version: 66.04
glider: 113
mission: 4
dive: 353
start: 11 26 108 0 53 3
data:
$ID,113
$MISSION,4
$DIVE,353
$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,-31670.324
$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,32
$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
$GPS1,004208,6659.944,-5704.940,28,1.1,28,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.2
$GPS2,005208,6700.026,-5705.089,8,1.3,13,-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,0.185,0.127
$KALMAN_X,-59690.6,136.0,-345.5,74037.3,868.3
$KALMAN_Y,-38193.4,518.2,465.4,46736.6,-531.4
$MHEAD_RNG_PITCHd_Wd,92.9,13514,-12.9,-7.021
$D_GRID,716
$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,17,-1.08,-146.0,0.0,0.0,0,129,0.00,0.00,-109.18,0.000,2,0.000,0.000,165,2333,2945
$GC,132,-1.08,-146.0,3.4,-2.5,19,152,8.70,2.28,-2.35,0.000,4,0.258,0.066,2200,932,3019
$GC,290,-0.59,-146.0,33.3,-16.8,46,298,0.38,2.25,0.00,0.000,6,0.166,0.050,2309,2347,3021
$GC,635,-0.59,-146.0,65.1,-7.8,107,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2348,3020
$GC,979,-0.65,-146.0,89.8,-6.8,168,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2348,3020
$GC,1314,-0.77,-146.0,112.1,-6.4,203,1316,0.15,0.00,0.00,0.000,6,0.086,0.000,2249,2348,3019
$GC,1621,-0.73,-146.0,140.4,-9.4,218,1625,0.12,2.30,0.00,0.000,4,0.162,0.064,2282,3748,3018
$GC,1676,-0.85,-146.0,145.1,-8.1,220,1681,0.12,2.17,0.00,0.000,6,0.084,0.036,2234,2330,3019
$GC,1998,-0.78,-146.0,174.8,-8.9,236,1999,0.12,0.00,0.00,0.000,6,0.165,0.000,2267,2328,3019
$GC,2306,-0.84,-146.0,199.0,-7.7,251,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2329,3019
$GC,2617,-0.91,-146.0,219.8,-6.1,266,2618,0.12,0.00,0.00,0.000,6,0.093,0.000,2221,2328,3019
$GC,2925,-0.83,-146.0,242.5,-7.5,281,2927,0.12,0.00,0.00,0.000,6,0.162,0.000,2254,2328,3019
$GC,3235,-0.88,-146.0,261.2,-6.0,296,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2328,3020
$GC,3544,-0.94,-146.0,279.4,-5.9,311,3549,0.10,2.35,0.00,0.000,4,0.100,0.061,2217,3756,3020
$GC,3571,-0.94,-146.0,281.3,-7.3,312,3575,0.00,2.17,0.00,0.000,6,0.000,0.036,2217,2335,3020
$GC,3893,-0.88,-146.0,304.7,-7.6,328,3898,0.12,2.33,0.00,0.000,4,0.155,0.061,2248,3745,3020
$GC,3921,-0.88,-146.0,306.7,-6.6,329,3924,0.00,2.15,0.00,0.000,6,0.000,0.035,2249,2339,3020
$GC,4248,-0.92,-146.0,327.7,-6.4,345,4252,0.00,2.33,0.00,0.000,4,0.000,0.061,2248,3756,3021
$GC,4277,-0.99,-146.0,329.7,-6.5,346,4281,0.10,2.17,0.00,0.000,6,0.110,0.035,2211,2336,3021
$GC,4603,-0.92,-146.0,354.2,-7.2,362,4607,0.10,2.33,0.00,0.000,4,0.161,0.059,2235,3750,3021
$GC,4658,-0.92,-146.0,358.2,-7.1,364,4662,0.00,2.17,0.00,0.000,6,0.000,0.035,2235,2327,3021
$GC,4980,-0.92,-146.0,379.2,-6.8,380,4984,0.00,2.33,0.00,0.000,4,0.000,0.060,2235,3749,3022
$GC,5019,-0.92,-146.0,382.0,-7.2,381,5025,0.00,2.17,0.00,0.000,6,0.000,0.035,2234,2327,3022
$GC,5334,-0.92,-146.0,403.0,-6.5,396,5338,0.00,2.33,0.00,0.000,4,0.000,0.061,2235,3746,3023
$GC,5385,-0.97,-146.0,406.3,-6.5,397,5389,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2340,3023
$GC,5709,-0.97,-146.0,426.8,-6.2,405,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2340,3024
$GC,6034,-0.97,-146.0,447.5,-6.3,413,6038,0.00,2.30,0.00,0.000,4,0.000,0.060,2235,3746,3024
$GC,6074,-1.03,-146.0,450.1,-6.9,413,6081,0.10,2.15,0.00,0.000,6,0.108,0.035,2198,2337,3024
$GC,6406,-0.94,-146.0,474.1,-7.3,422,6410,0.12,2.33,0.00,0.000,4,0.153,0.061,2231,3749,3024
$GC,6444,-0.99,-146.0,476.8,-7.1,422,6451,0.00,2.15,0.00,0.000,6,0.000,0.035,2231,2340,3024
$GC,6776,-0.99,-146.0,498.1,-6.5,431,6780,0.00,2.30,0.00,0.000,4,0.000,0.059,2231,3750,3025
$GC,6827,-1.05,-146.0,501.5,-7.4,432,6831,0.10,2.15,0.00,0.000,6,0.097,0.034,2193,2338,3025
$GC,7151,-0.95,-146.0,526.8,-7.8,440,7153,0.15,0.00,0.00,0.000,6,0.144,0.000,2235,2336,3026
$GC,7476,-0.95,-146.0,548.2,-6.6,448,7480,0.00,2.33,0.00,0.000,4,0.000,0.061,2235,3759,3026
$GC,7504,-1.01,-146.0,550.2,-7.4,448,7508,0.00,2.17,0.00,0.000,6,0.000,0.035,2235,2332,3026
$GC,7847,-1.01,-146.0,572.3,-6.3,457,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2332,3026
$GC,8172,-1.06,-146.0,592.5,-6.0,465,8177,0.12,2.35,0.00,0.000,4,0.097,0.060,2189,3756,3027
$GC,8223,-0.98,-146.0,596.3,-7.8,466,8227,0.12,2.17,0.00,0.000,6,0.151,0.035,2222,2330,3027
$GC,8541,-0.98,-146.0,616.9,-6.2,474,8545,0.00,2.33,0.00,0.000,4,0.000,0.061,2222,3750,3026
$GC,8586,-0.98,-146.0,619.6,-6.4,475,8590,0.00,2.15,0.00,0.000,6,0.000,0.035,2222,2340,3026
$GC,8917,-0.98,-146.0,642.0,-6.9,483,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2340,3027
$GC,9241,-0.98,-146.0,663.7,-6.7,491,9245,0.00,2.33,0.00,0.000,4,0.000,0.061,2222,3753,3026
$GC,9280,-0.98,-146.0,666.3,-7.2,491,9286,0.00,2.17,0.00,0.000,6,0.000,0.035,2222,2330,3026
$GC,9612,-0.98,-146.0,687.0,-6.2,500,9616,0.00,2.33,0.00,0.000,4,0.000,0.061,2222,3749,3026
$GC,9650,-0.98,-146.0,689.7,-6.7,500,9657,0.00,2.17,0.00,0.000,6,0.000,0.035,2222,2331,3026
$GC,9982,-0.98,-146.0,711.3,-6.6,509,9986,0.00,2.33,0.00,0.000,4,0.000,0.061,2222,3746,3026
$GC,10043,-1.02,-146.0,715.5,-6.9,510,10047,0.00,2.17,0.00,0.000,6,0.000,0.036,2222,2327,3026
$STATE,10051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10051,begin apogee
$GC,10059,-0.34,0.0,716.3,6.8,510,10196,0.43,0.00,133.35,1.280,6,0.140,0.000,2357,2517,2420
$STATE,10197,end apogee,CONTROL_FINISHED_OK
$STATE,10197,begin climb
$GC,10199,1.08,146.0,719.3,0.0,514,10347,1.05,2.72,139.65,1.200,4,0.103,0.060,2667,3926,1824
$GC,10389,0.82,146.0,706.1,9.9,518,10394,0.22,2.42,0.00,0.000,6,0.137,0.035,2611,2523,1824
$GC,10732,0.86,176.5,684.8,6.0,527,10766,0.00,2.45,26.45,1.206,4,0.000,0.062,2611,3940,1700
$GC,10789,0.86,176.5,680.9,7.4,528,10793,0.00,2.25,0.00,0.000,6,0.000,0.037,2611,2503,1700
$GC,11103,0.96,198.1,661.2,6.3,536,11125,0.12,0.00,19.05,1.194,6,0.079,0.000,2664,2504,1612
$GC,11428,0.87,198.1,634.2,8.4,544,11432,0.15,2.35,0.00,0.000,4,0.133,0.063,2620,3944,1613
$GC,11461,0.87,198.1,631.5,8.3,544,11466,0.00,2.17,0.00,0.000,6,0.000,0.037,2620,2516,1614
$GC,11799,0.94,215.7,609.6,6.4,553,11820,0.00,2.22,16.05,1.179,4,0.000,0.049,2620,1119,1540
$GC,11854,1.07,227.6,605.8,6.6,554,11873,0.15,2.25,11.48,1.111,6,0.073,0.046,2680,2536,1493
$GC,12205,0.97,227.6,572.4,9.7,563,12210,0.12,2.25,0.00,0.000,4,0.131,0.062,2642,3928,1493
$GC,12245,0.90,227.6,568.5,9.9,564,12249,0.00,2.15,0.00,0.000,6,0.000,0.038,2642,2522,1493
$GC,12576,0.90,227.6,542.5,7.7,572,12580,0.00,2.20,0.00,0.000,4,0.000,0.050,2642,1111,1493
$GC,12638,0.95,227.6,537.9,7.2,573,12642,0.00,2.22,0.00,0.000,6,0.000,0.045,2642,2532,1493
$GC,12950,0.95,227.6,514.5,7.4,581,12954,0.00,2.22,0.00,0.000,4,0.000,0.048,2642,1117,1492
$GC,12983,1.02,236.3,512.1,6.7,581,12998,0.00,2.20,8.30,1.024,6,0.000,0.044,2642,2525,1456
$GC,13324,1.02,236.3,488.0,7.1,590,13328,0.00,2.22,0.00,0.000,4,0.000,0.048,2642,1110,1458
$GC,13352,1.11,253.5,485.9,6.4,590,13373,0.12,2.20,15.95,1.103,6,0.075,0.044,2692,2523,1386
$GC,13695,0.99,253.5,451.9,10.2,599,13697,0.15,0.00,0.00,0.000,6,0.127,0.000,2648,2524,1387
$GC,14017,0.99,253.5,425.1,8.2,607,14021,0.00,2.22,0.00,0.000,4,0.000,0.048,2648,1109,1388
$GC,14067,1.06,253.5,420.9,8.1,608,14071,0.00,2.22,0.00,0.000,6,0.000,0.044,2648,2534,1387
$GC,14392,1.06,253.5,395.6,7.4,617,14396,0.00,2.22,0.00,0.000,4,0.000,0.048,2648,1119,1388
$GC,14442,1.13,253.5,392.0,7.1,619,14446,0.12,2.20,0.00,0.000,6,0.081,0.044,2698,2529,1388
$GC,14768,0.98,253.5,359.1,10.7,635,14773,0.17,2.22,0.00,0.000,4,0.131,0.047,2646,1121,1389
$GC,14802,1.06,253.5,356.1,7.3,636,14806,0.00,2.20,0.00,0.000,6,0.000,0.044,2646,2529,1388
$GC,15123,1.06,253.5,332.3,7.2,652,15127,0.00,2.22,0.00,0.000,4,0.000,0.047,2646,1111,1389
$GC,15173,1.14,253.5,328.7,7.5,654,15178,0.12,2.20,0.00,0.000,6,0.079,0.043,2700,2521,1389
$GC,15500,1.01,253.5,295.7,11.1,670,15505,0.17,2.28,0.00,0.000,4,0.127,0.058,2648,3937,1390
$GC,15539,1.01,253.5,291.6,10.3,671,15545,0.00,2.17,0.00,0.000,6,0.000,0.036,2647,2508,1390
$GC,15856,1.07,253.5,266.4,8.2,687,15859,0.00,2.17,0.00,0.000,4,0.000,0.047,2648,1108,1390
$GC,15906,1.15,253.5,262.3,8.3,689,15911,0.15,2.20,0.00,0.000,6,0.071,0.042,2708,2523,1390
$GC,16232,1.02,253.5,227.0,10.6,705,16234,0.17,0.00,0.00,0.000,6,0.124,0.000,2654,2523,1390
$GC,16542,1.07,253.5,203.0,7.5,720,16546,0.00,2.22,0.00,0.000,4,0.000,0.048,2654,1110,1390
$GC,16598,1.15,253.5,198.5,8.4,722,16603,0.12,2.20,0.00,0.000,6,0.074,0.043,2707,2520,1390
$GC,16919,1.03,253.5,165.2,10.4,738,16923,0.17,2.28,0.00,0.000,4,0.121,0.058,2652,3936,1390
$GC,16958,1.03,253.5,161.5,9.1,739,16964,0.00,2.17,0.00,0.000,6,0.000,0.035,2652,2507,1391
$GC,17274,1.14,276.0,139.6,6.3,755,17299,0.12,2.22,20.05,0.897,4,0.075,0.048,2708,1109,1294
$GC,17356,1.09,276.0,132.7,7.8,758,17363,0.15,2.22,0.00,0.000,6,0.123,0.042,2664,2530,1295
$GC,17672,1.20,282.9,111.6,6.8,774,17682,0.12,0.00,7.00,0.763,6,0.073,0.000,2720,2530,1267
$GC,18009,1.13,282.9,82.8,7.8,815,18015,0.15,0.00,0.00,0.000,6,0.121,0.000,2673,2531,1268
$GC,18354,1.27,293.4,60.5,6.7,876,18373,0.12,2.28,10.30,0.820,4,0.073,0.048,2731,1126,1223
$GC,18430,1.27,293.4,53.5,9.9,889,18436,0.00,2.20,0.00,0.000,6,0.000,0.044,2731,2532,1224
$GC,18774,1.27,293.4,22.7,8.2,950,18779,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2532,1225
$STATE,19030,end climb,SURFACE_DEPTH_REACHED
$STATE,19030,begin surface coast
$FINISH,0.9,1.014762
$STATE,19060,end surface coast,CONTROL_FINISHED_OK
$STATE,19060,begin surface
$SM_CCo,19138,0.00,0.000,0,0,1224,293.38
$SM_GC,1.94,7.10,0.00,0.00,0.064,0.000,0.000,162,2341,1224,-10.39,0.03,293.38
$RAFOS_CLK,1004
$RAFOS,4,1227674676,4.750000,4.743333,131,64,59,56,51,50,647,198,209,221,232,157
$RAFOS,3,1227674063,4.583333,4.573056,59,59,57,56,55,50,117,864,200,212,176,151
$RAFOS,2,1227673446,4.416667,4.401667,131,56,55,54,53,51,612,150,197,215,159,139
$RAFOS,1,1227672863,4.250000,4.239722,122,64,61,57,55,52,746,187,222,202,149,168
$RAFOS,0,1227672241,4.083333,4.066945,65,62,53,51,51,50,173,202,130,150,1035,183
$RAFOS,3,1227659645,0.583333,0.568056,83,65,63,62,57,56,951,191,148,203,217,137
$RAFOS_FIX,6658.543457,-5707.373047,261108,040430,3,128,0.25
$IRIDIUM_FIX,6631.12,-5705.96,200298,000003
$TT8_MAMPS,0.027612
$HUMID,1857
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,20.4,66.079
$10V_AH,10.6,29.115
$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,22.525,157.800,407.625,0.000,0.000,56.057,66.769,272.466,0.500,0.000,0.000,15.179,1907.818,14557.658,553.362,1995.126,734.549,33.371,1660.122,0.000,1962.345,1800.000,0.529,0.000
$DEVICE_MAMPS,258.479,65.962,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.732,680.306,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37897,1001
$CAP_FILE_SIZE,153861,0
$CFSIZE,260165632,224731136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,261108,061338,6701.379,-5701.043,35,1.1,35,-37.6