version: 66.04
glider: 113
mission: 4
dive: 78
start: 9 19 108 23 7 35
data:
$ID,113
$MISSION,4
$DIVE,78
$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,-23462.646
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,225908,6703.001,-5706.762,40,1.4,40,-37.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.8
$GPS2,230644,6703.016,-5706.545,13,1.5,30,-37.6
$SPEED_LIMITS,0.122,0.186
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.136,-0.126
$KALMAN_X,9058.9,-387.4,158.6,61244.3,780.3
$KALMAN_Y,-14070.6,547.2,-991.0,32929.3,1853.9
$MHEAD_RNG_PITCHd_Wd,264.8,21906,-14.2,-7.021
$D_GRID,717
$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,18,-1.16,-146.0,0.0,0.0,0,127,0.00,0.00,-106.05,0.000,2,0.000,0.000,159,2331,2973
$GC,129,-1.16,-146.0,3.2,-3.1,19,148,8.45,2.38,-4.03,0.000,4,0.264,0.081,2178,3749,3097
$GC,323,-0.85,-146.0,41.1,-15.0,53,330,0.25,2.22,0.00,0.000,6,0.164,0.041,2247,2329,3101
$GC,667,-0.81,-146.0,75.6,-10.3,114,673,0.00,2.33,0.00,0.000,4,0.000,0.069,2247,3742,3104
$GC,701,-0.81,-146.0,79.1,-10.0,120,707,0.00,2.17,0.00,0.000,6,0.000,0.039,2247,2339,3104
$GC,1040,-0.81,-146.0,108.9,-8.4,167,1044,0.00,2.33,0.00,0.000,4,0.000,0.070,2247,3750,3106
$GC,1078,-0.81,-146.0,112.4,-9.1,168,1086,0.00,2.20,0.00,0.000,6,0.000,0.040,2247,2345,3106
$GC,1393,-0.81,-146.0,139.7,-8.8,184,1397,0.00,2.20,0.00,0.000,4,0.000,0.054,2247,938,3105
$GC,1415,-0.81,-146.0,141.7,-9.4,185,1419,0.00,2.22,0.00,0.000,6,0.000,0.051,2247,2347,3105
$GC,1747,-0.81,-146.0,170.6,-8.5,201,1750,0.00,2.28,0.00,0.000,4,0.000,0.068,2247,3755,3105
$GC,1785,-0.89,-146.0,174.3,-9.1,202,1791,0.00,2.20,0.00,0.000,6,0.000,0.041,2248,2327,3105
$GC,2100,-0.96,-146.0,199.5,-7.6,218,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2327,3105
$GC,2410,-1.04,-146.0,222.2,-6.8,233,2415,0.15,2.33,0.00,0.000,4,0.106,0.071,2195,3744,3104
$GC,2459,-0.98,-146.0,226.5,-8.5,235,2464,0.08,2.20,0.00,0.000,6,0.164,0.042,2218,2336,3103
$GC,2780,-0.98,-146.0,249.4,-6.8,251,2783,0.00,2.33,0.00,0.000,4,0.000,0.073,2218,3751,3103
$GC,2818,-0.98,-146.0,252.2,-7.3,252,2824,0.00,2.20,0.00,0.000,6,0.000,0.041,2218,2343,3103
$GC,3133,-0.98,-146.0,274.8,-7.6,268,3137,0.00,2.30,0.00,0.000,4,0.000,0.071,2218,3748,3102
$GC,3165,-1.03,-146.0,277.5,-8.3,269,3170,0.00,2.20,0.00,0.000,6,0.000,0.041,2218,2338,3101
$GC,3486,-1.03,-146.0,301.3,-7.2,285,3489,0.00,2.17,0.00,0.000,4,0.000,0.054,2218,937,3101
$GC,3513,-1.03,-146.0,303.4,-8.3,286,3517,0.00,2.22,0.00,0.000,6,0.000,0.053,2218,2345,3101
$GC,3839,-1.03,-146.0,325.1,-6.2,302,3843,0.00,2.28,0.00,0.000,4,0.000,0.071,2218,3753,3101
$GC,3874,-1.09,-146.0,327.2,-6.3,303,3878,0.00,2.17,0.00,0.000,6,0.000,0.039,2218,2331,3101
$GC,4194,-1.09,-146.0,347.7,-6.7,319,4197,0.00,2.30,0.00,0.000,4,0.000,0.070,2218,3745,3101
$GC,4306,-1.16,-146.0,355.4,-6.8,324,4310,0.12,2.15,0.00,0.000,6,0.105,0.040,2176,2337,3102
$GC,4637,-1.06,-146.0,382.5,-8.2,340,4639,0.12,0.00,0.00,0.000,6,0.167,0.000,2207,2334,3102
$GC,4946,-1.06,-146.0,403.9,-6.7,354,4949,0.00,2.30,0.00,0.000,4,0.000,0.069,2208,3753,3103
$GC,5001,-1.06,-146.0,407.7,-6.7,355,5005,0.00,2.17,0.00,0.000,6,0.000,0.040,2207,2327,3102
$GC,5319,-1.06,-146.0,428.8,-6.6,363,5323,0.00,2.30,0.00,0.000,4,0.000,0.067,2208,3746,3103
$GC,5351,-1.06,-146.0,431.0,-7.3,363,5356,0.00,2.17,0.00,0.000,6,0.000,0.039,2207,2341,3103
$GC,5688,-1.06,-146.0,453.8,-6.9,372,5692,0.00,2.28,0.00,0.000,4,0.000,0.067,2207,3750,3103
$GC,5725,-1.06,-146.0,456.7,-7.9,372,5732,0.00,2.20,0.00,0.000,6,0.000,0.040,2207,2333,3103
$GC,6057,-1.06,-146.0,479.9,-7.0,381,6060,0.00,2.30,0.00,0.000,4,0.000,0.069,2208,3749,3103
$GC,6101,-1.12,-146.0,483.2,-7.8,382,6105,0.00,2.17,0.00,0.000,6,0.000,0.040,2207,2327,3103
$GC,6430,-1.12,-146.0,507.9,-7.4,390,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2327,3103
$GC,6755,-1.12,-146.0,532.7,-7.7,398,6759,0.00,2.33,0.00,0.000,4,0.000,0.070,2207,3756,3103
$GC,6782,-1.17,-146.0,534.8,-8.0,398,6787,0.08,2.20,0.00,0.000,6,0.100,0.040,2175,2338,3103
$GC,7125,-1.09,-146.0,563.8,-8.5,407,7129,0.10,2.30,0.00,0.000,4,0.171,0.071,2200,3751,3103
$GC,7161,-1.09,-146.0,566.9,-7.7,407,7169,0.00,2.20,0.00,0.000,6,0.000,0.040,2200,2334,3103
$GC,7493,-1.09,-146.0,590.8,-7.2,416,7497,0.00,2.30,0.00,0.000,4,0.000,0.071,2200,3743,3103
$GC,7525,-1.09,-146.0,593.2,-7.8,416,7529,0.00,2.17,0.00,0.000,6,0.000,0.040,2200,2341,3103
$GC,7862,-1.09,-146.0,617.4,-7.1,425,7866,0.00,2.30,0.00,0.000,4,0.000,0.070,2200,3753,3103
$GC,7906,-1.14,-146.0,620.5,-7.3,426,7910,0.00,2.17,0.00,0.000,6,0.000,0.041,2200,2332,3102
$GC,8235,-1.14,-146.0,643.1,-6.9,434,8239,0.00,2.30,0.00,0.000,4,0.000,0.070,2200,3747,3102
$GC,8262,-1.14,-146.0,645.1,-7.8,434,8267,0.00,2.17,0.00,0.000,6,0.000,0.041,2200,2343,3103
$GC,8605,-1.14,-146.0,668.1,-6.6,443,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2343,3102
$GC,8929,-1.14,-146.0,687.9,-6.2,451,8933,0.00,2.30,0.00,0.000,4,0.000,0.071,2200,3753,3102
$GC,9002,-1.20,-146.0,692.8,-6.6,452,9006,0.10,2.17,0.00,0.000,6,0.104,0.041,2165,2333,3102
$STATE,9341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9341,begin apogee
$GC,9346,-0.34,0.0,719.6,8.2,461,9476,0.65,0.00,127.15,1.377,6,0.159,0.000,2361,2522,2501
$STATE,9477,end apogee,CONTROL_FINISHED_OK
$STATE,9477,begin climb
$GC,9479,1.16,146.0,721.9,0.0,464,9614,1.08,0.00,130.48,1.279,6,0.108,0.000,2684,2521,1904
$GC,9926,0.94,146.0,677.6,11.2,475,9931,0.17,2.42,0.00,0.000,4,0.147,0.067,2637,3941,1901
$GC,10037,0.73,146.0,665.2,11.7,477,10043,0.17,2.30,0.00,0.000,6,0.153,0.041,2589,2531,1901
$GC,10380,0.80,146.0,639.6,7.2,486,10384,0.00,2.35,0.00,0.000,4,0.000,0.070,2589,3934,1901
$GC,10411,0.80,146.0,637.1,8.0,486,10416,0.00,2.25,0.00,0.000,6,0.000,0.041,2588,2522,1900
$GC,10749,0.89,156.7,614.5,6.6,495,10764,0.15,2.38,9.77,1.185,4,0.084,0.069,2647,3940,1860
$GC,10803,0.67,156.7,609.4,9.8,496,10808,0.25,2.25,0.00,0.000,6,0.150,0.041,2577,2519,1859
$GC,11121,0.83,181.1,589.2,6.2,504,11145,0.15,0.00,21.70,1.276,6,0.084,0.000,2635,2516,1761
$GC,11445,0.83,181.1,561.1,8.8,512,11449,0.00,2.35,0.00,0.000,4,0.000,0.069,2634,3929,1759
$GC,11473,0.72,181.1,558.4,10.5,512,11477,0.17,2.22,0.00,0.000,6,0.153,0.041,2586,2516,1758
$GC,11814,0.87,192.1,535.1,6.6,521,11827,0.15,0.00,10.30,1.173,6,0.081,0.000,2645,2515,1716
$GC,12139,0.81,192.1,506.3,8.8,529,12144,0.15,2.35,0.00,0.000,4,0.149,0.069,2604,3932,1715
$GC,12160,0.81,192.1,504.4,8.8,529,12164,0.00,2.25,0.00,0.000,6,0.000,0.041,2604,2518,1715
$GC,12502,0.91,201.7,481.0,6.7,538,12517,0.12,2.38,9.27,1.134,4,0.089,0.071,2651,3930,1677
$GC,12539,0.77,201.7,477.7,10.0,538,12546,0.12,2.25,0.00,0.000,6,0.143,0.042,2600,2522,1677
$GC,12871,0.91,217.7,455.8,6.5,547,12888,0.12,0.00,14.62,1.187,6,0.085,0.000,2650,2521,1612
$GC,13195,0.91,217.7,427.1,8.9,555,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2521,1610
$GC,13519,0.91,217.7,399.2,8.5,563,13523,0.00,2.22,0.00,0.000,4,0.000,0.056,2650,1116,1611
$GC,13535,0.91,217.7,397.8,8.2,563,13542,0.00,2.28,0.00,0.000,6,0.000,0.049,2649,2528,1610
$GC,13850,0.91,217.7,372.9,7.9,579,13854,0.00,2.25,0.00,0.000,4,0.000,0.055,2649,1115,1610
$GC,13882,0.91,217.7,370.4,7.4,580,13887,0.00,2.25,0.00,0.000,6,0.000,0.048,2649,2520,1610
$GC,14204,0.91,217.7,344.4,8.2,596,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2520,1609
$GC,14513,0.91,217.7,318.6,8.6,611,14517,0.00,2.25,0.00,0.000,4,0.000,0.066,2650,3926,1609
$GC,14562,0.79,217.7,313.7,10.1,613,14567,0.10,2.20,0.00,0.000,6,0.128,0.042,2604,2519,1609
$GC,14889,0.95,230.5,291.9,6.6,629,14906,0.15,2.30,11.32,1.077,4,0.081,0.054,2663,1109,1559
$GC,14921,0.95,230.5,289.1,8.6,629,14929,0.05,2.28,0.00,0.000,6,0.152,0.048,2645,2520,1559
$GC,15238,0.95,230.5,262.6,8.6,645,15241,0.00,2.25,0.00,0.000,4,0.000,0.055,2645,1109,1558
$GC,15265,1.00,230.5,260.2,8.3,646,15269,0.00,2.25,0.00,0.000,6,0.000,0.048,2645,2516,1558
$GC,15590,1.00,230.5,231.6,8.8,662,15594,0.00,2.22,0.00,0.000,4,0.000,0.054,2644,1115,1558
$GC,15634,1.08,230.5,227.7,9.1,664,15639,0.10,2.20,0.00,0.000,6,0.100,0.048,2682,2521,1558
$GC,15966,0.99,230.5,192.6,10.5,680,15968,0.12,0.00,0.00,0.000,6,0.140,0.000,2647,2522,1559
$GC,16275,1.04,230.5,168.1,7.6,695,16278,0.00,2.22,0.00,0.000,4,0.000,0.054,2647,1112,1559
$GC,16297,1.13,239.0,166.5,6.7,696,16312,0.12,2.20,8.80,0.966,6,0.091,0.048,2694,2518,1524
$GC,16628,1.04,239.0,134.6,9.5,712,16633,0.12,2.28,0.00,0.000,4,0.145,0.064,2660,3933,1524
$GC,16661,0.99,239.0,131.4,9.0,713,16665,0.00,2.22,0.00,0.000,6,0.000,0.040,2660,2515,1524
$GC,16982,1.04,239.0,106.6,7.8,729,16986,0.00,2.20,0.00,0.000,4,0.000,0.054,2660,1111,1524
$GC,17020,1.14,239.0,103.6,8.0,730,17028,0.05,2.25,0.00,0.000,6,0.093,0.048,2690,2523,1524
$GC,17359,1.14,239.0,75.7,7.6,785,17366,0.00,2.25,0.00,0.000,4,0.000,0.067,2690,3924,1524
$GC,17416,1.01,239.0,70.6,9.9,795,17423,0.15,2.17,0.00,0.000,6,0.152,0.042,2648,2513,1525
$GC,17761,1.16,260.6,49.2,6.3,856,17786,0.15,2.25,18.23,1.030,4,0.090,0.055,2705,1111,1436
$GC,17820,1.16,260.6,44.2,8.7,866,17826,0.00,2.28,0.00,0.000,6,0.000,0.050,2705,2528,1436
$GC,18163,1.16,260.6,15.1,7.2,927,18169,0.00,2.28,0.00,0.000,4,0.000,0.068,2705,3924,1432
$GC,18215,1.07,260.6,10.9,8.6,936,18222,0.15,2.20,0.00,0.000,6,0.152,0.042,2663,2513,1432
$STATE,18372,end climb,SURFACE_DEPTH_REACHED
$STATE,18372,begin surface coast
$FINISH,0.6,1.025610
$STATE,18406,end surface coast,CONTROL_FINISHED_OK
$STATE,18406,begin surface
$SM_CCo,18421,10.27,0.951,0,0,1378,275.23
$SM_GC,1.69,0.00,0.00,10.27,0.000,0.000,0.951,157,2332,1378,-10.48,-0.23,275.23
$RAFOS_CLK,1020
$RAFOS,0,1221883445,4.083333,4.068056,67,62,56,54,53,52,993,133,202,184,212,165
$RAFOS,4,1221871466,0.750000,0.740556,105,64,59,58,53,51,677,148,121,203,134,221
$RAFOS,3,1221870850,0.583333,0.569444,107,65,57,54,51,51,927,208,192,157,169,113
$RAFOS,2,1221870249,0.416667,0.402500,136,63,59,58,56,53,584,164,206,120,152,186
$RAFOS,1,1221869661,0.250000,0.239167,115,59,56,54,51,51,746,216,169,192,123,227
$RAFOS,0,1221869056,0.083333,0.071111,91,64,57,57,55,54,949,200,158,189,220,174
$RAFOS_FIX,6702.771484,-5711.400879,200908,000027,5,111,0.74
$IRIDIUM_FIX,6636.54,-5655.33,141297,232329
$TT8_MAMPS,0.03068
$HUMID,1936
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,22.2,20.647
$10V_AH,10.6,7.419
$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,21.250,176.250,361.650,10.275,0.000,50.483,62.297,151.565,0.000,0.000,0.000,32.090,1850.312,14146.439,565.806,1892.722,444.541,33.357,1609.544,0.000,1854.223,2520.000,0.528,0.000
$DEVICE_MAMPS,263.848,81.302,1376.765,951.080,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.315,662.643,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34733,970
$CAP_FILE_SIZE,148880,0
$CFSIZE,260165632,246607872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$GPS,200908,041646,6702.522,-5710.077,40,9.1,59,-37.6