version: 66.04
glider: 113
mission: 4
dive: 107
start: 9 28 108 4 41 28
data:
$ID,113
$MISSION,4
$DIVE,107
$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,-2
$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,0.00342
$HD_B,0.0096000005
$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,-23990.318
$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,33
$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,2420
$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
$GPS1,043408,6645.398,-5957.580,55,1.1,67,-38.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-60.5
$GPS2,044033,6645.320,-5957.548,13,1.2,13,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.224,-0.009
$KALMAN_X,13961.8,-159.1,39.8,-89377.3,908.9
$KALMAN_Y,-2213.1,238.7,1173.1,-16724.2,-4721.6
$MHEAD_RNG_PITCHd_Wd,305.6,33859,-12.9,-7.021
$D_GRID,672
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,122,0.00,0.00,-103.72,0.000,2,0.000,0.000,162,2335,2620
$GC,124,-1.08,-146.0,3.3,-3.2,18,155,8.60,2.40,-14.23,0.000,4,0.260,0.081,2192,3752,3019
$GC,290,-0.68,-146.0,34.6,-13.8,47,297,0.35,2.25,0.00,0.000,6,0.162,0.044,2291,2338,3024
$GC,633,-0.68,-146.0,62.6,-7.7,108,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2338,3026
$GC,975,-0.68,-146.0,89.9,-8.1,169,981,0.00,2.25,0.00,0.000,4,0.000,0.056,2292,925,3027
$GC,1037,-0.68,-146.0,95.4,-9.1,180,1043,0.00,2.28,0.00,0.000,6,0.000,0.051,2291,2347,3027
$GC,1363,-0.74,-146.0,120.2,-6.9,203,1367,0.00,2.30,0.00,0.000,4,0.000,0.067,2290,3754,3027
$GC,1430,-0.84,-146.0,124.8,-6.8,206,1434,0.12,2.22,0.00,0.000,6,0.104,0.043,2246,2329,3026
$GC,1761,-0.77,-146.0,150.5,-8.0,222,1766,0.10,2.35,0.00,0.000,4,0.176,0.071,2269,3742,3026
$GC,1810,-0.83,-146.0,154.2,-7.1,224,1814,0.00,2.22,0.00,0.000,6,0.000,0.044,2270,2341,3026
$GC,2131,-0.83,-146.0,176.0,-6.7,240,2135,0.00,2.22,0.00,0.000,4,0.000,0.058,2270,937,3026
$GC,2214,-0.83,-146.0,182.4,-8.1,243,2221,0.00,2.28,0.00,0.000,6,0.000,0.054,2270,2338,3026
$GC,2530,-0.88,-146.0,204.8,-7.2,259,2531,0.10,0.00,0.00,0.000,6,0.107,0.000,2234,2339,3025
$GC,2839,-0.83,-146.0,228.7,-7.5,274,2841,0.10,0.00,0.00,0.000,6,0.176,0.000,2258,2339,3024
$GC,3148,-0.83,-146.0,249.0,-6.6,289,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2339,3024
$GC,3458,-0.88,-146.0,270.3,-7.0,304,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2339,3024
$GC,3767,-0.94,-146.0,291.5,-6.7,319,3772,0.10,2.33,0.00,0.000,4,0.107,0.071,2221,3750,3023
$GC,3816,-0.94,-146.0,295.5,-8.5,321,3820,0.00,2.22,0.00,0.000,6,0.000,0.044,2221,2345,3023
$GC,4137,-0.89,-146.0,320.6,-8.0,337,4141,0.00,2.22,0.00,0.000,4,0.000,0.058,2221,936,3024
$GC,4209,-0.80,-146.0,326.6,-8.2,340,4214,0.15,2.25,0.00,0.000,6,0.173,0.053,2259,2349,3023
$GC,4536,-0.89,-146.0,346.3,-5.9,356,4539,0.00,2.30,0.00,0.000,4,0.000,0.072,2259,3752,3024
$GC,4648,-1.02,-146.0,352.9,-5.4,361,4653,0.17,2.20,0.00,0.000,6,0.097,0.042,2199,2333,3023
$GC,4979,-0.91,-146.0,377.6,-7.5,377,4981,0.15,0.00,0.00,0.000,6,0.162,0.000,2240,2331,3023
$GC,5289,-0.91,-146.0,395.8,-5.8,392,5293,0.00,2.35,0.00,0.000,4,0.000,0.072,2240,3750,3023
$GC,5379,-0.99,-146.0,401.2,-6.3,396,5383,0.00,2.20,0.00,0.000,6,0.000,0.043,2240,2333,3024
$GC,5708,-0.99,-146.0,420.5,-5.7,404,5712,0.00,2.20,0.00,0.000,4,0.000,0.056,2240,934,3024
$GC,5786,-0.99,-146.0,425.5,-6.3,405,5790,0.00,2.25,0.00,0.000,6,0.000,0.052,2240,2355,3023
$GC,6123,-1.04,-146.0,444.3,-5.6,414,6127,0.12,2.28,0.00,0.000,4,0.099,0.067,2194,3750,3024
$GC,6200,-0.96,-146.0,450.0,-7.7,415,6204,0.08,2.22,0.00,0.000,6,0.146,0.042,2229,2336,3024
$GC,6537,-0.96,-146.0,470.5,-6.0,424,6540,0.00,2.20,0.00,0.000,4,0.000,0.055,2229,934,3024
$GC,6604,-0.96,-146.0,475.1,-6.8,425,6608,0.00,2.25,0.00,0.000,6,0.000,0.051,2229,2352,3024
$GC,6951,-0.96,-146.0,495.8,-5.9,434,6955,0.00,2.28,0.00,0.000,4,0.000,0.069,2229,3749,3024
$GC,7023,-1.02,-146.0,500.4,-6.1,435,7027,0.00,2.20,0.00,0.000,6,0.000,0.041,2229,2326,3024
$GC,7365,-1.02,-146.0,520.4,-5.8,444,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2326,3024
$GC,7690,-1.02,-146.0,539.1,-5.7,452,7694,0.00,2.35,0.00,0.000,4,0.000,0.071,2229,3746,3025
$GC,7774,-1.09,-146.0,544.1,-6.2,453,7780,0.12,2.17,0.00,0.000,6,0.100,0.041,2186,2336,3024
$GC,8105,-0.97,-146.0,566.3,-6.7,462,8109,0.15,2.33,0.00,0.000,4,0.158,0.068,2227,3745,3024
$GC,8171,-1.03,-146.0,570.4,-6.3,463,8175,0.00,2.17,0.00,0.000,6,0.000,0.041,2227,2340,3025
$GC,8513,-1.03,-146.0,590.0,-5.8,472,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2340,3025
$GC,8837,-1.03,-146.0,609.2,-5.9,480,8841,0.00,2.33,0.00,0.000,4,0.000,0.068,2227,3752,3025
$GC,8928,-1.10,-146.0,614.7,-6.6,482,8932,0.12,2.20,0.00,0.000,6,0.098,0.041,2183,2330,3025
$GC,9257,-0.99,-146.0,636.2,-6.3,490,9259,0.15,0.00,0.00,0.000,6,0.160,0.000,2225,2329,3025
$GC,9581,-0.99,-146.0,655.8,-6.0,498,9585,0.00,2.35,0.00,0.000,4,0.000,0.070,2224,3753,3026
$GC,9692,-1.07,-146.0,662.0,-5.7,500,9696,0.00,2.20,0.00,0.000,6,0.000,0.041,2224,2330,3026
$STATE,9875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9875,begin apogee
$GC,9880,-0.34,0.0,673.4,6.2,505,10011,0.45,0.00,128.52,1.335,6,0.146,0.000,2363,2517,2420
$STATE,10012,end apogee,CONTROL_FINISHED_OK
$STATE,10012,begin climb
$GC,10014,1.08,146.0,674.2,0.0,508,10149,1.02,0.00,130.32,1.243,6,0.113,0.000,2665,2516,1824
$GC,10462,0.86,146.0,634.2,10.0,519,10466,0.17,2.45,0.00,0.000,4,0.146,0.068,2618,3933,1821
$GC,10550,0.70,146.0,626.1,8.5,521,10555,0.12,2.30,0.00,0.000,6,0.153,0.041,2589,2518,1820
$GC,10874,0.79,172.3,605.2,6.1,529,10904,0.00,2.53,22.45,1.238,4,0.000,0.068,2588,3940,1717
$GC,10910,0.85,172.3,602.8,7.1,529,10917,0.12,2.33,0.00,0.000,6,0.078,0.040,2634,2513,1717
$GC,11241,0.78,172.3,575.7,8.4,538,11245,0.12,2.40,0.00,0.000,4,0.146,0.069,2600,3937,1715
$GC,11256,0.72,172.3,574.4,8.6,538,11260,0.00,2.25,0.00,0.000,6,0.000,0.041,2600,2515,1715
$GC,11604,0.73,181.6,550.4,6.7,547,11618,0.00,2.42,8.93,1.121,4,0.000,0.071,2601,3929,1679
$GC,11634,0.75,189.7,548.2,6.7,547,11648,0.00,2.28,8.55,1.090,6,0.000,0.041,2600,2513,1646
$GC,11971,0.84,210.0,526.6,6.3,556,11991,0.00,0.00,17.95,1.209,6,0.000,0.000,2600,2513,1564
$GC,12296,0.96,234.1,506.3,6.2,564,12320,0.15,0.00,21.42,1.205,6,0.081,0.000,2659,2513,1465
$GC,12620,0.88,234.1,475.6,9.6,572,12622,0.12,0.00,0.00,0.000,6,0.144,0.000,2626,2512,1463
$GC,12945,0.88,234.1,449.2,8.0,580,12949,0.00,2.22,0.00,0.000,4,0.000,0.055,2626,1117,1462
$GC,12971,0.95,234.1,447.2,7.8,580,12976,0.00,2.28,0.00,0.000,6,0.000,0.048,2626,2523,1462
$GC,13313,0.95,234.1,420.7,7.6,589,13317,0.00,2.28,0.00,0.000,4,0.000,0.055,2626,1106,1462
$GC,13341,1.03,234.1,418.7,7.3,589,13345,0.12,2.25,0.00,0.000,6,0.088,0.048,2675,2528,1462
$GC,13663,0.91,234.1,387.1,9.9,600,13665,0.15,0.00,0.00,0.000,6,0.131,0.000,2631,2528,1462
$GC,13974,0.91,234.1,363.7,7.4,615,13978,0.00,2.25,0.00,0.000,4,0.000,0.055,2631,1113,1462
$GC,13983,0.91,234.1,362.8,7.6,615,13988,0.00,2.25,0.00,0.000,6,0.000,0.048,2631,2519,1462
$GC,14304,0.91,234.1,338.5,7.3,631,14308,0.00,2.25,0.00,0.000,4,0.000,0.055,2631,1105,1462
$GC,14320,0.97,234.1,337.4,7.1,631,14326,0.00,2.25,0.00,0.000,6,0.000,0.048,2631,2517,1462
$GC,14635,0.97,234.1,314.5,7.3,647,14639,0.00,2.25,0.00,0.000,4,0.000,0.054,2631,1106,1462
$GC,14645,1.03,234.1,313.6,7.3,647,14650,0.08,2.25,0.00,0.000,6,0.080,0.047,2668,2517,1462
$GC,14966,0.96,234.1,285.0,9.0,663,14970,0.10,2.25,0.00,0.000,4,0.143,0.054,2641,1109,1462
$GC,14998,1.03,234.1,282.4,7.3,664,15002,0.00,2.22,0.00,0.000,6,0.000,0.048,2641,2527,1462
$GC,15318,1.03,234.1,258.2,7.6,680,15322,0.00,2.25,0.00,0.000,4,0.000,0.054,2641,1110,1462
$GC,15351,1.11,235.5,255.8,7.0,681,15356,0.12,2.22,0.00,0.000,6,0.088,0.049,2690,2524,1462
$GC,15672,1.00,235.5,224.7,9.7,697,15677,0.15,2.28,0.00,0.000,4,0.136,0.066,2646,3932,1463
$GC,15721,0.94,235.5,220.0,9.2,699,15725,0.00,2.22,0.00,0.000,6,0.000,0.041,2646,2513,1463
$GC,16042,0.94,235.5,195.7,7.2,715,16046,0.00,2.20,0.00,0.000,4,0.000,0.056,2646,1111,1463
$GC,16051,0.99,235.5,194.9,7.2,715,16056,0.00,2.25,0.00,0.000,6,0.000,0.050,2646,2518,1463
$GC,16372,1.04,235.5,172.3,7.2,731,16373,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2518,1463
$GC,16682,1.10,236.0,150.4,7.0,746,16684,0.12,0.00,0.00,0.000,6,0.087,0.000,2695,2518,1463
$GC,16990,1.02,236.0,123.3,8.3,761,16995,0.15,2.30,0.00,0.000,4,0.139,0.069,2652,3930,1463
$GC,17033,1.02,236.0,119.8,7.6,763,17038,0.00,2.22,0.00,0.000,6,0.000,0.043,2652,2515,1462
$GC,17361,1.12,259.5,98.8,6.2,779,17391,0.10,2.30,21.33,1.074,4,0.094,0.058,2692,1119,1362
$GC,17402,1.12,259.5,95.7,7.0,786,17409,0.00,2.28,0.00,0.000,6,0.000,0.051,2692,2524,1361
$GC,17746,1.12,259.5,68.3,8.0,847,17752,0.00,2.33,0.00,0.000,4,0.000,0.071,2692,3937,1359
$GC,17757,1.12,259.5,67.3,8.1,849,17764,0.00,2.22,0.00,0.000,6,0.000,0.043,2692,2522,1359
$GC,18101,1.12,259.5,40.2,7.5,910,18107,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2522,1358
$GC,18444,1.33,320.7,20.4,4.9,971,18503,0.12,2.47,50.38,1.034,4,0.083,0.074,2746,3927,1111
$GC,18526,1.28,329.3,14.8,6.7,985,18540,0.15,2.30,8.15,0.866,6,0.146,0.043,2706,2515,1077
$STATE,18746,end climb,SURFACE_DEPTH_REACHED
$STATE,18747,begin surface coast
$FINISH,0.8,1.015989
$STATE,18776,end surface coast,CONTROL_FINISHED_OK
$STATE,18776,begin surface
$SM_CCo,18851,0.00,0.000,0,0,1068,331.65
$SM_GC,1.68,7.18,0.00,0.00,0.067,0.000,0.000,162,2341,1068,-10.38,0.03,331.65
$RAFOS_CLK,1074
$RAFOS,4,1222591459,8.750000,8.738611,79,59,59,57,55,53,735,218,169,194,231,112
$RAFOS,3,1222590858,8.583333,8.571667,75,63,58,51,51,50,659,214,139,230,110,158
$RAFOS,2,1222590243,8.416667,8.400833,64,60,58,57,55,53,917,185,216,207,170,226
$RAFOS,1,1222589669,8.250000,8.241389,81,59,59,58,58,54,552,199,155,210,181,224
$RAFOS,0,1222589060,8.083333,8.072222,75,61,59,58,57,57,453,209,149,227,167,121
$RAFOS,4,1222577047,4.750000,4.735278,91,60,58,58,54,53,787,180,237,222,138,199
$RAFOS,2,1222575848,4.416667,4.402222,75,58,58,57,55,55,882,223,209,132,195,168
$RAFOS_FIX,6644.099121,-5957.164062,280908,080827,5,75,0.17
$IRIDIUM_FIX,6620.33,-5948.93,221297,222210
$TT8_MAMPS,0.026845
$HUMID,1918
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.1,25.723
$10V_AH,10.6,9.902
$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,21.550,155.175,418.000,0.000,0.000,24.742,41.812,207.340,0.000,0.000,0.000,15.300,1969.907,14285.342,584.481,1998.468,456.395,33.361,1676.468,0.000,1972.667,2160.000,0.527,0.000
$DEVICE_MAMPS,260.013,81.302,1334.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.300,702.987,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37818,1029
$CAP_FILE_SIZE,151684,0
$CFSIZE,260165632,243367936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.4
$GPS,280908,095801,6642.861,-6002.490,38,1.3,38,-38.0