version: 66.04
glider: 113
mission: 4
dive: 326
start: 11 19 108 11 41 52
data:
$ID,113
$MISSION,4
$DIVE,326
$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,-29118.404
$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,40
$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
$GPS1,113226,6705.045,-5705.780,37,1.0,37,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.0
$GPS2,114056,6705.024,-5705.879,12,1.0,12,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.208,-0.084
$KALMAN_X,-52516.9,80.9,-429.1,66418.4,-2216.8
$KALMAN_Y,-25768.4,-669.3,17.5,45216.1,1061.9
$MHEAD_RNG_PITCHd_Wd,149.6,13444,-12.9,-7.021
$D_GRID,632
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-119.82,0.000,2,0.000,0.000,160,2328,2962
$GC,141,-1.08,-146.0,3.1,-2.1,21,161,8.75,2.25,-1.92,0.000,4,0.259,0.066,2200,937,3019
$GC,358,-0.61,-146.0,40.0,-14.9,59,365,0.35,2.22,0.00,0.000,6,0.170,0.048,2299,2351,3021
$GC,702,-0.61,-146.0,71.4,-8.1,120,708,0.00,2.22,0.00,0.000,4,0.000,0.051,2300,940,3021
$GC,754,-0.61,-146.0,76.3,-9.6,129,760,0.00,2.20,0.00,0.000,6,0.000,0.048,2300,2341,3021
$GC,1110,-0.69,-146.0,104.3,-6.7,184,1113,0.00,2.28,0.00,0.000,4,0.000,0.062,2300,3752,3020
$GC,1121,-0.77,-146.0,105.1,-6.9,184,1126,0.12,2.17,0.00,0.000,6,0.094,0.037,2251,2331,3019
$GC,1443,-0.72,-146.0,134.2,-8.5,200,1445,0.12,0.00,0.00,0.000,6,0.160,0.000,2283,2330,3019
$GC,1752,-0.81,-146.0,154.3,-6.1,215,1757,0.10,2.33,0.00,0.000,4,0.094,0.062,2245,3749,3018
$GC,1770,-0.85,-146.0,155.3,-6.3,216,1774,0.00,2.17,0.00,0.000,6,0.000,0.037,2245,2329,3018
$GC,2102,-0.85,-146.0,179.3,-7.1,232,2105,0.00,2.33,0.00,0.000,4,0.000,0.063,2246,3750,3018
$GC,2140,-0.85,-146.0,182.0,-7.1,233,2147,0.00,2.17,0.00,0.000,6,0.000,0.036,2245,2328,3018
$GC,2457,-0.85,-146.0,204.7,-7.0,249,2461,0.00,2.33,0.00,0.000,4,0.000,0.061,2245,3754,3018
$GC,2484,-0.85,-146.0,206.7,-6.9,250,2488,0.00,2.17,0.00,0.000,6,0.000,0.036,2245,2327,3018
$GC,2810,-0.85,-146.0,228.9,-7.0,266,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2327,3018
$GC,3120,-0.85,-146.0,252.7,-8.2,281,3124,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3745,3019
$GC,3132,-0.85,-146.0,253.7,-8.5,281,3135,0.00,2.15,0.00,0.000,6,0.000,0.036,2245,2336,3019
$GC,3453,-0.85,-146.0,278.5,-7.2,297,3456,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3753,3020
$GC,3464,-0.85,-146.0,279.2,-7.1,297,3468,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2331,3020
$GC,3785,-0.85,-146.0,299.5,-5.8,313,3788,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3749,3020
$GC,3847,-0.91,-146.0,303.4,-6.0,315,3853,0.00,2.15,0.00,0.000,6,0.000,0.035,2245,2337,3020
$GC,4163,-0.91,-146.0,322.2,-6.1,331,4167,0.00,2.30,0.00,0.000,4,0.000,0.059,2245,3756,3021
$GC,4203,-0.96,-146.0,324.8,-6.7,332,4209,0.00,2.17,0.00,0.000,6,0.000,0.035,2245,2328,3021
$GC,4518,-0.96,-146.0,344.2,-6.1,348,4522,0.00,2.30,0.00,0.000,4,0.000,0.060,2246,3745,3022
$GC,4542,-1.01,-146.0,345.7,-6.7,349,4547,0.10,2.15,0.00,0.000,6,0.099,0.035,2206,2327,3022
$GC,4874,-0.92,-146.0,371.3,-7.8,365,4879,0.12,2.30,0.00,0.000,4,0.153,0.058,2240,3747,3023
$GC,4884,-0.86,-146.0,372.1,-7.5,365,4891,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2334,3023
$GC,5201,-0.86,-146.0,392.9,-6.7,381,5205,0.00,2.30,0.00,0.000,4,0.000,0.060,2240,3749,3023
$GC,5211,-0.86,-146.0,393.7,-6.4,381,5216,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2331,3023
$GC,5530,-0.86,-146.0,414.0,-6.3,392,5533,0.00,2.30,0.00,0.000,4,0.000,0.059,2240,3746,3024
$GC,5541,-0.86,-146.0,414.8,-6.4,392,5545,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2330,3023
$GC,5860,-0.90,-146.0,435.7,-6.8,400,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2330,3024
$GC,6185,-0.90,-146.0,457.6,-7.0,408,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2330,3024
$GC,6510,-0.90,-146.0,480.4,-6.9,416,6513,0.00,2.30,0.00,0.000,4,0.000,0.059,2241,3746,3024
$GC,6521,-0.95,-146.0,481.2,-6.8,416,6525,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2327,3024
$GC,6840,-1.00,-146.0,501.7,-6.3,424,6845,0.10,2.30,0.00,0.000,4,0.099,0.058,2203,3745,3025
$GC,6851,-1.00,-146.0,502.5,-6.3,424,6855,0.00,2.15,0.00,0.000,6,0.000,0.034,2203,2329,3024
$GC,7171,-0.93,-146.0,526.6,-7.7,432,7175,0.12,2.30,0.00,0.000,4,0.150,0.059,2234,3748,3025
$GC,7232,-0.99,-146.0,531.1,-7.4,433,7235,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2333,3025
$GC,7545,-0.99,-146.0,552.4,-6.7,441,7549,0.00,2.30,0.00,0.000,4,0.000,0.060,2234,3745,3025
$GC,7556,-0.99,-146.0,553.2,-6.6,441,7560,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2329,3025
$GC,7874,-0.99,-146.0,575.0,-6.9,449,7878,0.00,2.30,0.00,0.000,4,0.000,0.060,2234,3745,3025
$GC,7896,-1.04,-146.0,576.7,-7.3,449,7901,0.10,2.15,0.00,0.000,6,0.106,0.035,2196,2329,3025
$GC,8245,-0.95,-146.0,603.0,-7.4,458,8250,0.12,2.33,0.00,0.000,4,0.152,0.058,2229,3752,3025
$GC,8261,-0.95,-146.0,604.2,-7.1,458,8265,0.00,2.15,0.00,0.000,6,0.000,0.035,2229,2334,3025
$GC,8609,-0.95,-146.0,625.2,-6.0,467,8613,0.00,2.30,0.00,0.000,4,0.000,0.059,2229,3747,3025
$GC,8625,-0.99,-146.0,626.1,-5.7,467,8630,0.00,2.15,0.00,0.000,6,0.000,0.035,2229,2335,3025
$STATE,8734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8734,begin apogee
$GC,8741,-0.34,0.0,632.7,6.1,470,8874,0.43,0.00,130.57,1.199,6,0.131,0.000,2364,2532,2421
$STATE,8875,end apogee,CONTROL_FINISHED_OK
$STATE,8875,begin climb
$GC,8878,1.08,146.0,635.0,0.0,473,9021,1.00,2.60,135.02,1.125,4,0.100,0.044,2668,1119,1825
$GC,9074,0.98,146.0,619.8,9.5,477,9078,0.00,2.40,0.00,0.000,6,0.000,0.041,2668,2520,1825
$GC,9410,0.84,146.0,590.7,8.4,486,9415,0.17,2.28,0.00,0.000,4,0.136,0.057,2616,3933,1824
$GC,9535,0.80,163.5,582.0,6.4,488,9555,0.00,2.17,15.60,1.079,6,0.000,0.036,2616,2511,1754
$GC,9871,0.82,173.0,559.9,6.7,497,9886,0.00,2.20,9.32,1.008,4,0.000,0.048,2615,1112,1714
$GC,9937,0.91,173.0,555.2,7.6,498,9941,0.00,2.20,0.00,0.000,6,0.000,0.043,2616,2525,1716
$GC,10286,0.98,173.7,531.3,7.0,507,10291,0.12,2.22,0.00,0.000,4,0.076,0.059,2669,3923,1717
$GC,10347,0.76,173.7,525.1,10.8,508,10352,0.25,2.12,0.00,0.000,6,0.135,0.036,2594,2523,1716
$GC,10661,0.94,213.8,506.7,5.7,516,10703,0.15,2.25,34.45,1.123,4,0.069,0.048,2661,1122,1549
$GC,10759,0.94,213.8,498.9,7.9,518,10763,0.00,2.22,0.00,0.000,6,0.000,0.044,2661,2533,1550
$GC,11078,0.89,213.8,470.5,9.1,526,11080,0.12,0.00,0.00,0.000,6,0.132,0.000,2625,2533,1549
$GC,11404,0.97,223.9,447.6,6.7,534,11419,0.08,2.25,9.77,0.979,4,0.099,0.047,2665,1112,1507
$GC,11469,0.97,223.9,442.3,8.6,535,11473,0.00,2.20,0.00,0.000,6,0.000,0.042,2665,2532,1509
$GC,11817,0.97,223.9,413.2,8.4,544,11821,0.00,2.22,0.00,0.000,4,0.000,0.060,2665,3937,1509
$GC,11867,0.83,223.9,408.3,10.1,545,11872,0.17,2.17,0.00,0.000,6,0.133,0.036,2612,2505,1509
$GC,12194,1.02,251.8,388.4,6.1,557,12224,0.15,2.22,24.15,1.040,4,0.070,0.048,2679,1124,1394
$GC,12309,1.02,251.8,378.3,9.1,562,12313,0.10,2.20,0.00,0.000,6,0.135,0.043,2652,2529,1394
$GC,12635,1.02,251.8,350.6,8.5,578,12639,0.00,2.22,0.00,0.000,4,0.000,0.059,2651,3930,1394
$GC,12668,1.02,251.8,347.0,11.3,579,12672,0.00,2.15,0.00,0.000,6,0.000,0.035,2651,2512,1394
$GC,12990,1.07,251.8,317.5,9.2,595,12993,0.00,2.15,0.00,0.000,4,0.000,0.047,2651,1115,1394
$GC,13090,1.16,251.8,308.6,8.7,599,13095,0.12,2.17,0.00,0.000,6,0.079,0.042,2705,2521,1394
$GC,13412,1.03,251.8,271.4,11.6,615,13414,0.17,0.00,0.00,0.000,6,0.122,0.000,2652,2521,1393
$GC,13721,1.08,251.8,244.8,8.3,630,13725,0.00,2.20,0.00,0.000,4,0.000,0.047,2651,1109,1394
$GC,13789,1.19,251.8,239.4,8.4,633,13794,0.15,2.20,0.00,0.000,6,0.072,0.043,2717,2530,1394
$GC,14122,1.04,251.8,201.3,12.0,649,14124,0.20,0.00,0.00,0.000,6,0.119,0.000,2653,2531,1393
$GC,14430,1.10,251.8,175.4,8.4,664,14434,0.00,2.20,0.00,0.000,4,0.000,0.047,2654,1121,1394
$GC,14505,1.21,251.8,169.1,8.8,667,14510,0.15,2.17,0.00,0.000,6,0.071,0.043,2718,2520,1394
$GC,14832,1.09,251.8,133.4,10.8,683,14837,0.17,2.25,0.00,0.000,4,0.120,0.058,2664,3927,1394
$GC,14877,1.09,251.8,128.6,9.9,685,14881,0.00,2.15,0.00,0.000,6,0.000,0.035,2663,2509,1395
$GC,15211,1.17,251.8,101.6,7.7,701,15215,0.10,2.15,0.00,0.000,4,0.079,0.046,2709,1120,1395
$GC,15319,1.17,251.8,92.2,8.7,717,15325,0.00,2.17,0.00,0.000,6,0.000,0.043,2709,2524,1395
$GC,15663,1.18,257.5,66.2,6.8,778,15675,0.00,2.25,6.57,0.736,4,0.000,0.059,2709,3926,1370
$GC,15727,1.10,257.5,60.8,8.7,789,15736,0.15,2.15,0.00,0.000,6,0.126,0.036,2664,2512,1371
$GC,16074,1.45,292.1,39.0,5.8,850,16110,0.22,2.35,28.90,0.875,4,0.067,0.061,2759,3929,1229
$GC,16129,1.37,292.1,34.6,7.9,859,16136,0.12,2.20,0.00,0.000,6,0.153,0.036,2726,2509,1228
$GC,16474,1.39,302.0,8.5,6.7,920,16487,0.00,2.25,8.88,0.792,4,0.000,0.049,2726,1111,1189
$STATE,16558,end climb,SURFACE_DEPTH_REACHED
$STATE,16558,begin surface coast
$FINISH,1.0,1.013915
$STATE,16572,end surface coast,CONTROL_FINISHED_OK
$STATE,16572,begin surface
$SM_CCo,16652,0.00,0.000,0,0,1189,301.96
$SM_GC,1.84,6.97,0.00,0.00,0.059,0.000,0.000,163,2349,1189,-10.38,0.25,301.96
$RAFOS_CLK,854
$RAFOS,0,1227110644,16.083334,16.067778,62,60,58,56,51,50,158,117,213,197,133,171
$RAFOS,4,1227098653,12.750000,12.736944,72,64,56,54,51,51,216,194,176,121,161,755
$RAFOS,3,1227098041,12.583333,12.566944,59,58,56,54,53,53,1002,214,117,975,204,171
$RAFOS,2,1227097451,12.416667,12.403055,78,68,58,54,53,53,579,206,165,185,221,130
$RAFOS,1,1227096846,12.250000,12.235000,69,65,62,62,59,56,194,145,205,217,830,842
$RAFOS,0,1227096248,12.083333,12.068889,64,60,60,56,56,51,1010,224,214,994,200,171
$RAFOS_FIX,2776506.500000,-1082104.625000,191108,121212,2,75,981086.44
$IRIDIUM_FIX,6636.54,-5702.96,130298,111111
$TT8_MAMPS,0.029146
$HUMID,1876
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,20.9,61.167
$10V_AH,10.6,26.890
$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,21.425,169.250,403.250,0.000,0.000,47.435,62.930,195.640,0.500,0.000,0.000,15.675,1787.971,12374.681,545.392,1874.197,610.721,33.386,1596.911,0.000,1838.363,2520.000,0.529,0.000
$DEVICE_MAMPS,259.246,65.962,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.493,634.354,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34701,937
$CAP_FILE_SIZE,143604,0
$CFSIZE,260165632,226709504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.7
$GPS,191108,162125,6704.257,-5704.837,24,1.0,42,-37.6