version: 66.04
glider: 113
mission: 4
dive: 171
start: 10 12 108 14 47 16
data:
$ID,113
$MISSION,4
$DIVE,171
$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,900
$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,-25185.26
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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,42
$R_STBD_OVSHOOT,29
$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
$GPS1,144038,6703.653,-5703.932,35,1.7,35,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.0
$GPS2,144621,6703.641,-5704.033,12,1.6,12,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.220,0.044
$KALMAN_X,6404.6,-166.7,-1060.8,9716.0,2458.5
$KALMAN_Y,-11174.7,152.9,794.2,26447.1,-1535.8
$MHEAD_RNG_PITCHd_Wd,319.0,24015,-12.9,-7.021
$D_GRID,677
$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,14,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,142,0.00,0.00,-123.38,0.000,2,0.000,0.000,164,2333,3004
$GC,145,-1.08,-146.0,3.2,-2.6,22,160,8.60,2.40,-0.40,0.000,4,0.258,0.078,2200,3745,3017
$GC,356,-0.69,-146.0,43.1,-16.6,59,363,0.30,2.20,0.00,0.000,6,0.161,0.040,2286,2335,3021
$GC,700,-0.69,-146.0,72.4,-7.9,120,706,0.00,2.20,0.00,0.000,4,0.000,0.052,2286,936,3022
$GC,942,-0.69,-146.0,91.5,-7.9,163,948,0.00,2.22,0.00,0.000,6,0.000,0.050,2286,2340,3023
$GC,1274,-0.69,-146.0,113.7,-6.4,195,1278,0.00,2.30,0.00,0.000,4,0.000,0.066,2286,3754,3023
$GC,1364,-0.79,-146.0,119.8,-6.7,199,1369,0.00,2.20,0.00,0.000,6,0.000,0.039,2286,2327,3023
$GC,1696,-0.86,-146.0,140.4,-6.1,215,1698,0.15,0.00,0.00,0.000,6,0.096,0.000,2232,2327,3022
$GC,2005,-0.77,-146.0,163.4,-7.2,230,2010,0.15,2.35,0.00,0.000,4,0.160,0.066,2272,3749,3021
$GC,2123,-0.86,-146.0,171.0,-6.2,235,2128,0.10,2.17,0.00,0.000,6,0.099,0.040,2234,2330,3021
$GC,2443,-0.80,-146.0,193.3,-7.1,251,2448,0.12,2.33,0.00,0.000,4,0.167,0.064,2267,3743,3021
$GC,2510,-0.90,-146.0,197.5,-6.0,254,2515,0.12,2.17,0.00,0.000,6,0.091,0.041,2222,2336,3020
$GC,2836,-0.81,-146.0,220.6,-6.9,270,2841,0.15,2.20,0.00,0.000,4,0.156,0.052,2263,938,3021
$GC,2990,-0.81,-146.0,230.2,-6.2,276,2996,0.00,2.22,0.00,0.000,6,0.000,0.050,2263,2347,3020
$GC,3306,-0.88,-146.0,249.0,-6.2,292,3309,0.00,2.28,0.00,0.000,4,0.000,0.067,2263,3745,3020
$GC,3401,-0.98,-146.0,255.0,-6.6,296,3406,0.15,2.17,0.00,0.000,6,0.093,0.039,2211,2331,3020
$GC,3727,-0.88,-146.0,279.8,-7.3,312,3731,0.12,2.20,0.00,0.000,4,0.159,0.051,2244,931,3020
$GC,3781,-0.88,-146.0,283.6,-7.1,314,3786,0.00,2.25,0.00,0.000,6,0.000,0.048,2244,2340,3020
$GC,4103,-0.88,-146.0,302.4,-6.0,330,4107,0.00,2.30,0.00,0.000,4,0.000,0.066,2244,3754,3020
$GC,4215,-0.93,-146.0,309.2,-5.5,335,4219,0.00,2.17,0.00,0.000,6,0.000,0.038,2244,2337,3020
$GC,4547,-0.93,-146.0,331.1,-6.8,351,4551,0.00,2.20,0.00,0.000,4,0.000,0.051,2244,933,3020
$GC,4602,-0.93,-146.0,335.4,-8.2,353,4608,0.00,2.25,0.00,0.000,6,0.000,0.048,2244,2341,3020
$GC,4923,-0.93,-146.0,358.1,-7.0,369,4927,0.00,2.28,0.00,0.000,4,0.000,0.064,2244,3745,3020
$GC,5059,-0.99,-146.0,367.8,-6.8,375,5063,0.10,2.17,0.00,0.000,6,0.101,0.038,2207,2327,3021
$GC,5390,-0.90,-146.0,394.1,-7.6,391,5392,0.12,0.00,0.00,0.000,6,0.154,0.000,2241,2324,3020
$GC,5697,-0.90,-146.0,413.9,-6.2,401,5701,0.00,2.33,0.00,0.000,4,0.000,0.065,2241,3743,3021
$GC,5792,-0.96,-146.0,419.8,-6.1,403,5796,0.00,2.17,0.00,0.000,6,0.000,0.039,2241,2330,3021
$GC,6116,-0.96,-146.0,439.0,-6.0,411,6120,0.00,2.17,0.00,0.000,4,0.000,0.051,2241,939,3021
$GC,6210,-0.96,-146.0,445.1,-6.3,413,6214,0.00,2.22,0.00,0.000,6,0.000,0.048,2241,2352,3021
$GC,6534,-0.96,-146.0,463.2,-5.6,421,6538,0.00,2.28,0.00,0.000,4,0.000,0.065,2241,3755,3021
$GC,6652,-1.03,-146.0,469.8,-5.3,423,6657,0.12,2.17,0.00,0.000,6,0.093,0.038,2196,2338,3021
$GC,6988,-0.92,-146.0,492.8,-7.0,432,6992,0.15,2.20,0.00,0.000,4,0.153,0.051,2237,939,3021
$GC,7094,-0.92,-146.0,499.7,-6.5,434,7097,0.00,2.22,0.00,0.000,6,0.000,0.049,2237,2349,3021
$GC,7408,-0.92,-146.0,518.7,-6.2,442,7412,0.00,2.28,0.00,0.000,4,0.000,0.064,2237,3753,3021
$GC,7548,-0.98,-146.0,527.9,-6.6,445,7551,0.00,2.17,0.00,0.000,6,0.000,0.037,2237,2330,3021
$GC,7872,-0.98,-146.0,547.0,-6.0,453,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2330,3021
$GC,8196,-0.98,-146.0,565.7,-5.7,461,8200,0.00,2.33,0.00,0.000,4,0.000,0.064,2238,3746,3022
$GC,8287,-1.04,-146.0,571.1,-6.0,463,8291,0.12,2.17,0.00,0.000,6,0.097,0.038,2193,2326,3021
$GC,8616,-0.93,-146.0,594.6,-7.1,471,8618,0.15,0.00,0.00,0.000,6,0.150,0.000,2233,2323,3021
$GC,8940,-0.93,-146.0,613.4,-5.6,479,8944,0.00,2.35,0.00,0.000,4,0.000,0.064,2234,3750,3022
$GC,9086,-0.99,-146.0,622.1,-6.1,482,9090,0.00,2.17,0.00,0.000,6,0.000,0.038,2233,2334,3022
$GC,9405,-0.99,-146.0,639.9,-5.5,490,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2334,3022
$GC,9729,-0.99,-146.0,658.2,-5.7,498,9733,0.00,2.33,0.00,0.000,4,0.000,0.065,2234,3743,3022
$GC,9830,-1.05,-146.0,664.5,-7.2,500,9834,0.12,2.17,0.00,0.000,6,0.100,0.038,2190,2328,3022
$STATE,10023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10023,begin apogee
$GC,10029,-0.34,0.0,678.5,7.2,505,10161,0.57,0.00,129.00,1.292,6,0.150,0.000,2363,2518,2420
$STATE,10162,end apogee,CONTROL_FINISHED_OK
$STATE,10162,begin climb
$GC,10164,1.08,146.0,680.7,0.0,508,10303,1.02,2.65,131.80,1.210,4,0.110,0.065,2666,3936,1824
$GC,10321,0.87,146.0,669.3,9.1,511,10329,0.17,2.42,0.00,0.000,6,0.140,0.038,2623,2529,1823
$GC,10652,0.87,146.0,645.0,7.4,520,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2528,1820
$GC,10977,0.87,146.0,621.5,7.1,528,10981,0.00,2.35,0.00,0.000,4,0.000,0.066,2622,3941,1819
$GC,10993,0.87,147.0,620.3,7.0,528,10997,0.00,2.25,0.00,0.000,6,0.000,0.038,2623,2500,1819
$GC,11306,0.87,151.8,598.6,6.9,536,11316,0.00,2.38,5.65,0.955,4,0.000,0.064,2622,3941,1801
$GC,11345,0.79,151.8,595.6,8.3,537,11348,0.00,2.22,0.00,0.000,6,0.000,0.039,2622,2511,1801
$GC,11674,0.82,175.0,574.0,6.2,545,11700,0.00,2.40,20.73,1.206,4,0.000,0.065,2622,3937,1706
$GC,11722,0.84,184.1,570.6,6.7,546,11737,0.00,2.25,9.23,1.065,6,0.000,0.039,2622,2512,1669
$GC,12080,0.89,189.4,546.6,6.8,555,12091,0.00,2.22,5.97,0.960,4,0.000,0.051,2623,1112,1647
$GC,12097,0.94,189.5,545.3,7.0,555,12101,0.00,2.25,0.00,0.000,6,0.000,0.047,2622,2524,1647
$GC,12445,1.00,197.0,521.6,6.8,564,12460,0.12,2.30,7.90,1.044,4,0.080,0.052,2675,1120,1617
$GC,12471,0.94,197.0,519.4,8.0,564,12475,0.15,2.25,0.00,0.000,6,0.136,0.048,2632,2533,1616
$GC,12812,0.94,197.0,493.8,7.5,573,12816,0.00,2.25,0.00,0.000,4,0.000,0.051,2632,1118,1615
$GC,12822,0.94,197.0,493.0,7.4,573,12827,0.00,2.25,0.00,0.000,6,0.000,0.048,2632,2519,1615
$GC,13141,0.94,197.0,469.3,7.5,581,13145,0.00,2.22,0.00,0.000,4,0.000,0.051,2632,1111,1615
$GC,13157,0.99,197.0,468.1,7.5,581,13160,0.00,2.22,0.00,0.000,6,0.000,0.048,2632,2524,1615
$GC,13469,0.99,197.0,444.3,7.7,589,13473,0.00,2.22,0.00,0.000,4,0.000,0.051,2632,1118,1615
$GC,13479,1.03,197.0,443.5,7.6,589,13484,0.08,2.22,0.00,0.000,6,0.077,0.047,2673,2515,1615
$GC,13798,0.92,197.0,413.2,9.6,597,13799,0.15,0.00,0.00,0.000,6,0.129,0.000,2628,2515,1615
$GC,14103,0.97,197.0,389.7,7.4,607,14104,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2515,1615
$GC,14413,1.05,205.2,367.9,6.7,622,14423,0.12,0.00,8.02,0.996,6,0.081,0.000,2679,2515,1583
$GC,14722,0.94,205.2,339.8,8.9,637,14724,0.15,0.00,0.00,0.000,6,0.127,0.000,2634,2515,1581
$GC,15031,0.94,205.2,316.7,7.6,652,15034,0.00,2.22,0.00,0.000,4,0.000,0.052,2634,1112,1581
$GC,15041,1.00,205.2,315.9,7.5,652,15045,0.00,2.22,0.00,0.000,6,0.000,0.047,2634,2529,1581
$GC,15362,1.04,205.2,291.7,7.9,668,15367,0.10,2.25,0.00,0.000,4,0.082,0.051,2680,1111,1581
$GC,15395,0.99,205.2,288.6,9.2,669,15400,0.12,2.22,0.00,0.000,6,0.142,0.047,2644,2531,1581
$GC,15716,0.99,205.2,261.4,8.3,685,15720,0.00,2.25,0.00,0.000,4,0.000,0.051,2644,1107,1582
$GC,15732,0.99,205.2,259.9,8.3,685,15738,0.00,2.22,0.00,0.000,6,0.000,0.047,2644,2525,1582
$GC,16047,0.99,205.2,235.6,7.5,701,16050,0.00,2.22,0.00,0.000,4,0.000,0.051,2644,1121,1583
$GC,16080,1.08,205.4,233.2,7.0,702,16084,0.10,2.20,0.00,0.000,6,0.090,0.047,2685,2526,1583
$GC,16401,0.99,205.4,205.0,8.5,718,16405,0.12,2.28,0.00,0.000,4,0.130,0.063,2649,3940,1583
$GC,16417,0.91,205.4,203.6,8.5,719,16421,0.00,2.17,0.00,0.000,6,0.000,0.038,2649,2516,1583
$GC,16748,0.94,230.7,181.8,6.2,735,16772,0.00,0.00,21.92,0.996,6,0.000,0.000,2649,2516,1479
$GC,17078,1.04,247.5,161.2,6.4,751,17100,0.00,2.25,14.77,0.950,4,0.000,0.051,2648,1111,1411
$GC,17106,1.16,268.9,159.2,6.3,752,17132,0.15,2.28,18.90,0.938,6,0.073,0.047,2707,2532,1322
$GC,17454,1.10,268.9,124.0,10.9,769,17459,0.12,2.28,0.00,0.000,4,0.133,0.051,2670,1116,1320
$GC,17487,1.20,268.9,120.7,9.1,770,17494,0.10,2.22,0.00,0.000,6,0.083,0.047,2711,2519,1320
$GC,17812,1.20,268.9,90.8,8.1,798,17819,0.00,2.22,0.00,0.000,4,0.000,0.052,2711,1123,1320
$GC,17824,1.20,268.9,89.6,7.8,800,17831,0.00,2.22,0.00,0.000,6,0.000,0.048,2711,2525,1320
$GC,18168,1.20,268.9,60.3,8.8,861,18174,0.00,2.25,0.00,0.000,4,0.000,0.053,2711,1113,1320
$GC,18191,1.20,268.9,58.3,8.5,865,18197,0.00,2.22,0.00,0.000,6,0.000,0.048,2711,2523,1320
$GC,18535,1.20,268.9,32.1,7.1,926,18541,0.00,2.22,0.00,0.000,4,0.000,0.053,2711,1123,1319
$GC,18604,1.28,275.7,27.1,6.8,938,18617,0.00,2.22,6.07,0.811,6,0.000,0.049,2711,2532,1296
$STATE,18929,end climb,SURFACE_DEPTH_REACHED
$STATE,18929,begin surface coast
$FINISH,1.2,1.026036
$STATE,18953,end surface coast,CONTROL_FINISHED_OK
$STATE,18955,begin surface
$SM_CCo,19030,0.00,0.000,0,0,1292,276.70
$SM_GC,1.62,7.10,0.00,0.00,0.071,0.000,0.000,165,2324,1292,-10.37,-0.45,276.70
$RAFOS_CLK,1015
$RAFOS,4,1223829844,16.750000,16.734444,67,60,59,58,58,55,147,201,178,160,798,119
$RAFOS,3,1223829246,16.583334,16.568333,71,67,65,59,59,55,119,956,200,209,151,175
$RAFOS,2,1223828643,16.416666,16.400833,90,63,60,55,55,53,620,219,192,168,209,141
$RAFOS,1,1223828059,16.250000,16.238611,73,69,59,59,59,55,173,212,199,185,762,120
$RAFOS,0,1223827443,16.083334,16.067499,62,62,57,56,56,56,183,195,206,172,220,1025
$RAFOS_FIX,7010.486328,-6857.552734,121008,161653,3,78,95.81
$IRIDIUM_FIX,6636.54,-5702.96,060198,090944
$TT8_MAMPS,0.027612
$HUMID,1891
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.20
$XPDR_PINGS,2
$24V_AH,21.9,35.785
$10V_AH,10.6,14.660
$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,21.350,171.625,379.975,0.000,0.000,29.078,32.984,166.294,0.500,0.000,0.000,14.190,1945.254,14316.164,544.577,2138.854,465.186,33.346,1702.538,0.000,2101.763,1800.000,0.528,0.000
$DEVICE_MAMPS,257.712,78.234,1291.628,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.700,681.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37872,1000
$CAP_FILE_SIZE,155253,0
$CFSIZE,260165632,238026752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.5
$GPS,121008,200625,6703.457,-5709.735,37,1.3,37,-37.6