0.000,0.058,2233,3746,3024
$GC,7529,-0.97,-146.0,526.7,-6.0,450,7532,0.00,2.15,0.00,0.000,6,0.000,0.033,2233,2331,3024
$GC,7847,-0.97,-146.0,546.4,-6.2,458,7851,0.00,2.30,0.00,0.000,4,0.000,0.058,2234,3742,3024
$GC,7864,-0.97,-146.0,547.4,-6.0,458,7868,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2328,3024
$GC,8178,-0.97,-146.0,565.2,-5.9,466,8182,0.00,2.33,0.00,0.000,4,0.000,0.058,2233,3749,3025
$GC,8188,-0.97,-146.0,566.0,-6.0,466,8193,0.00,2.12,0.00,0.000,6,0.000,0.033,2233,2341,3024
$GC,8507,-0.97,-146.0,583.9,-5.5,474,8511,0.00,2.30,0.00,0.000,4,0.000,0.059,2234,3746,3024
$GC,8518,-0.97,-146.0,584.6,-5.6,474,8522,0.00,2.15,0.00,0.000,6,0.000,0.033,2233,2333,3024
$GC,8838,-0.97,-146.0,603.1,-5.8,482,8842,0.00,2.30,0.00,0.000,4,0.000,0.058,2234,3749,3025
$GC,8871,-1.03,-146.0,605.2,-6.3,482,8875,0.00,2.15,0.00,0.000,6,0.000,0.034,2233,2337,3025
$GC,9209,-1.08,-146.0,624.3,-5.6,491,9214,0.12,2.30,0.00,0.000,4,0.099,0.058,2188,3747,3025
$GC,9245,-0.98,-146.0,626.7,-7.4,491,9249,0.15,2.15,0.00,0.000,6,0.144,0.033,2229,2334,3024
$STATE,9578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9578,begin apogee
$GC,9585,-0.34,0.0,646.3,5.8,500,9718,0.43,0.00,130.52,1.205,6,0.136,0.000,2362,2516,2420
$STATE,9719,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9722,1.08,146.0,648.4,0.0,503,9874,1.02,2.70,138.90,1.113,4,0.100,0.057,2669,3931,1824
$GC,9949,0.82,146.0,629.1,10.6,509,9954,0.22,2.35,0.00,0.000,6,0.134,0.035,2609,2525,1824
$GC,10273,0.85,168.4,608.4,6.3,517,10298,0.00,2.25,19.52,1.105,4,0.000,0.047,2610,1114,1733
$GC,10355,0.97,178.0,603.2,6.7,518,10371,0.12,2.22,9.75,1.002,6,0.074,0.044,2663,2530,1694
$GC,10693,0.88,178.0,574.3,8.7,527,10698,0.15,2.22,0.00,0.000,4,0.129,0.058,2618,3930,1694
$GC,10788,0.88,178.0,566.4,7.7,529,10792,0.00,2.17,0.00,0.000,6,0.000,0.036,2618,2502,1693
$GC,11113,0.96,198.5,545.8,6.3,537,11137,0.10,2.22,18.08,1.102,4,0.092,0.048,2663,1123,1610
$GC,11206,0.96,198.5,538.1,9.5,539,11210,0.00,2.20,0.00,0.000,6,0.000,0.043,2663,2525,1611
$GC,11530,0.89,198.5,510.6,8.5,547,11534,0.12,2.25,0.00,0.000,4,0.134,0.059,2626,3930,1609
$GC,11585,0.89,198.5,505.9,8.4,548,11589,0.00,2.15,0.00,0.000,6,0.000,0.035,2626,2516,1610
$GC,11904,0.95,198.5,483.2,7.3,556,11908,0.00,2.17,0.00,0.000,4,0.000,0.047,2626,1109,1610
$GC,11973,1.04,198.5,477.8,7.7,557,11978,0.12,2.20,0.00,0.000,6,0.077,0.042,2678,2524,1610
$GC,12322,0.94,198.5,443.2,9.9,566,12326,0.15,2.25,0.00,0.000,4,0.127,0.058,2632,3929,1609
$GC,12394,0.88,198.5,436.3,9.3,567,12398,0.00,2.15,0.00,0.000,6,0.000,0.035,2632,2517,1609
$GC,12739,0.88,198.5,411.1,7.2,576,12742,0.00,2.17,0.00,0.000,4,0.000,0.046,2632,1110,1609
$GC,12830,0.96,199.0,404.7,7.0,578,12834,0.00,2.17,0.00,0.000,6,0.000,0.043,2632,2520,1609
$GC,13164,0.96,200.9,381.5,7.0,592,13173,0.00,2.30,3.25,0.558,4,0.000,0.059,2632,3921,1600
$GC,13214,0.96,200.9,377.4,8.3,594,13218,0.00,2.15,0.00,0.000,6,0.000,0.035,2632,2509,1601
$GC,13542,1.01,200.9,353.9,7.3,610,13546,0.08,2.17,0.00,0.000,4,0.099,0.045,2671,1110,1602
$GC,13625,1.01,200.9,346.4,9.3,613,13631,0.00,2.20,0.00,0.000,6,0.000,0.043,2671,2520,1602
$GC,13941,0.94,200.9,317.3,9.2,629,13946,0.12,2.25,0.00,0.000,4,0.137,0.057,2635,3927,1602
$GC,14009,0.89,200.9,311.2,8.7,632,14013,0.00,2.15,0.00,0.000,6,0.000,0.035,2635,2508,1602
$GC,14342,0.96,207.3,287.6,6.8,648,14356,0.00,2.22,6.75,0.824,4,0.000,0.046,2635,1120,1575
$GC,14425,1.06,214.5,281.7,6.8,651,14441,0.12,2.20,7.95,0.852,6,0.079,0.043,2689,2533,1545
$GC,14764,0.97,214.5,251.4,9.1,668,14769,0.15,2.25,0.00,0.000,4,0.124,0.058,2642,3931,1547
$GC,14820,0.97,214.5,246.7,8.0,670,14824,0.00,2.15,0.00,0.000,6,0.000,0.035,2642,2518,1546
$GC,15141,1.04,230.2,226.4,6.5,686,15163,0.00,2.22,14.18,0.905,4,0.000,0.046,2642,1124,1481
$GC,15243,1.18,248.3,220.0,6.4,690,15264,0.17,2.17,16.02,0.898,6,0.067,0.042,2714,2520,1408
$GC,15583,1.05,248.3,186.7,10.1,707,15585,0.17,0.00,0.00,0.000,6,0.123,0.000,2660,2520,1408
$GC,15891,1.11,248.3,163.6,7.4,722,15894,0.00,2.20,0.00,0.000,4,0.000,0.046,2659,1113,1408
$GC,15959,1.22,252.4,158.6,6.9,725,15970,0.15,2.17,5.10,0.684,6,0.071,0.042,2719,2520,1390
$GC,16288,1.09,252.4,122.9,11.3,741,16290,0.17,0.00,0.00,0.000,6,0.117,0.000,2665,2521,1392
$GC,16598,1.18,259.4,98.1,6.8,759,16612,0.10,2.28,7.35,0.750,4,0.084,0.045,2710,1114,1362
$GC,16699,1.18,259.4,89.5,9.0,776,16705,0.00,2.20,0.00,0.000,6,0.000,0.042,2710,2532,1364
$GC,17043,1.18,259.4,59.7,8.7,837,17049,0.00,2.22,0.00,0.000,4,0.000,0.059,2711,3926,1364
$GC,17124,1.09,259.4,52.4,8.8,851,17131,0.15,2.15,0.00,0.000,6,0.123,0.035,2664,2513,1365
$GC,17470,1.24,271.7,30.3,6.6,912,17489,0.15,2.20,11.77,0.808,4,0.071,0.047,2731,1110,1312
$GC,17611,1.29,304.2,17.9,5.9,936,17646,0.00,2.22,27.23,0.844,6,0.000,0.044,2732,2532,1178
$STATE,17785,end climb,SURFACE_DEPTH_REACHED
$STATE,17785,begin surface coast
$FINISH,0.8,1.024208
$STATE,17811,end surface coast,CONTROL_FINISHED_OK
$STATE,17811,begin surface
$SM_CCo,17829,213.18,0.795,1,0,144,558.30
$SM_GC,1.24,0.00,0.00,213.18,0.000,0.000,0.795,157,2342,144,-10.48,0.03,558.30
$RAFOS_CLK,928
$RAFOS,4,1228092262,0.750000,0.739444,59,59,55,53,53,53,206,680,158,193,148,120
$RAFOS,3,1228091651,0.583333,0.569722,59,56,54,54,49,48,194,216,130,151,169,117
$RAFOS,2,1228091041,0.416667,0.400278,61,61,58,52,51,50,194,211,157,129,632,622
$RAFOS,1,1228090456,0.250000,0.237778,69,62,59,56,55,53,773,192,164,208,224,139
$RAFOS,0,1228089877,0.083333,0.076944,68,65,53,52,52,51,214,195,989,159,136,114
$RAFOS_FIX,6712.993652,-5708.468262,301108,161620,2,84,0.00
$IRIDIUM_FIX,6641.98,-5709.24,240298,222247
$TT8_MAMPS,0.029146
$HUMID,1829
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,20.6,69.301
$10V_AH,10.5,30.795
$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,21.575,169.575,416.375,213.175,0.000,134.042,375.794,0.000,0.000,0.000,0.000,18.744,1839.290,13461.687,793.891,1976.620,873.092,33.379,1888.760,0.000,1944.926,1800.000,0.528,0.000
$DEVICE_MAMPS,253.877,62.894,1204.957,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.165,657.291,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34658,971
$CAP_FILE_SIZE,151083,0
$CFSIZE,260165632,223121408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1468.5
$GPS,011208,025838,6706.904,-5711.678,27,1.1,27,-37.7