version: 66.04
glider: 113
mission: 4
dive: 365
start: 11 28 108 16 53 40
data:
$ID,113
$MISSION,4
$DIVE,365
$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,-31855.17
$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,34
$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
$GPS1,164407,6705.600,-5709.093,27,1.2,27,-37.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-60.5
$GPS2,165245,6705.646,-5709.194,16,1.3,16,-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,0.218,-0.055
$KALMAN_X,-93031.1,-359.9,-889.6,105432.3,-1912.1
$KALMAN_Y,-17401.5,247.9,1148.8,35942.0,344.4
$MHEAD_RNG_PITCHd_Wd,141.8,16070,-12.9,-7.021
$D_GRID,641
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-101.97,0.000,2,0.000,0.000,165,2341,2961
$GC,124,-1.08,-146.0,3.3,-2.4,18,143,8.65,2.35,-1.92,0.000,4,0.257,0.074,2202,3745,3018
$GC,398,-0.76,-146.0,46.5,-13.7,66,405,0.25,2.17,0.00,0.000,6,0.160,0.036,2273,2328,3019
$GC,742,-0.76,-146.0,79.3,-8.7,127,748,0.00,2.17,0.00,0.000,4,0.000,0.049,2273,936,3018
$GC,995,-0.76,-146.0,101.4,-8.0,170,999,0.00,2.22,0.00,0.000,6,0.000,0.046,2273,2348,3018
$GC,1321,-0.76,-146.0,123.8,-6.4,186,1325,0.00,2.25,0.00,0.000,4,0.000,0.061,2273,3743,3017
$GC,1339,-0.81,-146.0,125.0,-6.6,186,1345,0.00,2.15,0.00,0.000,6,0.000,0.035,2273,2338,3017
$GC,1655,-0.86,-146.0,143.5,-5.8,202,1660,0.10,2.33,0.00,0.000,4,0.110,0.059,2234,3752,3017
$GC,1667,-0.86,-146.0,144.4,-5.8,202,1673,0.00,2.17,0.00,0.000,6,0.000,0.035,2234,2331,3017
$GC,1984,-0.80,-146.0,169.2,-8.1,218,1988,0.12,2.33,0.00,0.000,4,0.166,0.059,2268,3751,3017
$GC,1994,-0.80,-146.0,170.1,-8.0,218,1998,0.00,2.17,0.00,0.000,6,0.000,0.035,2268,2326,3017
$GC,2316,-0.86,-146.0,190.8,-5.8,234,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2326,3017
$GC,2625,-0.94,-146.0,207.1,-4.7,249,2630,0.12,2.33,0.00,0.000,4,0.087,0.058,2220,3750,3018
$GC,2686,-0.88,-146.0,211.5,-7.3,251,2693,0.10,2.17,0.00,0.000,6,0.160,0.035,2244,2328,3017
$GC,3003,-0.88,-146.0,229.2,-5.7,267,3006,0.00,2.33,0.00,0.000,4,0.000,0.059,2244,3749,3018
$GC,3031,-0.88,-146.0,230.8,-6.3,268,3035,0.00,2.15,0.00,0.000,6,0.000,0.034,2244,2328,3018
$GC,3358,-0.88,-146.0,250.6,-6.2,284,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2328,3019
$GC,3667,-0.88,-146.0,270.4,-6.3,299,3671,0.00,2.15,0.00,0.000,4,0.000,0.045,2245,940,3019
$GC,3678,-0.88,-146.0,271.3,-6.4,299,3683,0.00,2.17,0.00,0.000,6,0.000,0.043,2245,2344,3019
$GC,4000,-0.88,-146.0,292.4,-6.6,315,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2343,3020
$GC,4309,-0.88,-146.0,311.1,-5.8,330,4313,0.00,2.28,0.00,0.000,4,0.000,0.059,2245,3751,3021
$GC,4322,-0.88,-146.0,311.9,-6.2,330,4326,0.00,2.15,0.00,0.000,6,0.000,0.033,2245,2335,3021
$GC,4643,-0.88,-146.0,333.2,-6.7,346,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2336,3021
$GC,4952,-0.88,-146.0,354.6,-7.1,361,4956,0.00,2.30,0.00,0.000,4,0.000,0.059,2245,3739,3022
$GC,4968,-0.88,-146.0,355.8,-7.1,361,4974,0.00,2.15,0.00,0.000,6,0.000,0.034,2245,2326,3021
$GC,5284,-0.93,-146.0,376.2,-6.0,377,5288,0.00,2.33,0.00,0.000,4,0.000,0.058,2245,3753,3022
$GC,5341,-1.01,-146.0,379.8,-6.0,379,5345,0.12,2.15,0.00,0.000,6,0.091,0.033,2198,2338,3022
$GC,5682,-0.90,-146.0,404.4,-7.5,395,5687,0.15,2.33,0.00,0.000,4,0.149,0.059,2241,3746,3022
$GC,5693,-0.83,-146.0,405.4,-7.5,395,5697,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2334,3022
$GC,6006,-0.83,-146.0,424.9,-6.3,403,6010,0.00,2.30,0.00,0.000,4,0.000,0.059,2241,3743,3022
$GC,6018,-0.87,-146.0,425.7,-6.0,403,6021,0.00,2.15,0.00,0.000,6,0.000,0.033,2241,2328,3023
$GC,6337,-0.87,-146.0,444.8,-5.9,411,6340,0.00,2.33,0.00,0.000,4,0.000,0.058,2241,3753,3022
$GC,6365,-0.94,-146.0,446.5,-6.3,411,6369,0.00,2.15,0.00,0.000,6,0.000,0.032,2241,2337,3023
$GC,6709,-0.99,-146.0,465.8,-5.5,420,6712,0.00,2.30,0.00,0.000,4,0.000,0.059,2241,3743,3022
$GC,6720,-1.05,-146.0,466.6,-5.6,420,6725,0.12,2.15,0.00,0.000,6,0.087,0.033,2193,2328,3023
$GC,7039,-0.94,-146.0,489.0,-7.1,428,7044,0.15,2.33,0.00,0.000,4,0.143,0.058,2235,3743,3023
$GC,7067,-0.94,-146.0,490.8,-6.1,428,7071,0.00,2.15,0.00,0.000,6,0.000,0.033,2235,2328,3023
$GC,7404,-0.94,-146.0,509.6,-5.6,437,7408,0.00,2.30,0.00,0.000,4,0.000,0.058,2235,3740,3023
$GC,7461,-1.01,-146.0,512.8,-5.4,438,7465,0.00,2.15,0.00,0.000,6,0.000,0.033,2235,2327,3023
$GC,7780,-1.01,-146.0,529.4,-5.2,446,7784,0.00,2.33,0.00,0.000,4,0.000,0.058,2235,3754,3023
$GC,7859,-1.07,-146.0,533.9,-5.1,447,7864,0.12,2.15,0.00,0.000,6,0.094,0.034,2189,2338,3023
$GC,8196,-0.97,-146.0,557.2,-7.2,456,8201,0.15,2.30,0.00,0.000,4,0.146,0.058,2231,3740,3023
$GC,8237,-1.03,-146.0,559.6,-6.1,457,8241,0.00,2.12,0.00,0.000,6,0.000,0.034,2231,2341,3023
$GC,8567,-1.03,-146.0,579.3,-6.0,465,8571,0.00,2.30,0.00,0.000,4,0.000,0.058,2231,3750,3023
$GC,8589,-1.08,-146.0,580.6,-5.7,465,8594,0.12,2.15,0.00,0.000,6,0.092,0.034,2186,2337,3024
$GC,8939,-0.96,-146.0,605.9,-7.1,474,8943,0.15,2.33,0.00,0.000,4,0.143,0.058,2228,3750,3024
$GC,8950,-0.87,-146.0,606.8,-7.0,474,8954,0.00,2.15,0.00,0.000,6,0.000,0.033,2229,2338,3024
$GC,9263,-0.87,-146.0,625.2,-5.4,482,9267,0.00,2.33,0.00,0.000,4,0.000,0.059,2229,3753,3024
$GC,9274,-0.87,-146.0,625.9,-5.7,482,9277,0.00,2.17,0.00,0.000,6,0.000,0.033,2228,2328,3024
$STATE,9549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9549,begin apogee
$GC,9556,-0.34,0.0,642.3,5.5,489,9690,0.43,0.00,130.57,1.207,6,0.130,0.000,2363,2521,2420
$STATE,9691,end apogee,CONTROL_FINISHED_OK
$STATE,9691,begin climb
$GC,9694,1.08,146.0,645.1,0.0,492,9842,1.02,0.00,138.80,1.118,6,0.098,0.000,2671,2521,1824
$GC,10161,0.92,146.0,607.9,8.8,504,10166,0.15,2.30,0.00,0.000,4,0.141,0.058,2628,3936,1824
$GC,10222,0.82,146.0,602.7,8.3,505,10227,0.00,2.17,0.00,0.000,6,0.000,0.036,2627,2520,1824
$GC,10571,0.82,147.9,579.3,7.0,514,10574,0.00,2.17,0.00,0.000,4,0.000,0.048,2627,1121,1823
$GC,10627,0.84,163.0,575.5,6.5,515,10647,0.00,2.20,15.02,1.102,6,0.000,0.044,2627,2529,1756
$GC,10984,0.84,165.2,551.1,6.9,524,10994,0.00,2.30,3.22,0.595,4,0.000,0.061,2627,3931,1747
$GC,11057,0.76,165.2,544.9,8.4,525,11061,0.10,2.15,0.00,0.000,6,0.152,0.036,2599,2516,1748
$GC,11399,0.89,188.5,523.4,6.2,534,11426,0.12,2.20,20.75,1.122,4,0.072,0.047,2653,1117,1651
$GC,11477,0.89,188.5,517.2,7.8,535,11481,0.10,2.22,0.00,0.000,6,0.140,0.043,2626,2533,1652
$GC,11809,0.89,188.5,492.7,7.6,543,11813,0.00,2.22,0.00,0.000,4,0.000,0.059,2626,3927,1651
$GC,11855,0.84,188.5,488.5,9.0,544,11859,0.00,2.15,0.00,0.000,6,0.000,0.035,2625,2512,1652
$GC,12184,0.84,188.5,462.2,8.0,552,12188,0.00,2.17,0.00,0.000,4,0.000,0.047,2625,1110,1651
$GC,12252,0.92,188.5,456.9,8.0,553,12256,0.00,2.20,0.00,0.000,6,0.000,0.044,2625,2524,1651
$GC,12600,0.97,190.9,431.6,6.9,562,12609,0.00,2.30,3.45,0.614,4,0.000,0.061,2625,3925,1642
$GC,12645,0.97,190.9,428.0,8.6,563,12650,0.08,2.15,0.00,0.000,6,0.100,0.035,2663,2510,1643
$GC,12975,0.90,190.9,400.1,8.4,571,12980,0.12,2.17,0.00,0.000,4,0.127,0.046,2626,1111,1643
$GC,13026,1.04,224.4,396.6,5.9,572,13064,0.12,2.20,28.73,1.058,6,0.076,0.043,2678,2524,1505
$GC,13377,0.96,224.4,366.2,8.9,589,13381,0.12,2.25,0.00,0.000,4,0.126,0.058,2640,3928,1505
$GC,13416,0.96,224.4,362.3,8.6,591,13420,0.00,2.15,0.00,0.000,6,0.000,0.035,2640,2513,1506
$GC,13750,1.01,225.9,339.3,7.0,607,13753,0.00,2.15,0.00,0.000,4,0.000,0.046,2641,1123,1505
$GC,13840,1.11,225.9,333.0,7.1,611,13845,0.12,2.17,0.00,0.000,6,0.074,0.043,2693,2522,1505
$GC,14174,0.99,225.9,300.0,10.3,627,14178,0.15,2.25,0.00,0.000,4,0.123,0.058,2649,3927,1505
$GC,14218,0.92,225.9,295.4,9.2,629,14221,0.00,2.15,0.00,0.000,6,0.000,0.035,2648,2515,1506
$GC,14545,0.92,225.9,270.4,7.1,645,14549,0.00,2.15,0.00,0.000,4,0.000,0.046,2649,1123,1506
$GC,14625,1.00,233.1,264.9,6.8,648,14640,0.00,2.17,8.55,0.870,6,0.000,0.042,2648,2521,1469
$GC,14968,1.00,233.1,240.5,7.3,665,14969,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2521,1470
$GC,15278,1.05,233.1,218.1,7.4,680,15282,0.00,2.20,0.00,0.000,4,0.000,0.046,2649,1114,1470
$GC,15334,1.14,233.1,213.9,7.2,682,15339,0.12,2.20,0.00,0.000,6,0.076,0.042,2704,2529,1470
$GC,15656,1.02,233.1,181.6,9.8,698,15658,0.17,0.00,0.00,0.000,6,0.123,0.000,2651,2530,1470
$GC,15966,1.10,240.6,159.7,6.8,713,15976,0.10,0.00,7.80,0.799,6,0.083,0.000,2696,2530,1439
$GC,16274,1.03,240.6,132.9,8.6,728,16279,0.15,2.22,0.00,0.000,4,0.123,0.045,2652,1115,1441
$GC,16331,1.17,252.2,128.9,6.6,730,16347,0.15,2.17,11.10,0.831,6,0.068,0.042,2718,2520,1391
$GC,16662,1.07,252.2,96.7,9.7,749,16668,0.17,2.28,0.00,0.000,4,0.117,0.058,2663,3937,1393
$GC,16714,1.07,252.2,92.0,8.4,758,16720,0.00,2.15,0.00,0.000,6,0.000,0.035,2663,2520,1393
$GC,17059,1.18,263.5,67.3,6.6,819,17077,0.10,2.20,10.80,0.805,4,0.077,0.046,2709,1116,1345
$GC,17146,1.18,263.5,60.2,8.4,834,17153,0.00,2.20,0.00,0.000,6,0.000,0.042,2709,2529,1346
$GC,17491,1.18,263.5,33.7,7.6,895,17497,0.00,2.25,0.00,0.000,4,0.000,0.061,2710,3927,1347
$GC,17544,1.10,263.5,29.2,8.8,904,17550,0.15,2.15,0.00,0.000,6,0.125,0.035,2664,2512,1346
$GC,17889,1.70,343.8,7.9,4.3,965,17954,0.38,0.00,61.90,0.849,2,0.061,0.000,2815,2510,1033
$STATE,17955,end climb,SURFACE_DEPTH_REACHED
$STATE,17955,begin surface coast
$FINISH,1.0,1.011439
$STATE,17971,end surface coast,CONTROL_FINISHED_OK
$STATE,17971,begin surface
$SM_CCo,18049,0.00,0.000,0,0,1026,341.70
$SM_GC,1.93,7.32,0.00,0.00,0.057,0.000,0.000,160,2335,1026,-10.40,-0.14,341.70
$RAFOS_CLK,922
$RAFOS,4,1227905046,20.750000,20.735001,77,56,55,54,53,50,787,210,228,184,197,219
$RAFOS,3,1227904445,20.583334,20.568056,65,61,60,56,49,48,223,148,206,163,189,237
$RAFOS,2,1227903845,20.416666,20.401388,74,67,59,56,54,50,612,211,196,132,169,150
$RAFOS,1,1227903280,20.250000,20.244444,99,67,60,60,59,53,652,183,201,171,215,235
$RAFOS,0,1227902644,20.083334,20.067778,61,61,59,55,54,53,155,164,215,118,134,184
$RAFOS_FIX,6703.928711,-5711.140137,281108,202030,3,83,0.27
$IRIDIUM_FIX,6636.54,-5707.59,220298,161604
$TT8_MAMPS,0.028379
$HUMID,1855
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.70
$XPDR_PINGS,2
$24V_AH,20.6,67.781
$10V_AH,10.6,30.008
$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,21.925,173.375,440.700,0.000,0.000,53.390,55.347,206.091,0.500,0.000,0.000,18.351,1827.195,13569.501,583.919,1940.410,651.532,33.385,1664.850,0.000,1898.617,1800.000,0.530,0.000
$DEVICE_MAMPS,256.945,73.632,1207.258,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.573,662.945,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34664,979
$CAP_FILE_SIZE,152030,0
$CFSIZE,260165632,223887360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1468.3
$GPS,281108,215607,6705.407,-5705.797,36,1.2,41,-37.7