version: 66.04
glider: 113
mission: 4
dive: 63
start: 9 16 108 20 57 59
data:
$ID,113
$MISSION,4
$DIVE,63
$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,100
$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,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0031999999
$HD_B,0.014
$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,275
$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,-23166.609
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,37
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2500
$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
$GPS1,205138,6657.001,-5730.456,29,1.1,30,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.8
$GPS2,205706,6656.937,-5730.411,13,1.8,16,-37.6
$SPEED_LIMITS,0.122,0.186
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.185,0.012
$KALMAN_X,3602.0,-191.2,1042.9,48287.7,-1957.9
$KALMAN_Y,-10068.0,58.8,-3835.9,20978.4,9174.3
$MHEAD_RNG_PITCHd_Wd,67.9,32621,-14.2,-7.021
$D_GRID,784
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.16,-146.0,0.0,0.0,0,135,0.00,0.00,-115.95,0.000,2,0.000,0.000,164,2338,2937
$GC,138,-1.16,-146.0,3.0,-2.4,18,157,8.35,2.33,-5.05,0.000,4,0.262,0.067,2180,926,3099
$GC,231,-0.61,-146.0,25.1,-21.5,34,238,0.45,2.28,0.00,0.000,6,0.180,0.049,2305,2346,3102
$GC,575,-0.74,-146.0,54.8,-8.6,95,582,0.12,2.25,0.00,0.000,4,0.102,0.051,2261,931,3106
$GC,684,-0.69,-146.0,65.0,-9.7,114,690,0.10,2.25,0.00,0.000,6,0.182,0.048,2284,2355,3107
$GC,1027,-0.80,-146.0,90.9,-7.1,175,1033,0.10,0.00,0.00,0.000,6,0.102,0.000,2249,2355,3108
$GC,1352,-0.80,-146.0,117.0,-8.1,206,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2355,3108
$GC,1661,-0.80,-146.0,142.3,-7.8,221,1665,0.00,2.25,0.00,0.000,4,0.000,0.067,2249,3747,3107
$GC,1716,-0.89,-146.0,146.8,-8.1,223,1720,0.00,2.20,0.00,0.000,6,0.000,0.040,2249,2337,3107
$GC,2037,-0.96,-146.0,170.6,-7.5,239,2042,0.10,2.20,0.00,0.000,4,0.127,0.054,2216,928,3106
$GC,2069,-0.87,-146.0,173.6,-9.3,240,2076,0.08,2.25,0.00,0.000,6,0.179,0.050,2239,2341,3106
$GC,2385,-0.94,-146.0,199.0,-8.2,256,2388,0.00,2.28,0.00,0.000,4,0.000,0.068,2239,3753,3105
$GC,2474,-1.04,-146.0,206.2,-7.5,260,2479,0.12,2.15,0.00,0.000,6,0.102,0.041,2197,2340,3105
$GC,2805,-0.98,-146.0,235.4,-8.6,276,2810,0.10,2.30,0.00,0.000,4,0.176,0.070,2221,3750,3104
$GC,2843,-1.04,-146.0,238.7,-8.3,277,2850,0.00,2.17,0.00,0.000,6,0.000,0.041,2221,2330,3104
$GC,3158,-1.04,-146.0,263.3,-7.8,293,3161,0.00,2.17,0.00,0.000,4,0.000,0.054,2221,930,3103
$GC,3206,-1.04,-146.0,267.4,-9.0,295,3211,0.00,2.25,0.00,0.000,6,0.000,0.050,2221,2345,3103
$GC,3534,-1.08,-146.0,291.8,-7.1,311,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2345,3103
$GC,3844,-1.14,-146.0,313.6,-6.9,326,3848,0.12,2.22,0.00,0.000,4,0.106,0.067,2177,3743,3103
$GC,3892,-1.07,-146.0,317.9,-9.1,328,3897,0.08,2.17,0.00,0.000,6,0.153,0.039,2201,2336,3103
$GC,4212,-1.07,-146.0,341.2,-7.1,344,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2336,3103
$GC,4521,-1.07,-146.0,363.4,-7.2,359,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2336,3103
$GC,4831,-1.07,-146.0,385.9,-7.4,374,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2334,3104
$GC,5159,-1.07,-146.0,410.4,-7.6,387,5163,0.00,2.28,0.00,0.000,4,0.000,0.066,2201,3748,3104
$GC,5219,-1.12,-146.0,415.1,-7.9,388,5224,0.00,2.17,0.00,0.000,6,0.000,0.039,2201,2340,3104
$GC,5532,-1.12,-146.0,438.0,-7.3,396,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2340,3105
$GC,5858,-1.12,-146.0,461.0,-7.0,404,5861,0.00,2.28,0.00,0.000,4,0.000,0.065,2201,3756,3105
$GC,5895,-1.16,-146.0,463.7,-7.2,404,5902,0.00,2.17,0.00,0.000,6,0.000,0.038,2201,2342,3105
$GC,6226,-1.16,-146.0,487.1,-7.0,413,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2342,3105
$GC,6552,-1.16,-146.0,509.4,-6.8,421,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2342,3105
$GC,6877,-1.16,-146.0,531.4,-6.7,429,6881,0.00,2.25,0.00,0.000,4,0.000,0.065,2201,3751,3105
$GC,6928,-1.23,-146.0,535.1,-7.6,430,6932,0.12,2.15,0.00,0.000,6,0.097,0.039,2155,2337,3105
$GC,7251,-1.09,-146.0,562.3,-8.4,438,7253,0.17,0.00,0.00,0.000,6,0.165,0.000,2201,2336,3105
$GC,7576,-1.09,-146.0,584.3,-6.7,446,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2336,3105
$GC,7900,-1.09,-146.0,606.7,-7.0,454,7905,0.00,2.25,0.00,0.000,4,0.000,0.067,2201,3743,3105
$GC,7972,-1.16,-146.0,612.0,-7.2,455,7976,0.00,2.17,0.00,0.000,6,0.000,0.039,2201,2335,3105
$GC,8315,-1.16,-146.0,635.6,-6.9,464,8318,0.00,2.28,0.00,0.000,4,0.000,0.067,2201,3742,3105
$GC,8369,-1.22,-146.0,639.7,-7.1,465,8374,0.08,2.17,0.00,0.000,6,0.089,0.039,2165,2334,3105
$GC,8688,-1.14,-146.0,665.8,-8.3,473,8690,0.10,0.00,0.00,0.000,6,0.173,0.000,2189,2332,3104
$GC,9013,-1.14,-146.0,689.9,-7.3,481,9017,0.00,2.30,0.00,0.000,4,0.000,0.069,2189,3754,3105
$GC,9073,-1.14,-146.0,694.5,-8.2,482,9078,0.00,2.17,0.00,0.000,6,0.000,0.039,2189,2345,3104
$GC,9387,-1.14,-146.0,716.5,-6.9,490,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2345,3104
$GC,9712,-1.14,-146.0,737.9,-6.6,498,9715,0.00,2.28,0.00,0.000,4,0.000,0.070,2189,3745,3104
$GC,9750,-1.14,-146.0,740.6,-6.9,498,9757,0.00,2.17,0.00,0.000,6,0.000,0.040,2189,2339,3104
$GC,10080,-1.14,-146.0,762.8,-6.7,507,10084,0.00,2.17,0.00,0.000,4,0.000,0.054,2189,926,3104
$GC,10107,-1.14,-146.0,764.7,-7.5,507,10111,0.00,2.22,0.00,0.000,6,0.000,0.051,2189,2333,3104
$STATE,10407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10407,begin apogee
$GC,10412,-0.34,0.0,784.7,6.6,515,10543,0.55,0.00,128.30,1.416,6,0.153,0.000,2360,2517,2500
$STATE,10544,end apogee,CONTROL_FINISHED_OK
$STATE,10544,begin climb
$GC,10546,1.16,146.0,786.9,0.0,518,10685,1.08,2.58,131.73,1.323,4,0.107,0.053,2689,1116,1904
$GC,10702,0.93,146.0,773.9,10.4,521,10709,0.20,2.50,0.00,0.000,6,0.148,0.050,2639,2523,1902
$GC,11033,0.81,146.0,744.2,8.7,530,11037,0.10,2.38,0.00,0.000,4,0.156,0.067,2613,3930,1901
$GC,11087,0.68,146.0,739.2,9.0,531,11092,0.12,2.30,0.00,0.000,6,0.154,0.040,2580,2521,1900
$GC,11406,0.80,174.5,719.8,6.0,539,11436,0.12,2.47,24.67,1.327,4,0.087,0.070,2625,3930,1788
$GC,11458,0.69,174.5,715.6,8.8,540,11463,0.12,2.33,0.00,0.000,6,0.143,0.041,2587,2521,1787
$GC,11774,0.80,187.9,694.9,6.5,548,11789,0.08,0.00,12.60,1.256,6,0.104,0.000,2619,2521,1733
$GC,12095,0.80,187.9,667.9,8.4,556,12099,0.00,2.35,0.00,0.000,4,0.000,0.069,2619,3929,1732
$GC,12134,0.70,187.9,664.4,9.6,556,12142,0.10,2.25,0.00,0.000,6,0.148,0.041,2576,2518,1732
$GC,12465,0.88,212.8,643.7,6.1,565,12490,0.17,0.00,21.80,1.313,6,0.077,0.000,2640,2517,1632
$GC,12789,0.88,212.8,615.2,8.8,573,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2517,1630
$GC,13114,0.88,212.8,585.8,8.9,581,13115,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2517,1630
$GC,13439,0.88,212.8,557.6,8.7,589,13443,0.00,2.22,0.00,0.000,4,0.000,0.055,2640,1109,1629
$GC,13488,0.88,212.8,553.3,8.1,590,13493,0.00,2.28,0.00,0.000,6,0.000,0.049,2640,2525,1629
$GC,13812,0.88,212.8,525.1,8.7,598,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2525,1629
$GC,14137,0.88,212.8,496.0,9.0,606,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2525,1629
$GC,14463,0.88,212.8,467.4,8.8,614,14464,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2525,1629
$GC,14787,0.88,212.8,438.4,8.8,622,14791,0.00,2.22,0.00,0.000,4,0.000,0.055,2640,1116,1629
$GC,14808,0.88,212.8,436.5,8.9,622,14813,0.00,2.22,0.00,0.000,6,0.000,0.048,2640,2518,1628
$GC,15156,0.88,212.8,404.8,9.2,631,15158,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2518,1628
$GC,15464,0.88,212.8,376.4,9.6,644,15468,0.00,2.25,0.00,0.000,4,0.000,0.067,2640,3929,1629
$GC,15491,0.79,212.8,373.5,11.0,645,15496,0.10,2.20,0.00,0.000,6,0.147,0.041,2607,2514,1629
$GC,15817,0.90,217.2,349.1,6.9,661,15825,0.10,0.00,4.90,0.900,6,0.097,0.000,2648,2513,1614
$GC,16126,0.90,217.2,321.9,8.7,676,16130,0.00,2.30,0.00,0.000,4,0.000,0.068,2648,3929,1614
$GC,16143,0.83,217.2,320.3,9.3,676,16150,0.12,2.17,0.00,0.000,6,0.155,0.041,2614,2516,1614
$GC,16458,0.91,217.2,296.6,7.4,692,16462,0.00,2.17,0.00,0.000,4,0.000,0.054,2614,1109,1614
$GC,16484,1.02,217.2,294.6,7.6,693,16489,0.15,2.22,0.00,0.000,6,0.084,0.049,2672,2532,1614
$GC,16810,0.93,217.2,261.7,10.3,709,16812,0.15,0.00,0.00,0.000,6,0.146,0.000,2629,2532,1614
$GC,17119,0.93,217.2,236.5,8.3,724,17120,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2532,1614
$GC,17429,0.98,217.2,211.8,7.8,739,17430,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2532,1614
$GC,17738,1.04,217.2,187.9,7.5,754,17740,0.12,0.00,0.00,0.000,6,0.090,0.000,2677,2532,1615
$GC,18047,0.96,217.2,157.7,9.5,769,18049,0.12,0.00,0.00,0.000,6,0.145,0.000,2641,2532,1615
$GC,18357,1.03,227.7,135.9,6.7,784,18372,0.00,2.28,10.18,0.980,4,0.000,0.067,2641,3937,1570
$GC,18404,0.98,227.7,132.2,7.8,785,18409,0.00,2.22,0.00,0.000,6,0.000,0.040,2641,2516,1570
$GC,18726,1.06,233.1,110.8,6.8,801,18735,0.10,0.00,6.10,0.866,6,0.096,0.000,2680,2515,1549
$GC,19052,1.06,233.1,82.1,8.7,843,19058,0.00,2.33,0.00,0.000,4,0.000,0.070,2680,3931,1549
$GC,19076,1.01,233.1,79.9,9.1,847,19083,0.10,2.20,0.00,0.000,6,0.166,0.041,2655,2508,1548
$GC,19420,1.11,244.2,53.9,6.6,908,19433,0.00,0.00,10.48,0.969,6,0.000,0.000,2655,2508,1504
$GC,19771,1.33,308.6,31.0,4.8,970,19830,0.20,2.38,51.58,1.009,4,0.079,0.056,2734,1123,1240
$GC,19863,1.33,308.6,23.6,8.0,985,19870,0.00,2.30,0.00,0.000,6,0.000,0.051,2734,2516,1237
$STATE,20127,end climb,SURFACE_DEPTH_REACHED
$STATE,20127,begin surface coast
$FINISH,0.7,1.002611
$STATE,20151,end surface coast,CONTROL_FINISHED_OK
$STATE,20151,begin surface
$SM_CCo,20225,0.00,0.000,0,0,1230,311.53
$SM_GC,1.52,7.28,0.00,0.00,0.077,0.000,0.000,165,2340,1230,-10.37,0.00,311.53
$RAFOS_CLK,1119
$RAFOS,4,1221612246,0.750000,0.735000,88,63,55,52,51,51,745,209,192,166,175,121
$RAFOS,3,1221611670,0.583333,0.575000,98,67,66,62,59,52,765,216,190,229,207,158
$RAFOS,2,1221611061,0.416667,0.405833,58,57,56,56,53,52,143,212,202,187,128,174
$RAFOS,1,1221610448,0.250000,0.235556,71,66,56,54,53,43,194,215,163,177,125,85
$RAFOS,0,1221609879,0.083333,0.077500,58,54,52,50,50,49,211,142,162,197,221,178
$RAFOS,4,1221597846,20.750000,20.735001,68,59,57,52,51,51,217,206,161,150,115,192
$RAFOS_FIX,6625.194336,-5941.372559,160908,202000,4,71,0.00
$IRIDIUM_FIX,6631.12,-5741.01,111297,151516
$TT8_MAMPS,0.027612
$HUMID,1916
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.1,18.471
$10V_AH,10.6,6.400
$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,21.400,126.900,402.325,0.000,0.000,25.461,32.813,153.347,0.000,0.000,0.000,18.778,2073.424,15724.988,571.280,1891.274,372.379,33.349,1602.328,0.000,1867.052,1800.000,0.528,0.000
$DEVICE_MAMPS,262.314,76.700,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.747,707.787,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37824,1036
$CAP_FILE_SIZE,142207,0
$CFSIZE,260165632,247590912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$CURRENT,0.036, 18.1,1
$GPS,170908,023755,6659.672,-5726.537,26,1.3,43,-37.6