version: 66.04
glider: 113
mission: 4
dive: 66
start: 9 17 108 14 34 0
data:
$ID,113
$MISSION,4
$DIVE,66
$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,1
$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,-23213.424
$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,26
$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
$GPS1,142737,6658.494,-5714.563,35,0.8,41,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.8
$GPS2,143308,6658.517,-5714.578,9,0.8,14,-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,0.132,0.131
$KALMAN_X,4610.6,198.3,-236.4,59637.9,769.8
$KALMAN_Y,-10640.1,-1067.3,916.7,20901.0,-1322.5
$MHEAD_RNG_PITCHd_Wd,82.7,20912,-14.2,-7.021
$D_GRID,778
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.16,-146.0,0.0,0.0,0,133,0.00,0.00,-113.70,0.000,2,0.000,0.000,167,2323,2910
$GC,136,-1.16,-146.0,3.1,-2.7,20,156,8.25,2.45,-6.07,0.000,4,0.258,0.080,2178,3753,3098
$GC,410,-0.88,-146.0,53.3,-13.6,68,417,0.25,2.22,0.00,0.000,6,0.166,0.041,2247,2329,3104
$GC,754,-0.88,-146.0,84.7,-8.5,129,760,0.00,2.33,0.00,0.000,4,0.000,0.067,2247,3747,3106
$GC,782,-0.88,-146.0,87.2,-8.8,134,788,0.00,2.17,0.00,0.000,6,0.000,0.039,2247,2340,3106
$GC,1127,-0.88,-146.0,115.6,-8.4,171,1131,0.00,2.20,0.00,0.000,4,0.000,0.053,2247,931,3106
$GC,1232,-0.88,-146.0,125.1,-8.3,175,1239,0.00,2.25,0.00,0.000,6,0.000,0.049,2247,2340,3107
$GC,1548,-0.88,-146.0,150.8,-8.4,191,1552,0.00,2.28,0.00,0.000,4,0.000,0.068,2247,3749,3105
$GC,1615,-0.98,-146.0,156.2,-8.1,194,1619,0.10,2.17,0.00,0.000,6,0.120,0.040,2214,2336,3105
$GC,1946,-0.98,-146.0,185.7,-9.0,210,1950,0.00,2.30,0.00,0.000,4,0.000,0.068,2214,3745,3104
$GC,2006,-0.98,-146.0,191.3,-9.2,212,2013,0.00,2.20,0.00,0.000,6,0.000,0.040,2214,2336,3104
$GC,2321,-0.98,-146.0,219.1,-8.5,228,2325,0.00,2.30,0.00,0.000,4,0.000,0.068,2214,3746,3103
$GC,2348,-0.98,-146.0,221.5,-9.3,229,2353,0.00,2.20,0.00,0.000,6,0.000,0.040,2214,2336,3103
$GC,2675,-0.98,-146.0,247.9,-7.6,245,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2336,3103
$GC,2984,-0.98,-146.0,270.0,-6.9,260,2988,0.00,2.30,0.00,0.000,4,0.000,0.070,2214,3746,3103
$GC,3029,-1.03,-146.0,273.1,-7.0,262,3033,0.00,2.17,0.00,0.000,6,0.000,0.040,2214,2328,3102
$GC,3361,-1.03,-146.0,295.4,-6.6,278,3365,0.00,2.30,0.00,0.000,4,0.000,0.070,2214,3743,3102
$GC,3432,-1.08,-146.0,300.3,-6.8,281,3437,0.00,2.15,0.00,0.000,6,0.000,0.039,2214,2334,3102
$GC,3759,-1.08,-146.0,321.4,-6.6,297,3763,0.00,2.30,0.00,0.000,4,0.000,0.068,2214,3747,3102
$GC,3808,-1.15,-146.0,324.8,-6.9,299,3813,0.10,2.15,0.00,0.000,6,0.106,0.039,2178,2339,3102
$GC,4134,-1.05,-146.0,350.7,-8.0,315,4139,0.12,2.28,0.00,0.000,4,0.163,0.067,2207,3743,3103
$GC,4173,-1.05,-146.0,353.7,-7.4,317,4177,0.00,2.15,0.00,0.000,6,0.000,0.039,2207,2336,3103
$GC,4504,-1.05,-146.0,377.6,-7.1,333,4508,0.00,2.28,0.00,0.000,4,0.000,0.067,2207,3743,3104
$GC,4536,-1.05,-146.0,379.9,-7.3,334,4541,0.00,2.17,0.00,0.000,6,0.000,0.038,2207,2336,3104
$GC,4878,-1.05,-146.0,402.9,-6.7,350,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2336,3104
$GC,5202,-1.05,-146.0,424.8,-6.7,358,5206,0.00,2.28,0.00,0.000,4,0.000,0.066,2207,3745,3104
$GC,5268,-1.10,-146.0,429.4,-7.1,359,5273,0.00,2.17,0.00,0.000,6,0.000,0.038,2207,2340,3104
$GC,5617,-1.10,-146.0,451.5,-6.4,368,5621,0.00,2.28,0.00,0.000,4,0.000,0.066,2207,3754,3104
$GC,5661,-1.15,-146.0,454.4,-6.9,369,5666,0.00,2.15,0.00,0.000,6,0.000,0.039,2207,2337,3104
$GC,5990,-1.15,-146.0,475.4,-6.4,377,5994,0.00,2.28,0.00,0.000,4,0.000,0.067,2207,3746,3104
$GC,6036,-1.20,-146.0,478.4,-6.7,378,6040,0.12,2.15,0.00,0.000,6,0.107,0.039,2163,2334,3104
$GC,6359,-1.09,-146.0,504.6,-8.3,386,6363,0.15,2.30,0.00,0.000,4,0.167,0.068,2202,3747,3104
$GC,6407,-1.14,-146.0,508.3,-7.6,387,6411,0.00,2.17,0.00,0.000,6,0.000,0.039,2202,2338,3104
$GC,6726,-1.14,-146.0,530.5,-7.0,395,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2339,3104
$GC,7050,-1.14,-146.0,553.5,-7.2,403,7054,0.00,2.28,0.00,0.000,4,0.000,0.069,2202,3742,3104
$GC,7095,-1.20,-146.0,556.8,-7.5,404,7099,0.12,2.15,0.00,0.000,6,0.100,0.039,2158,2330,3104
$GC,7424,-1.08,-146.0,585.2,-8.5,412,7426,0.17,0.00,0.00,0.000,6,0.170,0.000,2204,2329,3104
$GC,7748,-1.08,-146.0,608.0,-7.1,420,7752,0.00,2.30,0.00,0.000,4,0.000,0.070,2204,3746,3104
$GC,7797,-1.15,-146.0,611.6,-7.6,421,7803,0.00,2.17,0.00,0.000,6,0.000,0.040,2204,2340,3103
$GC,8121,-1.15,-146.0,634.5,-7.1,429,8125,0.00,2.28,0.00,0.000,4,0.000,0.070,2204,3745,3103
$GC,8176,-1.22,-146.0,638.5,-7.8,430,8180,0.12,2.15,0.00,0.000,6,0.110,0.039,2162,2332,3103
$GC,8493,-1.12,-146.0,665.8,-8.6,438,8498,0.12,2.28,0.00,0.000,4,0.167,0.068,2194,3744,3103
$GC,8547,-1.12,-146.0,670.3,-7.9,439,8552,0.00,2.17,0.00,0.000,6,0.000,0.040,2193,2337,3103
$GC,8860,-1.12,-146.0,692.9,-7.2,447,8864,0.00,2.28,0.00,0.000,4,0.000,0.069,2194,3742,3103
$GC,8904,-1.12,-146.0,696.3,-7.6,448,8908,0.00,2.15,0.00,0.000,6,0.000,0.040,2193,2330,3103
$GC,9234,-1.12,-146.0,719.7,-7.1,456,9238,0.00,2.28,0.00,0.000,4,0.000,0.067,2194,3743,3103
$GC,9300,-1.17,-146.0,724.7,-7.3,457,9304,0.00,2.17,0.00,0.000,6,0.000,0.039,2193,2339,3103
$GC,9647,-1.17,-146.0,749.5,-7.1,466,9651,0.00,2.28,0.00,0.000,4,0.000,0.067,2193,3749,3103
$GC,9685,-1.22,-146.0,752.5,-8.1,466,9693,0.08,2.17,0.00,0.000,6,0.100,0.039,2161,2340,3103
$STATE,10015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10015,begin apogee
$GC,10020,-0.34,0.0,779.4,7.8,475,10151,0.60,0.00,128.25,1.417,6,0.100,0.000,2367,2530,2500
$STATE,10152,end apogee,CONTROL_FINISHED_OK
$STATE,10152,begin climb
$GC,10153,1.16,146.0,779.3,0.0,478,10290,1.05,0.00,131.80,1.321,6,0.104,0.000,2685,2530,1904
$GC,10601,0.92,146.0,736.3,10.5,489,10605,0.20,2.38,0.00,0.000,4,0.150,0.066,2626,3926,1902
$GC,10668,0.74,146.0,729.8,10.3,490,10673,0.12,2.28,0.00,0.000,6,0.156,0.041,2594,2516,1901
$GC,11004,0.75,156.0,706.6,6.7,499,11018,0.00,2.42,9.43,1.201,4,0.000,0.070,2594,3937,1864
$GC,11046,0.75,156.0,703.2,8.1,500,11050,0.00,2.28,0.00,0.000,6,0.000,0.041,2594,2509,1863
$GC,11376,0.82,167.6,681.2,6.6,508,11389,0.00,0.00,11.48,1.247,6,0.000,0.000,2594,2508,1816
$GC,11701,0.91,185.8,660.3,6.4,516,11720,0.15,0.00,16.58,1.294,6,0.086,0.000,2650,2508,1742
$GC,12025,0.83,185.8,631.5,9.1,524,12030,0.15,2.38,0.00,0.000,4,0.146,0.070,2608,3930,1740
$GC,12064,0.78,185.8,627.9,8.9,525,12068,0.00,2.22,0.00,0.000,6,0.000,0.041,2608,2514,1740
$GC,12393,0.78,185.8,604.3,7.1,533,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2514,1740
$GC,12717,0.78,185.8,580.5,7.4,541,12721,0.00,2.20,0.00,0.000,4,0.000,0.055,2608,1116,1739
$GC,12738,0.86,185.8,578.9,7.1,541,12743,0.00,2.25,0.00,0.000,6,0.000,0.050,2608,2516,1740
$GC,13086,0.86,185.8,552.7,7.8,550,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2516,1739
$GC,13411,0.90,185.8,528.3,7.2,558,13413,0.10,0.00,0.00,0.000,6,0.099,0.000,2650,2516,1739
$GC,13736,0.82,185.8,500.1,8.8,566,13741,0.15,2.28,0.00,0.000,4,0.146,0.068,2607,3938,1739
$GC,13762,0.82,185.8,497.9,7.4,566,13767,0.00,2.22,0.00,0.000,6,0.000,0.041,2607,2512,1739
$GC,14106,0.90,200.2,475.0,6.5,575,14125,0.10,2.25,12.60,1.205,4,0.100,0.055,2648,1124,1684
$GC,14141,0.90,200.2,472.2,7.3,575,14148,0.00,2.28,0.00,0.000,6,0.000,0.051,2648,2520,1683
$GC,14472,0.84,200.2,446.3,7.9,584,14474,0.12,0.00,0.00,0.000,6,0.150,0.000,2613,2520,1683
$GC,14798,0.92,217.1,425.1,6.4,592,14815,0.00,0.00,15.20,1.190,6,0.000,0.000,2613,2520,1614
$GC,15122,1.00,217.1,402.5,7.1,600,15124,0.15,0.00,0.00,0.000,6,0.087,0.000,2670,2520,1613
$GC,15431,0.89,217.1,371.5,10.5,614,15433,0.15,0.00,0.00,0.000,6,0.148,0.000,2628,2520,1613
$GC,15740,0.89,217.1,346.3,8.0,629,15741,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2520,1612
$GC,16049,0.89,217.1,320.8,8.4,644,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2520,1612
$GC,16358,0.89,217.1,295.8,8.0,659,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2520,1612
$GC,16668,0.94,217.1,271.7,7.9,674,16672,0.00,2.22,0.00,0.000,4,0.000,0.054,2628,1108,1612
$GC,16691,1.04,221.1,270.1,6.9,675,16701,0.12,2.22,4.55,0.825,6,0.090,0.049,2676,2531,1598
$GC,17022,0.95,221.1,240.7,8.9,691,17027,0.12,2.22,0.00,0.000,4,0.141,0.065,2641,3924,1598
$GC,17071,0.90,221.1,236.2,8.8,693,17075,0.00,2.17,0.00,0.000,6,0.000,0.041,2641,2521,1598
$GC,17392,0.90,221.1,212.0,7.4,709,17396,0.00,2.20,0.00,0.000,4,0.000,0.054,2641,1104,1598
$GC,17425,0.98,221.1,209.5,8.3,710,17429,0.00,2.22,0.00,0.000,6,0.000,0.048,2641,2529,1598
$GC,17745,0.98,221.1,186.2,7.2,726,17749,0.00,2.22,0.00,0.000,4,0.000,0.054,2641,1111,1599
$GC,17772,1.08,233.8,184.3,6.6,727,17790,0.10,2.20,12.07,1.029,6,0.098,0.048,2679,2520,1546
$GC,18098,1.03,233.8,154.6,9.3,743,18099,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2520,1545
$GC,18406,1.03,233.8,127.7,8.8,758,18407,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2520,1545
$GC,18716,1.03,233.8,99.5,9.7,773,18722,0.00,2.25,0.00,0.000,4,0.000,0.067,2679,3924,1545
$GC,18739,0.97,233.8,96.9,10.0,777,18746,0.12,2.17,0.00,0.000,6,0.157,0.041,2645,2508,1546
$GC,19084,1.10,247.1,71.4,6.6,838,19102,0.12,0.00,12.27,1.010,6,0.094,0.000,2691,2507,1491
$GC,19438,1.10,247.1,43.3,9.2,901,19444,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2507,1489
$GC,19781,1.22,273.5,21.5,6.1,962,19807,0.00,2.47,21.38,1.031,4,0.000,0.072,2692,3934,1385
$GC,19914,1.22,273.5,10.6,8.0,985,19921,0.00,2.22,0.00,0.000,6,0.000,0.042,2692,2522,1382
$STATE,20059,end climb,SURFACE_DEPTH_REACHED
$STATE,20059,begin surface coast
$FINISH,0.7,1.013029
$STATE,20094,end surface coast,CONTROL_FINISHED_OK
$STATE,20094,begin surface
$SM_CCo,20109,-0.03,0.000,0,0,1378,275.23
$SM_GC,1.93,0.00,0.00,-0.03,0.000,0.000,0.000,161,2341,1378,-10.46,0.03,275.23
$RAFOS_CLK,1116
$RAFOS,4,1221669842,16.750000,16.733889,112,69,64,60,58,56,798,230,199,174,153,218
$RAFOS,3,1221669259,16.583334,16.571945,113,59,54,52,49,47,858,171,195,157,138,204
$RAFOS,2,1221668642,16.416666,16.400555,123,71,62,53,52,51,602,210,183,165,117,127
$RAFOS,1,1221668045,16.250000,16.234722,66,56,51,51,50,50,214,159,198,137,122,1295
$RAFOS,0,1221667451,16.083334,16.069723,61,56,55,51,49,47,197,214,154,165,323,234
$RAFOS_FIX,6810.871094,-6115.520508,170908,161636,5,95,31.61
$IRIDIUM_FIX,6631.12,-5724.14,121297,080800
$TT8_MAMPS,0.029913
$HUMID,1940
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.00
$XPDR_PINGS,1
$24V_AH,22.1,18.933
$10V_AH,10.6,6.622
$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,20.450,153.000,375.600,0.000,0.000,31.503,33.418,154.216,0.250,0.000,0.000,16.464,1945.401,15605.643,551.244,1998.668,398.393,33.354,1638.484,0.000,1966.620,2160.000,0.529,0.000
$DEVICE_MAMPS,258.479,79.768,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.178,695.784,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37902,1017
$CAP_FILE_SIZE,148843,0
$CFSIZE,260165632,247369728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.5
$GPS,170908,201131,6700.266,-5710.552,37,0.9,37,-37.6