version: 66.04
glider: 113
mission: 4
dive: 349
start: 11 25 108 2 23 15
data:
$ID,113
$MISSION,4
$DIVE,349
$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,-31596.877
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,021438,6652.117,-5721.819,33,1.4,33,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-53.4
$GPS2,022220,6652.067,-5721.831,8,1.8,13,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.140,0.176
$KALMAN_X,-56784.2,681.6,-2055.6,60120.5,5551.3
$KALMAN_Y,-40949.5,555.3,655.2,34518.8,-3674.5
$MHEAD_RNG_PITCHd_Wd,76.0,31730,-12.9,-7.021
$D_GRID,753
$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,-146.0,0.0,0.0,0,207,0.00,0.00,-187.73,0.000,2,0.000,0.000,162,2334,2980
$GC,211,-1.08,-146.0,3.8,-3.7,33,230,9.02,2.30,-1.12,0.000,4,0.270,0.070,2201,933,3018
$GC,318,-0.59,-146.0,25.3,-15.8,51,325,0.38,2.28,0.00,0.000,6,0.176,0.053,2307,2353,3021
$GC,662,-0.59,-146.0,62.7,-9.7,112,669,0.00,2.30,0.00,0.000,4,0.000,0.067,2304,3757,3022
$GC,698,-0.64,-146.0,65.8,-9.0,118,705,0.00,2.22,0.00,0.000,6,0.000,0.041,2304,2323,3023
$GC,1043,-0.71,-146.0,94.3,-8.0,179,1049,0.08,0.00,0.00,0.000,6,0.118,0.000,2273,2323,3023
$GC,1374,-0.71,-146.0,124.8,-8.9,203,1378,0.00,2.38,0.00,0.000,4,0.000,0.068,2272,3750,3023
$GC,1407,-0.76,-146.0,127.8,-9.3,204,1411,0.00,2.20,0.00,0.000,6,0.000,0.040,2273,2336,3023
$GC,1728,-0.76,-146.0,155.3,-7.9,220,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2336,3023
$GC,2037,-0.76,-146.0,179.6,-7.8,235,2041,0.00,2.22,0.00,0.000,4,0.000,0.055,2273,932,3023
$GC,2160,-0.76,-146.0,189.2,-7.9,240,2164,0.00,2.28,0.00,0.000,6,0.000,0.052,2272,2351,3023
$GC,2483,-0.81,-146.0,209.3,-5.9,256,2487,0.00,2.30,0.00,0.000,4,0.000,0.069,2272,3746,3022
$GC,2574,-0.90,-146.0,214.6,-6.0,260,2579,0.12,2.20,0.00,0.000,6,0.093,0.040,2227,2328,3022
$GC,2907,-0.82,-146.0,239.2,-7.6,276,2911,0.12,2.22,0.00,0.000,4,0.167,0.054,2259,932,3022
$GC,2974,-0.82,-146.0,244.1,-7.5,279,2978,0.00,2.28,0.00,0.000,6,0.000,0.051,2259,2354,3022
$GC,3307,-0.82,-146.0,265.1,-6.1,295,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2354,3022
$GC,3617,-0.87,-146.0,284.8,-6.6,310,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2354,3022
$GC,3925,-0.92,-146.0,306.4,-7.1,325,3927,0.10,0.00,0.00,0.000,6,0.107,0.000,2222,2354,3022
$GC,4234,-0.86,-146.0,332.0,-8.2,340,4239,0.12,2.30,0.00,0.000,4,0.163,0.066,2255,3745,3022
$GC,4303,-0.95,-146.0,337.3,-7.5,343,4308,0.10,2.20,0.00,0.000,6,0.098,0.039,2219,2325,3022
$GC,4636,-0.88,-146.0,365.9,-8.6,359,4641,0.10,2.38,0.00,0.000,4,0.162,0.066,2244,3748,3022
$GC,4681,-0.95,-146.0,369.6,-8.0,361,4685,0.00,2.20,0.00,0.000,6,0.000,0.038,2244,2328,3022
$GC,5008,-0.95,-146.0,393.7,-7.3,377,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2328,3023
$GC,5314,-0.95,-146.0,416.0,-7.2,387,5318,0.00,2.35,0.00,0.000,4,0.000,0.065,2244,3745,3023
$GC,5359,-1.02,-146.0,419.2,-7.4,388,5364,0.12,2.17,0.00,0.000,6,0.099,0.039,2201,2340,3023
$GC,5690,-0.90,-146.0,446.1,-8.1,396,5691,0.15,0.00,0.00,0.000,6,0.153,0.000,2242,2339,3024
$GC,6014,-0.90,-146.0,466.4,-6.0,404,6018,0.00,2.35,0.00,0.000,4,0.000,0.066,2242,3752,3024
$GC,6048,-0.97,-146.0,468.4,-5.4,404,6053,0.00,2.20,0.00,0.000,6,0.000,0.039,2242,2335,3024
$GC,6386,-0.97,-146.0,486.9,-5.4,413,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2336,3025
$GC,6710,-0.97,-146.0,504.1,-5.4,421,6714,0.00,2.35,0.00,0.000,4,0.000,0.065,2242,3746,3025
$GC,6754,-1.04,-146.0,506.7,-6.1,422,6759,0.12,2.20,0.00,0.000,6,0.093,0.038,2197,2328,3025
$GC,7074,-0.93,-146.0,530.0,-7.4,430,7076,0.15,0.00,0.00,0.000,6,0.156,0.000,2238,2328,3025
$GC,7398,-0.93,-146.0,551.3,-6.7,438,7402,0.00,2.38,0.00,0.000,4,0.000,0.065,2238,3754,3026
$GC,7431,-0.99,-146.0,553.7,-7.5,438,7437,0.00,2.20,0.00,0.000,6,0.000,0.038,2239,2336,3026
$GC,7763,-0.99,-146.0,575.6,-6.6,447,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2336,3026
$GC,8087,-0.99,-146.0,596.3,-6.3,455,8091,0.00,2.35,0.00,0.000,4,0.000,0.065,2239,3749,3026
$GC,8161,-1.06,-146.0,600.9,-6.8,456,8165,0.12,2.20,0.00,0.000,6,0.095,0.038,2194,2330,3026
$GC,8498,-0.95,-146.0,627.2,-7.8,465,8499,0.15,0.00,0.00,0.000,6,0.151,0.000,2235,2328,3026
$GC,8823,-0.95,-146.0,647.6,-6.2,473,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2328,3026
$GC,9147,-0.95,-146.0,668.3,-6.4,481,9151,0.00,2.38,0.00,0.000,4,0.000,0.066,2235,3753,3026
$GC,9198,-1.02,-146.0,671.8,-7.8,482,9202,0.00,2.20,0.00,0.000,6,0.000,0.038,2235,2336,3026
$GC,9522,-1.02,-146.0,692.2,-6.2,490,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2335,3026
$GC,9847,-1.02,-146.0,713.4,-6.5,498,9851,0.00,2.38,0.00,0.000,4,0.000,0.066,2235,3756,3026
$GC,9894,-1.09,-146.0,716.5,-6.8,499,9899,0.15,2.20,0.00,0.000,6,0.094,0.038,2183,2338,3026
$GC,10225,-0.96,-146.0,742.5,-7.8,507,10227,0.17,0.00,0.00,0.000,6,0.155,0.000,2231,2336,3026
$STATE,10425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10425,begin apogee
$GC,10431,-0.34,0.0,754.9,6.0,512,10568,0.43,0.00,133.50,1.341,6,0.143,0.000,2361,2523,2420
$STATE,10568,end apogee,CONTROL_FINISHED_OK
$STATE,10569,begin climb
$GC,10572,1.08,146.0,757.7,0.0,515,10793,1.10,2.78,163.95,1.133,4,0.105,0.064,2675,3927,1825
$GC,10821,0.79,146.0,740.8,10.8,521,10827,0.28,2.50,0.00,0.000,6,0.140,0.038,2606,2528,1825
$GC,11154,0.89,182.3,720.5,5.8,529,11193,0.10,0.00,32.28,1.266,6,0.089,0.000,2650,2527,1676
$GC,11518,0.82,182.3,693.2,7.5,538,11520,0.15,0.00,0.00,0.000,6,0.135,0.000,2607,2526,1680
$GC,11843,0.95,220.5,674.2,5.7,546,11883,0.12,0.00,33.30,1.280,6,0.081,0.000,2661,2526,1521
$GC,12208,0.89,220.5,644.2,8.3,555,12210,0.12,0.00,0.00,0.000,6,0.130,0.000,2625,2526,1523
$GC,12533,0.98,231.3,622.4,6.7,563,12549,0.10,2.28,10.50,1.157,4,0.090,0.053,2667,1096,1477
$GC,12560,0.98,231.3,620.2,7.7,563,12564,0.00,2.28,0.00,0.000,6,0.000,0.048,2667,2527,1477
$GC,12897,0.91,231.3,593.7,7.7,572,12899,0.12,0.00,0.00,0.000,6,0.148,0.000,2632,2528,1480
$GC,13222,0.98,249.3,573.0,6.4,580,13245,0.00,2.38,16.48,1.202,4,0.000,0.051,2632,1102,1404
$GC,13264,1.12,271.8,570.3,6.3,581,13290,0.17,2.28,20.62,1.193,6,0.075,0.048,2702,2524,1312
$GC,13628,1.00,271.8,533.2,10.3,590,13630,0.17,0.00,0.00,0.000,6,0.129,0.000,2651,2524,1313
$GC,13952,1.00,271.8,507.9,7.6,598,13956,0.00,2.25,0.00,0.000,4,0.000,0.053,2651,1111,1313
$GC,14008,1.08,271.8,503.6,7.7,599,14012,0.00,2.25,0.00,0.000,6,0.000,0.048,2651,2535,1313
$GC,14327,1.13,271.8,480.1,7.4,607,14332,0.12,2.28,0.00,0.000,4,0.076,0.052,2707,1101,1313
$GC,14366,1.02,271.8,476.2,10.0,607,14373,0.17,2.25,0.00,0.000,6,0.132,0.048,2655,2523,1313
$GC,14697,1.02,271.8,450.2,7.6,616,14700,0.00,2.25,0.00,0.000,4,0.000,0.052,2655,1109,1313
$GC,14719,1.07,271.8,448.4,7.5,616,14723,0.00,2.25,0.00,0.000,6,0.000,0.048,2654,2529,1313
$GC,15067,1.07,271.8,422.6,7.5,625,15071,0.00,2.28,0.00,0.000,4,0.000,0.051,2654,1102,1313
$GC,15118,1.15,271.8,418.6,7.3,626,15122,0.12,2.25,0.00,0.000,6,0.078,0.048,2706,2519,1312
$GC,15444,1.03,271.8,385.4,10.2,637,15446,0.17,0.00,0.00,0.000,6,0.131,0.000,2653,2520,1313
$GC,15752,1.03,275.5,363.1,6.9,652,15762,0.00,2.28,4.45,0.792,4,0.000,0.053,2653,1110,1297
$GC,15808,1.13,289.9,359.3,6.5,654,15829,0.12,2.25,13.50,1.065,6,0.078,0.048,2705,2529,1238
$GC,16153,1.03,289.9,329.3,8.5,671,16158,0.17,2.28,0.00,0.000,4,0.127,0.052,2653,1110,1240
$GC,16187,1.18,325.4,326.7,5.8,672,16224,0.15,2.25,31.20,1.088,6,0.073,0.048,2717,2531,1094
$GC,16548,1.08,325.4,291.2,10.5,690,16553,0.17,2.28,0.00,0.000,4,0.124,0.052,2664,1112,1093
$GC,16604,1.18,325.4,286.5,7.4,692,16609,0.12,2.22,0.00,0.000,6,0.077,0.048,2718,2524,1092
$GC,16926,1.09,325.4,254.6,10.2,708,16930,0.17,2.28,0.00,0.000,4,0.122,0.051,2664,1100,1092
$GC,16976,1.22,329.0,250.7,6.9,710,16986,0.12,2.25,3.95,0.684,6,0.075,0.048,2718,2525,1078
$GC,17303,1.13,329.0,219.0,9.7,726,17307,0.15,2.28,0.00,0.000,4,0.124,0.051,2672,1101,1081
$GC,17325,1.13,329.0,216.9,8.8,727,17329,0.00,2.25,0.00,0.000,6,0.000,0.048,2671,2525,1081
$GC,17658,1.21,329.0,191.8,7.8,743,17662,0.10,2.25,0.00,0.000,4,0.085,0.051,2719,1111,1081
$GC,17708,1.21,329.0,187.3,8.7,745,17712,0.00,2.25,0.00,0.000,6,0.000,0.047,2719,2534,1082
$GC,18035,1.15,329.0,157.5,9.0,761,18040,0.12,2.30,0.00,0.000,4,0.130,0.051,2682,1099,1082
$GC,18068,1.28,346.5,154.9,6.4,762,18090,0.12,2.25,16.17,0.972,6,0.074,0.048,2733,2521,1008
$GC,18403,1.21,346.5,123.2,9.7,778,18407,0.15,2.28,0.00,0.000,4,0.127,0.052,2689,1105,1008
$GC,18448,1.32,346.5,119.5,7.5,780,18452,0.12,2.25,0.00,0.000,6,0.078,0.048,2744,2525,1008
$GC,18776,1.23,346.5,84.0,11.9,814,18783,0.15,2.28,0.00,0.000,4,0.131,0.052,2698,1107,1008
$GC,18812,1.23,346.5,80.6,9.8,820,18818,0.00,2.25,0.00,0.000,6,0.000,0.048,2698,2530,1007
$GC,19157,1.34,346.5,51.3,8.6,881,19163,0.10,2.28,0.00,0.000,4,0.086,0.051,2748,1104,1007
$GC,19182,1.41,346.5,49.0,8.7,885,19188,0.00,2.25,0.00,0.000,6,0.000,0.048,2748,2523,1007
$GC,19526,1.36,346.5,15.5,9.5,946,19533,0.00,2.28,0.00,0.000,4,0.000,0.053,2748,1101,1006
$GC,19567,1.36,346.5,11.4,9.9,953,19574,0.00,2.25,0.00,0.000,6,0.000,0.048,2748,2520,1006
$STATE,19667,end climb,SURFACE_DEPTH_REACHED
$STATE,19667,begin surface coast
$FINISH,0.9,1.014476
$STATE,19691,end surface coast,CONTROL_FINISHED_OK
$STATE,19694,begin surface
$SM_CCo,19771,0.00,0.000,0,0,1006,346.85
$SM_GC,1.79,7.12,0.00,0.00,0.061,0.000,0.000,157,2335,1006,-10.40,-0.14,346.85
$RAFOS_CLK,1103
$RAFOS,4,1227588248,4.750000,4.735556,73,61,58,58,55,50,772,195,124,138,219,152
$RAFOS,3,1227587676,4.583333,4.576667,59,58,57,55,53,52,717,216,183,171,141,207
$RAFOS,2,1227587068,4.416667,4.407778,83,64,59,58,57,57,463,204,158,219,171,120
$RAFOS,1,1227586461,4.250000,4.239167,99,56,55,54,52,52,706,156,210,198,171,142
$RAFOS,0,1227585847,4.083333,4.068611,64,61,61,58,51,51,155,208,950,194,589,219
$RAFOS_FIX,6652.771484,-5726.380371,251108,040430,3,85,0.47
$IRIDIUM_FIX,6620.33,-5726.71,180298,202016
$TT8_MAMPS,0.027612
$HUMID,1895
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.70
$XPDR_PINGS,1
$24V_AH,20.2,65.428
$10V_AH,10.5,28.813
$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,23.975,151.000,479.900,0.000,0.000,30.511,31.191,260.932,0.250,0.000,0.000,15.238,1834.229,15117.922,757.875,1880.298,648.352,33.375,1806.930,0.000,1852.312,1800.000,0.529,0.000
$DEVICE_MAMPS,269.984,73.632,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.933,667.459,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34752,975
$CAP_FILE_SIZE,150535,0
$CFSIZE,260165632,225017856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$SOUNDSPEED,1455.8
$GPS,251108,075426,6653.028,-5716.334,43,1.1,43,-37.4