version: 66.04
glider: 113
mission: 4
dive: 379
start: 12 1 108 14 9 4
data:
$ID,113
$MISSION,4
$DIVE,379
$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,-32112.359
$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
$GPS1,135258,6706.682,-5711.196,25,5.6,44,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-49.3
$GPS2,140807,6706.709,-5711.516,30,1.2,30,-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,0.101,-0.200
$KALMAN_X,-141494.1,-114.5,677.0,150386.3,-5722.3
$KALMAN_Y,13662.8,-455.3,-917.2,9625.7,5258.6
$MHEAD_RNG_PITCHd_Wd,190.8,18319,-12.9,-7.021
$D_GRID,652
$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,-146.0,0.0,0.0,0,205,0.00,0.00,-185.32,0.000,2,0.000,0.000,156,2317,2979
$GC,208,-1.08,-146.0,3.2,-3.1,33,228,8.73,2.22,-1.25,0.000,4,0.255,0.060,2197,936,3019
$GC,482,-0.64,-146.0,48.1,-14.6,81,489,0.35,2.22,0.00,0.000,6,0.166,0.046,2298,2352,3021
$GC,827,-0.64,-146.0,77.9,-7.5,142,833,0.00,2.22,0.00,0.000,4,0.000,0.048,2298,935,3022
$GC,845,-0.64,-146.0,79.7,-8.5,145,851,0.00,2.22,0.00,0.000,6,0.000,0.045,2298,2351,3022
$GC,1201,-0.71,-146.0,103.8,-5.5,200,1205,0.00,2.22,0.00,0.000,4,0.000,0.048,2298,936,3021
$GC,1251,-0.71,-146.0,107.6,-7.6,202,1254,0.00,2.22,0.00,0.000,6,0.000,0.045,2299,2353,3021
$GC,1578,-0.83,-146.0,130.1,-6.6,218,1582,0.15,2.22,0.00,0.000,4,0.081,0.046,2240,943,3020
$GC,1623,-0.71,-146.0,133.8,-9.0,220,1628,0.17,2.20,0.00,0.000,6,0.159,0.045,2287,2341,3020
$GC,1956,-0.81,-146.0,157.3,-7.2,236,1958,0.12,0.00,0.00,0.000,6,0.098,0.000,2242,2342,3021
$GC,2265,-0.81,-146.0,182.3,-7.9,251,2269,0.00,2.28,0.00,0.000,4,0.000,0.060,2241,3753,3021
$GC,2277,-0.81,-146.0,183.2,-7.7,251,2281,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2345,3021
$GC,2598,-0.81,-146.0,206.1,-6.8,267,2602,0.00,2.30,0.00,0.000,4,0.000,0.060,2241,3755,3022
$GC,2626,-0.81,-146.0,208.2,-7.6,268,2630,0.00,2.17,0.00,0.000,6,0.000,0.035,2241,2330,3022
$GC,2953,-0.81,-146.0,229.9,-6.7,284,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2330,3022
$GC,3263,-0.81,-146.0,250.0,-6.3,299,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2329,3023
$GC,3573,-0.81,-146.0,270.3,-6.9,314,3577,0.00,2.30,0.00,0.000,4,0.000,0.058,2241,3745,3024
$GC,3600,-0.81,-146.0,272.3,-7.5,315,3604,0.00,2.15,0.00,0.000,6,0.000,0.034,2241,2329,3024
$GC,3927,-0.81,-146.0,294.9,-6.8,331,3931,0.00,2.33,0.00,0.000,4,0.000,0.059,2241,3756,3025
$GC,3951,-0.81,-146.0,296.5,-6.8,332,3955,0.00,2.15,0.00,0.000,6,0.000,0.034,2241,2340,3025
$GC,4285,-0.81,-146.0,317.8,-6.5,348,4289,0.00,2.30,0.00,0.000,4,0.000,0.058,2241,3751,3026
$GC,4308,-0.81,-146.0,319.4,-6.6,349,4312,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2334,3026
$GC,4642,-0.81,-146.0,341.2,-6.7,365,4646,0.00,2.30,0.00,0.000,4,0.000,0.059,2241,3743,3026
$GC,4692,-0.86,-146.0,344.8,-6.9,367,4696,0.00,2.15,0.00,0.000,6,0.000,0.034,2241,2328,3026
$GC,5020,-0.86,-146.0,367.0,-6.9,383,5023,0.00,2.33,0.00,0.000,4,0.000,0.058,2241,3756,3027
$GC,5089,-0.90,-146.0,371.7,-6.5,386,5093,0.00,2.15,0.00,0.000,6,0.000,0.034,2241,2338,3027
$GC,5421,-0.90,-146.0,394.1,-6.5,402,5425,0.00,2.30,0.00,0.000,4,0.000,0.058,2241,3754,3027
$GC,5431,-0.90,-146.0,394.8,-6.8,402,5435,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2340,3027
$GC,5771,-0.90,-146.0,417.4,-6.6,413,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2340,3028
$GC,6095,-0.90,-146.0,437.5,-6.1,421,6099,0.00,2.30,0.00,0.000,4,0.000,0.059,2241,3746,3028
$GC,6106,-0.90,-146.0,438.3,-6.1,421,6110,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2333,3028
$GC,6425,-0.90,-146.0,458.0,-6.2,429,6428,0.00,2.30,0.00,0.000,4,0.000,0.058,2241,3746,3028
$GC,6436,-0.90,-146.0,458.9,-6.2,429,6440,0.00,2.12,0.00,0.000,6,0.000,0.033,2241,2337,3028
$GC,6754,-0.90,-146.0,478.2,-6.0,437,6758,0.00,2.30,0.00,0.000,4,0.000,0.058,2241,3747,3029
$GC,6765,-0.90,-146.0,479.0,-6.1,437,6769,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2331,3029
$GC,7085,-0.90,-146.0,498.8,-6.3,445,7089,0.00,2.30,0.00,0.000,4,0.000,0.057,2241,3749,3029
$GC,7098,-0.95,-146.0,499.7,-6.2,445,7102,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2334,3029
$GC,7417,-0.95,-146.0,520.3,-6.6,453,7421,0.00,2.30,0.00,0.000,4,0.000,0.058,2241,3745,3029
$GC,7445,-1.02,-146.0,522.2,-6.2,453,7450,0.10,2.15,0.00,0.000,6,0.097,0.033,2204,2330,3029
$GC,7788,-0.94,-146.0,548.4,-7.7,462,7793,0.12,2.33,0.00,0.000,4,0.148,0.057,2238,3750,3029
$GC,7799,-0.89,-146.0,549.3,-7.5,462,7803,0.00,2.15,0.00,0.000,6,0.000,0.034,2238,2328,3029
$GC,8115,-0.89,-146.0,568.9,-6.0,470,8119,0.00,2.33,0.00,0.000,4,0.000,0.058,2239,3750,3030
$GC,8144,-0.95,-146.0,570.8,-6.7,470,8148,0.00,2.12,0.00,0.000,6,0.000,0.033,2238,2341,3029
$GC,8487,-0.95,-146.0,591.0,-5.8,479,8491,0.00,2.30,0.00,0.000,4,0.000,0.059,2238,3749,3029
$GC,8499,-1.00,-146.0,591.7,-5.8,479,8503,0.00,2.15,0.00,0.000,6,0.000,0.033,2238,2336,3029
$GC,8818,-1.00,-146.0,610.8,-6.1,487,8822,0.00,2.30,0.00,0.000,4,0.000,0.058,2238,3747,3029
$GC,8852,-1.08,-146.0,613.1,-6.3,487,8857,0.15,2.15,0.00,0.000,6,0.087,0.033,2184,2332,3030
$GC,9189,-0.95,-146.0,640.1,-7.9,496,9194,0.17,2.33,0.00,0.000,4,0.149,0.058,2233,3743,3030
$GC,9256,-1.02,-146.0,645.0,-7.5,497,9260,0.00,2.15,0.00,0.000,6,0.000,0.034,2233,2332,3030
$STATE,9398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9398,begin apogee
$GC,9405,-0.34,0.0,653.5,5.8,501,9535,0.43,0.00,126.97,1.200,6,0.137,0.000,2365,2527,2421
$STATE,9536,end apogee,CONTROL_FINISHED_OK
$STATE,9536,begin climb
$GC,9539,1.08,146.0,657.2,0.0,504,9688,1.02,0.00,139.93,1.117,6,0.097,0.000,2675,2527,1825
$GC,10009,0.90,146.0,616.9,9.3,516,10014,0.17,2.28,0.00,0.000,4,0.134,0.058,2624,3929,1827
$GC,10105,0.79,146.0,608.6,8.4,518,10109,0.00,2.15,0.00,0.000,6,0.000,0.035,2624,2523,1827
$GC,10423,0.79,146.0,585.7,7.3,526,10427,0.00,2.17,0.00,0.000,4,0.000,0.046,2624,1117,1827
$GC,10485,0.80,149.3,581.2,6.9,527,10494,0.00,2.20,4.30,0.751,6,0.000,0.043,2624,2529,1811
$GC,10838,0.80,149.3,554.7,7.6,536,10842,0.00,2.22,0.00,0.000,4,0.000,0.060,2624,3926,1814
$GC,10910,0.70,149.3,548.4,8.0,537,10915,0.15,2.15,0.00,0.000,6,0.136,0.035,2580,2510,1814
$GC,11253,0.91,193.5,528.9,5.5,546,11296,0.17,2.30,37.30,1.125,4,0.064,0.046,2652,1115,1631
$GC,11347,0.91,193.5,521.1,9.2,548,11351,0.00,2.22,0.00,0.000,6,0.000,0.042,2652,2528,1632
$GC,11672,0.91,193.5,492.9,8.9,556,11676,0.00,2.22,0.00,0.000,4,0.000,0.058,2652,3923,1634
$GC,11733,0.76,193.5,486.6,9.9,557,11738,0.20,2.12,0.00,0.000,6,0.133,0.035,2592,2523,1633
$GC,12047,0.95,214.7,466.4,6.3,565,12072,0.17,2.25,18.67,1.058,4,0.067,0.046,2665,1123,1544
$GC,12151,0.95,214.7,457.2,8.7,567,12155,0.10,2.20,0.00,0.000,6,0.133,0.043,2638,2529,1546
$GC,12464,0.95,214.7,432.5,7.8,575,12468,0.00,2.22,0.00,0.000,4,0.000,0.059,2638,3927,1547
$GC,12503,0.90,214.7,428.8,9.3,575,12509,0.00,2.15,0.00,0.000,6,0.000,0.035,2638,2511,1547
$GC,12834,0.90,214.7,404.1,7.5,584,12838,0.00,2.15,0.00,0.000,4,0.000,0.046,2638,1116,1547
$GC,12919,0.96,214.7,398.1,7.2,585,12925,0.00,2.20,0.00,0.000,6,0.000,0.042,2638,2533,1547
$GC,13235,0.96,214.7,374.4,7.6,601,13238,0.00,2.22,0.00,0.000,4,0.000,0.058,2638,3926,1547
$GC,13268,0.96,214.7,371.4,9.4,602,13272,0.00,2.15,0.00,0.000,6,0.000,0.035,2638,2505,1547
$GC,13590,0.96,214.7,346.9,7.5,618,13593,0.00,2.15,0.00,0.000,4,0.000,0.045,2638,1112,1546
$GC,13664,1.03,214.7,341.6,7.3,621,13668,0.08,2.20,0.00,0.000,6,0.102,0.041,2675,2528,1546
$GC,13991,0.96,214.7,313.3,8.6,637,13995,0.12,2.25,0.00,0.000,4,0.121,0.058,2638,3932,1546
$GC,14052,0.91,214.7,308.1,8.3,639,14059,0.00,2.15,0.00,0.000,6,0.000,0.035,2638,2517,1546
$GC,14369,0.99,238.5,287.3,6.2,655,14394,0.00,2.22,20.33,0.969,4,0.000,0.045,2638,1111,1447
$GC,14474,1.10,238.5,280.5,7.2,659,14481,0.12,2.20,0.00,0.000,6,0.078,0.041,2692,2522,1449
$GC,14790,1.01,238.5,250.4,9.7,675,14794,0.15,2.25,0.00,0.000,4,0.122,0.057,2646,3924,1450
$GC,14856,1.01,238.5,244.5,8.6,678,14860,0.00,2.15,0.00,0.000,6,0.000,0.035,2646,2509,1450
$GC,15184,1.06,238.5,220.4,7.4,694,15188,0.00,2.15,0.00,0.000,4,0.000,0.046,2646,1118,1450
$GC,15268,1.15,238.5,213.9,7.4,697,15275,0.15,2.17,0.00,0.000,6,0.071,0.041,2708,2520,1450
$GC,15585,1.01,238.5,181.8,10.1,713,15589,0.17,2.25,0.00,0.000,4,0.124,0.056,2654,3925,1450
$GC,15652,0.95,238.5,175.6,8.7,716,15656,0.00,2.12,0.00,0.000,6,0.000,0.035,2654,2519,1450
$GC,15986,1.02,259.7,153.5,6.3,732,16008,0.00,2.28,18.25,0.883,4,0.000,0.045,2654,1111,1362
$GC,16088,1.17,279.6,147.0,6.3,736,16113,0.12,2.20,17.12,0.862,6,0.074,0.041,2707,2520,1280
$GC,16431,1.11,279.6,113.7,10.1,753,16433,0.12,0.00,0.00,0.000,6,0.127,0.000,2668,2520,1283
$GC,16751,1.23,279.6,86.0,8.0,789,16758,0.12,2.20,0.00,0.000,4,0.070,0.044,2724,1114,1283
$GC,16804,1.23,279.6,81.1,9.7,798,16811,0.10,2.20,0.00,0.000,6,0.138,0.042,2695,2530,1283
$GC,17149,1.23,279.6,54.5,8.3,859,17155,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2530,1283
$GC,17493,1.31,293.6,30.1,6.5,920,17513,0.10,2.30,12.80,0.818,4,0.079,0.046,2744,1119,1223
$GC,17565,1.31,293.6,24.4,8.4,932,17572,0.10,2.20,0.00,0.000,6,0.139,0.043,2718,2525,1225
$STATE,17856,end climb,SURFACE_DEPTH_REACHED
$STATE,17856,begin surface coast
$FINISH,0.8,1.026590
$STATE,17885,end surface coast,CONTROL_FINISHED_OK
$STATE,17886,begin surface
$SM_CCo,17904,226.90,0.804,1,0,144,558.30
$SM_GC,1.40,0.00,0.00,226.90,0.000,0.000,0.804,156,2328,144,-10.48,-0.34,558.30
$RAFOS_CLK,941
$RAFOS,4,1228149861,16.750000,16.739166,74,55,53,51,50,50,193,211,165,912,133,145
$RAFOS,3,1228149277,16.583334,16.576944,67,59,58,58,52,51,201,183,148,225,210,192
$RAFOS,2,1228148653,16.416666,16.403610,104,61,53,53,52,48,560,191,167,179,210,152
$RAFOS,1,1228148044,16.250000,16.234444,67,57,55,54,52,52,834,135,193,216,150,163
$RAFOS,0,1228147463,16.083334,16.073055,71,58,56,55,55,54,199,186,219,170,1106,152
$RAFOS_FIX,6610.283691,-5944.430664,011208,161653,3,83,18.89
$IRIDIUM_FIX,6641.98,-5900.27,250298,141402
$TT8_MAMPS,0.028379
$HUMID,1814
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,16.80
$XPDR_PINGS,3
$24V_AH,20.6,69.890
$10V_AH,10.5,31.038
$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,20.950,177.775,395.675,226.900,0.000,126.794,375.793,0.000,0.750,0.000,0.000,34.783,1878.783,13454.618,827.579,2055.197,865.650,33.380,1965.788,0.000,1996.398,1800.000,0.529,0.000
$DEVICE_MAMPS,255.411,60.593,1199.588,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.530,668.528,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37824,989
$CAP_FILE_SIZE,150222,0
$CFSIZE,260165632,222826496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1468.6
$GPS,011208,191326,6707.651,-5716.272,38,1.8,38,-37.8