version: 66.04
glider: 113
mission: 4
dive: 68
start: 9 18 108 1 51 7
data:
$ID,113
$MISSION,4
$DIVE,68
$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,-23240.277
$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,38
$R_STBD_OVSHOOT,24
$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
$GPS1,014438,6659.155,-5701.980,27,1.0,27,-37.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-62.7
$GPS2,015015,6659.191,-5701.924,11,1.0,11,-37.5
$SPEED_LIMITS,0.122,0.186
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.066
$KALMAN_X,6075.4,127.2,849.5,66362.2,-1284.4
$KALMAN_Y,-11097.8,460.6,-1096.3,23090.9,2826.0
$MHEAD_RNG_PITCHd_Wd,148.2,12283,-14.2,-7.021
$D_GRID,701
$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,-146.0,0.0,0.0,0,146,0.00,0.00,-126.05,0.000,2,0.000,0.000,163,2331,3017
$GC,148,-1.16,-146.0,3.8,-4.1,22,167,8.68,2.40,-2.33,0.000,4,0.275,0.079,2176,3743,3099
$GC,319,-0.87,-146.0,42.3,-15.1,52,326,0.25,2.20,0.00,0.000,6,0.170,0.041,2245,2342,3102
$GC,664,-0.81,-146.0,75.6,-10.2,113,670,0.00,2.33,0.00,0.000,4,0.000,0.069,2245,3747,3106
$GC,703,-0.81,-146.0,79.6,-10.1,120,709,0.00,2.20,0.00,0.000,6,0.000,0.040,2245,2334,3106
$GC,1037,-0.81,-146.0,108.2,-7.8,166,1041,0.00,2.33,0.00,0.000,4,0.000,0.070,2246,3746,3107
$GC,1046,-0.81,-146.0,109.0,-7.6,166,1051,0.00,2.22,0.00,0.000,6,0.000,0.040,2246,2333,3107
$GC,1367,-0.81,-146.0,131.7,-7.0,182,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2333,3107
$GC,1676,-0.81,-146.0,155.3,-7.7,197,1680,0.00,2.30,0.00,0.000,4,0.000,0.071,2245,3746,3106
$GC,1708,-0.87,-146.0,158.0,-8.5,198,1712,0.00,2.20,0.00,0.000,6,0.000,0.041,2245,2344,3106
$GC,2029,-0.93,-146.0,184.1,-7.7,214,2033,0.00,2.33,0.00,0.000,4,0.000,0.071,2246,3756,3105
$GC,2039,-1.00,-146.0,184.9,-7.7,214,2044,0.12,2.20,0.00,0.000,6,0.114,0.041,2203,2331,3105
$GC,2359,-0.93,-146.0,211.9,-7.9,230,2363,0.12,2.33,0.00,0.000,4,0.173,0.071,2234,3746,3105
$GC,2459,-1.00,-146.0,218.7,-6.7,234,2463,0.00,2.17,0.00,0.000,6,0.000,0.041,2234,2337,3104
$GC,2780,-1.06,-146.0,240.6,-7.2,250,2784,0.12,2.33,0.00,0.000,4,0.115,0.070,2190,3757,3103
$GC,2789,-1.06,-146.0,241.4,-7.1,250,2793,0.00,2.22,0.00,0.000,6,0.000,0.041,2190,2337,3103
$GC,3110,-0.98,-146.0,269.2,-8.3,266,3115,0.12,2.20,0.00,0.000,4,0.170,0.054,2222,925,3102
$GC,3142,-0.98,-146.0,271.8,-8.1,267,3146,0.00,2.25,0.00,0.000,6,0.000,0.050,2222,2339,3102
$GC,3463,-0.98,-146.0,292.6,-6.4,283,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2339,3102
$GC,3772,-0.98,-146.0,313.2,-6.8,298,3776,0.00,2.25,0.00,0.000,4,0.000,0.067,2222,3743,3102
$GC,3799,-1.05,-146.0,315.3,-7.8,299,3804,0.00,2.15,0.00,0.000,6,0.000,0.040,2222,2337,3102
$GC,4126,-1.10,-146.0,337.5,-6.8,315,4131,0.10,2.30,0.00,0.000,4,0.115,0.068,2189,3748,3102
$GC,4136,-1.10,-146.0,338.3,-6.6,315,4142,0.00,2.17,0.00,0.000,6,0.000,0.040,2188,2344,3101
$GC,4451,-1.05,-146.0,363.6,-7.9,331,4455,0.00,2.28,0.00,0.000,4,0.000,0.070,2188,3743,3102
$GC,4467,-1.00,-146.0,364.8,-7.8,331,4474,0.12,2.15,0.00,0.000,6,0.163,0.040,2220,2336,3102
$GC,4783,-1.06,-146.0,386.5,-6.8,347,4787,0.00,2.30,0.00,0.000,4,0.000,0.068,2220,3754,3103
$GC,4815,-1.16,-146.0,388.8,-7.0,348,4820,0.15,2.17,0.00,0.000,6,0.097,0.039,2168,2327,3102
$GC,5133,-1.04,-146.0,415.3,-8.6,360,5138,0.17,2.30,0.00,0.000,4,0.162,0.068,2215,3752,3103
$GC,5142,-0.95,-146.0,416.2,-8.6,360,5147,0.00,2.20,0.00,0.000,6,0.000,0.038,2215,2333,3103
$GC,5461,-1.00,-146.0,439.1,-7.3,368,5465,0.00,2.28,0.00,0.000,4,0.000,0.067,2215,3745,3104
$GC,5487,-1.07,-146.0,441.1,-7.8,368,5491,0.00,2.17,0.00,0.000,6,0.000,0.039,2215,2337,3104
$GC,5830,-1.13,-146.0,466.7,-7.4,377,5834,0.10,2.28,0.00,0.000,4,0.104,0.067,2178,3746,3105
$GC,5856,-1.13,-146.0,468.9,-8.5,377,5860,0.00,2.17,0.00,0.000,6,0.000,0.039,2178,2340,3104
$GC,6198,-1.05,-146.0,496.7,-7.9,386,6203,0.12,2.28,0.00,0.000,4,0.166,0.066,2211,3744,3105
$GC,6243,-1.12,-146.0,499.8,-7.4,387,6247,0.00,2.15,0.00,0.000,6,0.000,0.039,2210,2334,3104
$GC,6572,-1.12,-146.0,521.7,-6.7,395,6576,0.00,2.30,0.00,0.000,4,0.000,0.068,2211,3750,3105
$GC,6644,-1.20,-146.0,526.7,-7.4,396,6649,0.12,2.15,0.00,0.000,6,0.102,0.040,2166,2340,3105
$GC,6986,-1.09,-146.0,555.3,-8.4,405,6990,0.12,2.28,0.00,0.000,4,0.165,0.069,2198,3747,3105
$GC,7034,-1.09,-146.0,559.4,-8.2,406,7039,0.00,2.17,0.00,0.000,6,0.000,0.039,2198,2341,3105
$GC,7358,-1.09,-146.0,583.5,-7.6,414,7362,0.00,2.30,0.00,0.000,4,0.000,0.070,2198,3751,3105
$GC,7370,-1.09,-146.0,584.4,-7.6,414,7373,0.00,2.17,0.00,0.000,6,0.000,0.039,2198,2326,3105
$GC,7687,-1.09,-146.0,608.5,-7.6,422,7691,0.00,2.33,0.00,0.000,4,0.000,0.071,2198,3754,3105
$GC,7714,-1.09,-146.0,610.6,-8.2,422,7718,0.00,2.17,0.00,0.000,6,0.000,0.039,2198,2346,3104
$GC,8056,-1.09,-146.0,636.5,-7.6,431,8060,0.00,2.28,0.00,0.000,4,0.000,0.071,2198,3743,3104
$GC,8066,-1.09,-146.0,637.2,-7.5,431,8070,0.00,2.17,0.00,0.000,6,0.000,0.039,2198,2336,3104
$GC,8385,-1.09,-146.0,660.2,-7.1,439,8389,0.00,2.30,0.00,0.000,4,0.000,0.070,2198,3749,3104
$GC,8395,-1.09,-146.0,661.0,-7.1,439,8400,0.00,2.17,0.00,0.000,6,0.000,0.040,2198,2343,3104
$GC,8714,-1.09,-146.0,683.4,-7.0,447,8717,0.00,2.28,0.00,0.000,4,0.000,0.068,2198,3747,3104
$GC,8725,-1.09,-146.0,684.0,-6.8,447,8729,0.00,2.15,0.00,0.000,6,0.000,0.039,2198,2339,3104
$STATE,9000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9000,begin apogee
$GC,9005,-0.34,0.0,702.6,6.7,454,9135,0.52,0.00,127.57,1.371,6,0.156,0.000,2360,2528,2501
$STATE,9136,end apogee,CONTROL_FINISHED_OK
$STATE,9136,begin climb
$GC,9138,1.16,146.0,705.0,0.0,457,9272,1.12,0.00,131.10,1.277,6,0.114,0.000,2689,2527,1904
$GC,9568,0.90,146.0,662.3,10.9,468,9573,0.20,2.38,0.00,0.000,4,0.145,0.067,2630,3925,1902
$GC,9703,0.72,146.0,649.5,9.6,471,9707,0.17,2.25,0.00,0.000,6,0.152,0.041,2586,2523,1901
$GC,10032,0.83,170.9,628.6,6.1,479,10056,0.12,0.00,21.77,1.272,6,0.085,0.000,2635,2522,1803
$GC,10356,0.77,170.9,602.6,8.1,487,10358,0.12,0.00,0.00,0.000,6,0.148,0.000,2601,2522,1801
$GC,10682,0.83,179.3,580.8,6.7,495,10692,0.00,0.00,8.23,1.137,6,0.000,0.000,2601,2522,1769
$GC,11006,0.90,191.8,558.8,6.6,503,11021,0.12,0.00,11.93,1.206,6,0.089,0.000,2649,2522,1718
$GC,11331,0.82,191.8,530.8,8.7,511,11335,0.15,2.33,0.00,0.000,4,0.145,0.068,2608,3927,1716
$GC,11380,0.82,191.8,526.8,8.1,512,11384,0.00,2.25,0.00,0.000,6,0.000,0.041,2608,2512,1716
$GC,11704,0.89,193.4,504.2,7.0,520,11708,0.00,2.20,0.00,0.000,4,0.000,0.055,2608,1110,1716
$GC,11748,0.99,193.4,501.1,7.4,521,11753,0.15,2.25,0.00,0.000,6,0.084,0.051,2664,2521,1716
$GC,12077,0.86,193.4,469.3,9.7,529,12082,0.15,2.30,0.00,0.000,4,0.146,0.069,2623,3936,1715
$GC,12161,0.77,193.4,461.9,8.6,530,12167,0.00,2.20,0.00,0.000,6,0.000,0.041,2623,2513,1715
$GC,12491,0.77,193.4,437.4,7.3,539,12495,0.00,2.20,0.00,0.000,4,0.000,0.054,2623,1107,1715
$GC,12540,0.83,193.4,433.8,7.1,540,12544,0.00,2.25,0.00,0.000,6,0.000,0.051,2623,2535,1715
$GC,12863,0.83,193.4,410.6,7.2,548,12867,0.00,2.25,0.00,0.000,4,0.000,0.067,2623,3937,1714
$GC,12930,0.73,193.4,404.6,9.3,549,12935,0.08,2.20,0.00,0.000,6,0.152,0.041,2597,2522,1715
$GC,13261,0.85,206.4,383.8,6.6,563,13284,0.10,2.28,12.90,1.128,4,0.091,0.053,2638,1115,1657
$GC,13333,0.85,206.4,377.7,8.9,566,13338,0.00,2.28,0.00,0.000,6,0.000,0.048,2638,2524,1657
$GC,13660,0.85,206.4,349.0,9.0,582,13664,0.00,2.28,0.00,0.000,4,0.000,0.066,2638,3936,1657
$GC,13720,0.72,206.4,342.5,10.4,584,13727,0.12,2.22,0.00,0.000,6,0.139,0.039,2596,2513,1658
$GC,14036,0.86,210.0,320.2,6.9,600,14046,0.10,2.22,4.53,0.808,4,0.090,0.052,2637,1120,1644
$GC,14107,0.86,210.0,314.2,8.6,603,14111,0.00,2.22,0.00,0.000,6,0.000,0.048,2637,2531,1644
$GC,14433,0.86,210.0,285.6,9.0,619,14437,0.00,2.25,0.00,0.000,4,0.000,0.065,2637,3934,1644
$GC,14510,0.74,210.0,277.4,10.3,622,14515,0.15,2.17,0.00,0.000,6,0.145,0.039,2596,2514,1644
$GC,14831,0.90,221.1,255.1,6.6,638,14847,0.12,2.20,10.75,1.006,4,0.082,0.051,2648,1109,1598
$GC,14914,0.90,221.1,247.9,8.6,641,14918,0.00,2.25,0.00,0.000,6,0.000,0.047,2649,2534,1598
$GC,15245,0.90,221.1,217.4,9.1,657,15249,0.00,2.22,0.00,0.000,4,0.000,0.064,2649,3924,1598
$GC,15313,0.80,221.1,210.4,10.0,660,15317,0.15,2.17,0.00,0.000,6,0.145,0.038,2606,2506,1598
$GC,15645,1.02,254.1,188.1,5.9,676,15679,0.17,2.30,27.33,1.043,4,0.076,0.051,2675,1119,1464
$GC,15736,1.02,254.1,180.6,8.3,680,15740,0.00,2.28,0.00,0.000,6,0.000,0.047,2674,2532,1462
$GC,16062,1.02,254.1,152.3,8.7,696,16065,0.00,2.28,0.00,0.000,4,0.000,0.067,2675,3930,1463
$GC,16116,0.89,254.1,146.7,9.6,698,16121,0.12,2.22,0.00,0.000,6,0.137,0.040,2623,2517,1461
$GC,16438,1.06,254.1,124.1,7.4,714,16442,0.15,2.20,0.00,0.000,4,0.081,0.052,2680,1115,1461
$GC,16497,1.06,254.1,118.7,9.1,716,16504,0.00,2.25,0.00,0.000,6,0.000,0.048,2680,2519,1461
$GC,16823,1.06,254.1,88.5,9.4,747,16829,0.00,2.28,0.00,0.000,4,0.000,0.068,2680,3930,1461
$GC,16914,0.98,254.1,79.1,9.8,763,16920,0.12,2.17,0.00,0.000,6,0.153,0.041,2644,2519,1461
$GC,17258,1.15,269.0,53.8,6.5,824,17278,0.15,2.30,13.02,1.016,4,0.087,0.055,2702,1112,1403
$GC,17339,1.15,269.0,46.6,8.9,838,17346,0.00,2.25,0.00,0.000,6,0.000,0.050,2702,2523,1401
$GC,17683,1.26,307.0,21.5,5.7,899,17719,0.00,2.40,30.73,1.033,4,0.000,0.054,2702,1115,1247
$GC,17765,1.40,327.0,16.4,6.3,913,17790,0.12,2.30,17.40,0.964,6,0.091,0.048,2749,2528,1166
$STATE,17917,end climb,SURFACE_DEPTH_REACHED
$STATE,17917,begin surface coast
$FINISH,0.6,1.012659
$STATE,17936,end surface coast,CONTROL_FINISHED_OK
$STATE,17936,begin surface
$SM_CCo,18010,0.00,0.000,0,0,1157,329.19
$SM_GC,1.61,7.47,0.00,0.00,0.083,0.000,0.000,163,2328,1157,-10.40,-0.34,329.19
$RAFOS_CLK,989
$RAFOS,4,1221713062,4.750000,4.739444,81,67,59,57,53,51,727,199,168,213,187,127
$RAFOS,3,1221712452,4.583333,4.570000,81,62,55,53,51,50,915,141,204,120,185,220
$RAFOS,2,1221711868,4.416667,4.407778,66,66,61,59,54,51,210,498,150,187,125,163
$RAFOS,1,1221711257,4.250000,4.238056,83,64,58,56,55,54,784,209,130,189,199,164
$RAFOS,0,1221710681,4.083333,4.078055,65,60,59,59,55,50,198,182,218,824,148,231
$RAFOS_FIX,6707.631836,-5800.694336,180908,040448,5,75,4.83
$IRIDIUM_FIX,6631.12,-5716.55,121297,202054
$TT8_MAMPS,0.027612
$HUMID,1925
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.2,19.252
$10V_AH,10.6,6.768
$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,22.450,184.675,417.250,0.000,0.000,28.888,41.543,154.287,0.000,0.000,0.000,13.134,1880.895,13582.197,635.907,1911.487,390.351,33.356,1692.694,0.000,1884.126,1800.000,0.528,0.000
$DEVICE_MAMPS,274.586,79.001,1370.629,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.302,642.937,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34682,943
$CAP_FILE_SIZE,151053,0
$CFSIZE,260165632,247230464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.7
$GPS,180908,065337,6658.455,-5659.019,38,1.1,38,-37.5