version: 66.04
glider: 113
mission: 4
dive: 79
start: 9 20 108 4 23 30
data:
$ID,113
$MISSION,4
$DIVE,79
$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,-23485.389
$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,27
$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
$GPS1,041646,6702.522,-5710.077,40,9.1,59,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.8
$GPS2,042239,6702.500,-5710.166,20,1.4,20,-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,-0.185,0.018
$KALMAN_X,8602.7,379.9,-33.2,58489.3,-332.4
$KALMAN_Y,-14054.3,485.6,668.7,30366.3,-1916.8
$MHEAD_RNG_PITCHd_Wd,313.3,19116,-14.2,-7.021
$D_GRID,746
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-108.65,0.000,2,0.000,0.000,157,2332,3027
$GC,131,-1.16,-146.0,3.5,-3.6,19,150,8.48,2.40,-2.15,0.000,4,0.265,0.083,2177,3740,3099
$GC,397,-0.89,-146.0,47.8,-12.9,66,405,0.22,2.20,0.00,0.000,6,0.170,0.041,2240,2331,3103
$GC,742,-0.84,-146.0,81.0,-9.1,127,748,0.00,2.20,0.00,0.000,4,0.000,0.054,2240,932,3105
$GC,843,-0.76,-146.0,90.4,-9.6,145,850,0.12,2.25,0.00,0.000,6,0.173,0.050,2272,2351,3105
$GC,1181,-0.86,-146.0,114.6,-6.9,178,1185,0.10,2.25,0.00,0.000,4,0.111,0.065,2237,3745,3107
$GC,1269,-0.86,-146.0,122.1,-8.6,182,1273,0.00,2.17,0.00,0.000,6,0.000,0.040,2237,2334,3107
$GC,1602,-0.86,-146.0,150.9,-8.3,198,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2334,3107
$GC,1910,-0.86,-146.0,175.3,-7.5,213,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2334,3106
$GC,2219,-0.86,-146.0,198.4,-7.5,228,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2334,3105
$GC,2529,-0.91,-146.0,222.3,-7.8,243,2533,0.00,2.20,0.00,0.000,4,0.000,0.055,2237,926,3104
$GC,2606,-0.91,-146.0,228.8,-8.3,246,2611,0.00,2.22,0.00,0.000,6,0.000,0.051,2237,2344,3104
$GC,2927,-0.98,-146.0,253.0,-7.5,262,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2344,3104
$GC,3237,-1.06,-146.0,274.1,-6.5,277,3239,0.12,0.00,0.00,0.000,6,0.105,0.000,2191,2344,3103
$GC,3546,-1.00,-146.0,297.0,-7.2,292,3550,0.12,2.25,0.00,0.000,4,0.161,0.066,2221,3753,3103
$GC,3614,-1.06,-146.0,301.2,-6.5,295,3618,0.00,2.17,0.00,0.000,6,0.000,0.041,2221,2324,3103
$GC,3945,-1.06,-146.0,320.5,-5.9,311,3950,0.00,2.30,0.00,0.000,4,0.000,0.068,2221,3743,3103
$GC,4058,-1.13,-146.0,327.7,-6.3,316,4063,0.12,2.15,0.00,0.000,6,0.107,0.040,2177,2336,3103
$GC,4389,-1.04,-146.0,354.1,-7.9,332,4394,0.12,2.17,0.00,0.000,4,0.163,0.052,2210,935,3103
$GC,4483,-1.04,-146.0,361.1,-7.0,336,4488,0.00,2.22,0.00,0.000,6,0.000,0.049,2210,2340,3103
$GC,4810,-1.04,-146.0,382.7,-6.6,352,4814,0.00,2.25,0.00,0.000,4,0.000,0.066,2210,3747,3104
$GC,4895,-1.10,-146.0,388.5,-7.0,355,4901,0.00,2.15,0.00,0.000,6,0.000,0.038,2210,2336,3104
$GC,5227,-1.10,-146.0,411.7,-7.0,368,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2336,3104
$GC,5552,-1.10,-146.0,435.5,-7.6,376,5556,0.00,2.30,0.00,0.000,4,0.000,0.067,2210,3750,3104
$GC,5619,-1.16,-146.0,440.9,-8.5,377,5623,0.10,2.15,0.00,0.000,6,0.114,0.040,2177,2341,3104
$GC,5966,-1.08,-146.0,472.2,-9.1,386,5968,0.10,0.00,0.00,0.000,6,0.167,0.000,2201,2339,3104
$GC,6290,-1.08,-146.0,499.9,-8.5,394,6294,0.00,2.28,0.00,0.000,4,0.000,0.068,2201,3742,3104
$GC,6364,-1.08,-146.0,506.2,-8.7,395,6367,0.00,2.15,0.00,0.000,6,0.000,0.040,2201,2334,3104
$GC,6705,-1.08,-146.0,534.4,-8.1,404,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2334,3104
$GC,7030,-1.08,-146.0,560.3,-7.8,412,7034,0.00,2.30,0.00,0.000,4,0.000,0.067,2201,3753,3104
$GC,7107,-1.13,-146.0,566.5,-8.3,413,7111,0.00,2.20,0.00,0.000,6,0.000,0.039,2201,2334,3104
$GC,7443,-1.13,-146.0,593.2,-7.9,422,7447,0.00,2.17,0.00,0.000,4,0.000,0.054,2201,930,3104
$GC,7498,-1.13,-146.0,597.9,-8.7,423,7502,0.00,2.22,0.00,0.000,6,0.000,0.048,2201,2337,3104
$GC,7816,-1.13,-146.0,622.2,-7.5,431,7820,0.00,2.25,0.00,0.000,4,0.000,0.067,2201,3749,3104
$GC,7951,-1.18,-146.0,632.5,-7.5,434,7955,0.00,2.15,0.00,0.000,6,0.000,0.039,2201,2339,3103
$GC,8280,-1.18,-146.0,656.4,-7.3,442,8284,0.00,2.17,0.00,0.000,4,0.000,0.053,2201,935,3103
$GC,8335,-1.18,-146.0,660.8,-8.7,443,8339,0.00,2.22,0.00,0.000,6,0.000,0.049,2201,2338,3104
$GC,8654,-1.18,-146.0,683.7,-7.0,451,8658,0.00,2.28,0.00,0.000,4,0.000,0.068,2201,3751,3103
$GC,8788,-1.24,-146.0,693.6,-7.4,454,8793,0.12,2.17,0.00,0.000,6,0.098,0.041,2157,2327,3103
$GC,9118,-1.12,-146.0,722.2,-8.8,462,9122,0.15,2.17,0.00,0.000,4,0.173,0.054,2195,929,3103
$GC,9177,-1.12,-146.0,727.0,-8.3,463,9182,0.00,2.25,0.00,0.000,6,0.000,0.050,2195,2347,3103
$STATE,9448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9448,begin apogee
$GC,9453,-0.34,0.0,746.9,7.3,470,9583,0.55,0.00,127.53,1.394,6,0.155,0.000,2365,2530,2501
$STATE,9584,end apogee,CONTROL_FINISHED_OK
$STATE,9584,begin climb
$GC,9586,1.16,146.0,749.2,0.0,473,9724,1.08,2.58,130.43,1.301,4,0.107,0.054,2690,1126,1904
$GC,9730,0.90,146.0,738.1,10.8,476,9735,0.22,2.50,0.00,0.000,6,0.146,0.048,2632,2524,1902
$GC,10077,0.83,146.0,708.9,8.4,485,10081,0.00,2.38,0.00,0.000,4,0.000,0.066,2632,3932,1901
$GC,10087,0.75,146.0,707.8,8.5,485,10092,0.08,2.30,0.00,0.000,6,0.147,0.040,2599,2530,1901
$GC,10405,0.76,155.7,686.2,6.7,493,10419,0.00,2.40,9.05,1.174,4,0.000,0.068,2599,3937,1865
$GC,10441,0.76,155.7,683.3,7.8,493,10449,0.00,2.30,0.00,0.000,6,0.000,0.040,2599,2515,1865
$GC,10774,0.83,176.2,662.1,6.3,502,10798,0.00,2.47,18.62,1.289,4,0.000,0.070,2599,3927,1781
$GC,10815,0.86,197.2,659.2,6.3,503,10840,0.10,2.28,19.17,1.259,6,0.096,0.040,2634,2512,1695
$GC,11183,0.86,197.2,630.7,7.7,512,11187,0.00,2.25,0.00,0.000,4,0.000,0.054,2634,1111,1692
$GC,11192,0.86,197.2,629.9,7.6,512,11197,0.00,2.33,0.00,0.000,6,0.000,0.049,2634,2529,1692
$GC,11511,0.86,197.2,605.0,7.8,520,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2529,1692
$GC,11835,0.86,197.2,578.2,8.3,528,11839,0.00,2.28,0.00,0.000,4,0.000,0.054,2634,1106,1692
$GC,11845,0.86,197.2,577.3,8.3,528,11850,0.00,2.28,0.00,0.000,6,0.000,0.048,2634,2522,1692
$GC,12164,0.86,197.2,552.0,7.9,536,12168,0.00,2.25,0.00,0.000,4,0.000,0.054,2634,1111,1691
$GC,12173,0.86,197.2,551.3,7.8,536,12178,0.00,2.25,0.00,0.000,6,0.000,0.048,2634,2517,1690
$GC,12491,0.86,197.2,526.4,7.8,544,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2517,1691
$GC,12817,0.86,197.2,501.3,7.6,552,12820,0.00,2.22,0.00,0.000,4,0.000,0.054,2634,1112,1690
$GC,12826,0.86,197.2,500.5,7.6,552,12831,0.00,2.25,0.00,0.000,6,0.000,0.048,2634,2524,1690
$GC,13145,0.86,197.2,476.2,7.7,560,13149,0.00,2.22,0.00,0.000,4,0.000,0.054,2634,1110,1690
$GC,13154,0.86,197.2,475.3,7.7,560,13159,0.00,2.25,0.00,0.000,6,0.000,0.048,2634,2526,1690
$GC,13473,0.86,197.2,449.9,8.2,568,13474,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2526,1690
$GC,13798,0.86,197.2,422.8,8.3,576,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2526,1690
$GC,14103,0.86,197.2,397.2,8.4,584,14107,0.00,2.22,0.00,0.000,4,0.000,0.054,2634,1115,1689
$GC,14131,0.86,197.2,395.1,7.1,585,14134,0.00,2.20,0.00,0.000,6,0.000,0.048,2634,2522,1689
$GC,14456,0.86,197.2,370.3,7.6,601,14460,0.00,2.22,0.00,0.000,4,0.000,0.054,2634,1106,1690
$GC,14466,0.86,197.2,369.5,7.4,601,14470,0.00,2.22,0.00,0.000,6,0.000,0.047,2634,2515,1690
$GC,14787,0.86,197.2,346.2,7.3,617,14791,0.00,2.22,0.00,0.000,4,0.000,0.054,2634,1105,1690
$GC,14803,0.86,197.2,345.0,7.2,617,14810,0.00,2.22,0.00,0.000,6,0.000,0.048,2634,2530,1690
$GC,15118,0.86,197.2,319.9,8.4,633,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2529,1689
$GC,15427,0.86,197.2,295.2,7.8,648,15431,0.00,2.22,0.00,0.000,4,0.000,0.053,2634,1113,1689
$GC,15442,0.86,197.2,293.9,8.1,648,15449,0.00,2.22,0.00,0.000,6,0.000,0.047,2634,2520,1689
$GC,15758,0.86,197.2,270.1,7.5,664,15761,0.00,2.20,0.00,0.000,4,0.000,0.053,2634,1114,1690
$GC,15780,0.92,197.2,268.5,7.6,665,15784,0.00,2.20,0.00,0.000,6,0.000,0.048,2634,2527,1690
$GC,16111,0.92,197.2,243.1,7.7,681,16115,0.00,2.22,0.00,0.000,4,0.000,0.051,2634,1104,1690
$GC,16120,0.92,197.2,242.3,7.7,681,16125,0.00,2.22,0.00,0.000,6,0.000,0.046,2634,2516,1690
$GC,16441,0.92,197.2,214.3,9.0,697,16445,0.00,2.20,0.00,0.000,4,0.000,0.052,2634,1111,1691
$GC,16452,0.96,197.2,213.3,9.0,697,16456,0.00,2.20,0.00,0.000,6,0.000,0.046,2634,2525,1691
$GC,16773,1.01,197.2,186.9,8.1,713,16777,0.00,2.22,0.00,0.000,4,0.000,0.064,2634,3928,1692
$GC,16782,1.01,197.2,185.9,8.3,713,16787,0.00,2.17,0.00,0.000,6,0.000,0.038,2634,2519,1692
$GC,17104,1.07,197.2,161.5,7.3,729,17109,0.12,2.30,0.00,0.000,4,0.089,0.067,2685,3939,1693
$GC,17143,0.84,197.2,157.9,10.8,731,17148,0.25,2.17,0.00,0.000,6,0.146,0.040,2614,2513,1693
$GC,17469,1.04,244.7,139.8,5.4,747,17510,0.17,0.00,37.58,1.051,6,0.081,0.000,2681,2510,1502
$GC,17817,1.04,244.7,112.5,8.0,764,17819,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2511,1499
$GC,18141,1.04,244.7,82.7,9.5,803,18147,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2510,1499
$GC,18483,1.04,244.7,51.4,8.7,864,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2510,1499
$GC,18826,1.12,262.2,24.7,6.4,925,18845,0.00,2.30,14.48,0.998,4,0.000,0.054,2681,1111,1431
$GC,18908,1.29,277.5,19.5,6.5,939,18927,0.12,2.28,13.68,0.964,6,0.087,0.051,2729,2528,1368
$STATE,19139,end climb,SURFACE_DEPTH_REACHED
$STATE,19139,begin surface coast
$FINISH,0.7,1.025544
$STATE,19168,end surface coast,CONTROL_FINISHED_OK
$STATE,19168,begin surface
$SM_CCo,19243,0.00,0.000,0,0,1362,279.15
$SM_GC,1.59,7.28,0.00,0.00,0.079,0.000,0.000,167,2340,1362,-10.37,-0.03,279.15
$RAFOS_CLK,1060
$RAFOS,4,1221900242,8.750000,8.733889,62,59,59,58,56,51,207,178,776,151,189,136
$RAFOS,3,1221899644,8.583333,8.567778,65,59,59,53,53,51,203,146,936,123,180,217
$RAFOS,2,1221899044,8.416667,8.401111,136,58,58,56,56,51,579,224,215,198,141,160
$RAFOS,1,1221898447,8.250000,8.235278,107,61,58,57,53,53,792,214,175,147,228,133
$RAFOS,0,1221897878,8.083333,8.077222,64,62,59,59,58,55,200,221,118,792,162,153
$RAFOS,4,1221885844,4.750000,4.734445,99,60,54,54,53,53,784,134,220,162,186,204
$RAFOS,3,1221885243,4.583333,4.567500,115,67,61,56,53,52,964,170,192,219,207,138
$RAFOS,2,1221884645,4.416667,4.401389,67,62,58,56,55,55,590,217,198,172,145,162
$RAFOS,1,1221884043,4.250000,4.234167,67,62,60,58,51,51,833,200,127,219,230,166
$RAFOS_FIX,6641.790527,-5908.795410,200908,080810,5,87,6.53
$IRIDIUM_FIX,6631.12,-5653.72,141297,232320
$TT8_MAMPS,0.027612
$HUMID,1926
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.2,20.794
$10V_AH,10.6,7.493
$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,19.875,157.825,370.525,0.000,0.000,26.202,31.822,169.529,0.000,0.000,0.000,22.114,1929.724,14827.150,528.732,1983.711,397.532,33.357,1610.727,0.000,1942.382,2880.000,0.528,0.000
$DEVICE_MAMPS,264.615,82.836,1393.639,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.879,673.841,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37777,985
$CAP_FILE_SIZE,143783,0
$CFSIZE,260165632,246538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,200908,094658,6702.734,-5717.063,25,2.1,44,-37.7