version: 66.04
glider: 113
mission: 4
dive: 230
start: 10 26 108 10 5 4
data:
$ID,113
$MISSION,4
$DIVE,230
$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,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,-26248.9
$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,36
$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
$GPS1,095632,6643.709,-5954.845,37,1.5,37,-38.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.9
$GPS2,100410,6643.692,-5954.779,11,2.4,30,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.221,0.041
$KALMAN_X,19181.9,265.9,61.5,-128612.0,-24.2
$KALMAN_Y,-37964.5,-758.0,-522.2,18529.5,1021.4
$MHEAD_RNG_PITCHd_Wd,117.6,35301,-12.9,-7.021
$D_GRID,706
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,138,0.00,0.00,-118.72,0.000,2,0.000,0.000,164,2328,2799
$GC,141,-1.08,-146.0,3.4,-3.3,21,166,9.00,2.42,-7.50,0.000,4,0.272,0.084,2200,3745,3019
$GC,391,-0.75,-146.0,51.3,-15.6,65,398,0.25,2.20,0.00,0.000,6,0.170,0.044,2270,2342,3023
$GC,736,-0.67,-146.0,86.2,-9.6,126,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2342,3023
$GC,1072,-0.62,-146.0,115.3,-9.0,164,1077,0.12,2.35,0.00,0.000,4,0.170,0.070,2303,3753,3023
$GC,1088,-0.62,-146.0,116.7,-8.6,165,1092,0.00,2.22,0.00,0.000,6,0.000,0.044,2304,2327,3023
$GC,1421,-0.72,-146.0,139.2,-6.5,181,1425,0.10,2.22,0.00,0.000,4,0.110,0.058,2265,932,3023
$GC,1466,-0.63,-146.0,142.9,-8.3,183,1470,0.12,2.25,0.00,0.000,6,0.170,0.054,2297,2341,3023
$GC,1798,-0.73,-146.0,166.8,-7.2,199,1801,0.00,2.30,0.00,0.000,4,0.000,0.071,2297,3743,3023
$GC,1808,-0.84,-146.0,167.6,-7.1,199,1813,0.15,2.20,0.00,0.000,6,0.087,0.043,2243,2333,3023
$GC,2130,-0.78,-146.0,198.0,-9.6,215,2134,0.10,2.35,0.00,0.000,4,0.173,0.070,2268,3746,3023
$GC,2139,-0.78,-146.0,199.1,-9.5,215,2143,0.00,2.20,0.00,0.000,6,0.000,0.043,2268,2333,3023
$GC,2460,-0.78,-146.0,225.1,-7.8,231,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2333,3022
$GC,2771,-0.83,-146.0,246.4,-6.5,246,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2333,3022
$GC,3080,-0.88,-146.0,266.4,-6.6,261,3084,0.10,2.22,0.00,0.000,4,0.104,0.058,2232,939,3021
$GC,3140,-0.77,-146.0,271.7,-8.6,263,3147,0.15,2.25,0.00,0.000,6,0.166,0.055,2271,2346,3021
$GC,3456,-0.85,-146.0,293.3,-6.8,279,3460,0.00,2.28,0.00,0.000,4,0.000,0.058,2271,929,3021
$GC,3483,-0.85,-146.0,295.5,-8.0,280,3487,0.00,2.28,0.00,0.000,6,0.000,0.055,2271,2348,3021
$GC,3811,-0.94,-146.0,317.5,-6.6,296,3813,0.15,0.00,0.00,0.000,6,0.092,0.000,2217,2348,3021
$GC,4120,-0.85,-146.0,342.0,-8.1,311,4124,0.12,2.33,0.00,0.000,4,0.158,0.071,2248,3755,3021
$GC,4169,-0.90,-146.0,346.1,-8.3,313,4173,0.00,2.22,0.00,0.000,6,0.000,0.043,2248,2325,3021
$GC,4496,-0.90,-146.0,370.8,-7.6,329,4500,0.00,2.38,0.00,0.000,4,0.000,0.070,2248,3757,3021
$GC,4542,-0.96,-146.0,374.3,-7.8,331,4546,0.00,2.20,0.00,0.000,6,0.000,0.043,2248,2342,3021
$GC,4874,-0.96,-146.0,397.4,-6.5,347,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2342,3022
$GC,5200,-0.96,-146.0,418.3,-6.4,356,5204,0.00,2.33,0.00,0.000,4,0.000,0.069,2248,3746,3022
$GC,5246,-1.03,-146.0,421.3,-6.8,357,5250,0.12,2.20,0.00,0.000,6,0.110,0.042,2203,2330,3022
$GC,5575,-0.93,-146.0,446.9,-7.9,365,5579,0.12,2.35,0.00,0.000,4,0.156,0.068,2234,3755,3022
$GC,5608,-0.93,-146.0,449.3,-6.7,365,5614,0.00,2.20,0.00,0.000,6,0.000,0.041,2234,2340,3022
$GC,5939,-0.93,-146.0,471.6,-6.7,374,5942,0.00,2.35,0.00,0.000,4,0.000,0.068,2234,3759,3023
$GC,5965,-0.93,-146.0,473.5,-7.1,374,5970,0.00,2.22,0.00,0.000,6,0.000,0.041,2234,2342,3022
$GC,6308,-0.93,-146.0,497.0,-7.0,383,6312,0.00,2.33,0.00,0.000,4,0.000,0.067,2234,3747,3023
$GC,6324,-0.93,-146.0,498.2,-7.1,383,6328,0.00,2.17,0.00,0.000,6,0.000,0.041,2234,2338,3023
$GC,6637,-0.93,-146.0,518.7,-6.5,391,6641,0.00,2.33,0.00,0.000,4,0.000,0.067,2234,3749,3023
$GC,6669,-0.93,-146.0,521.0,-7.1,391,6673,0.00,2.22,0.00,0.000,6,0.000,0.041,2234,2313,3023
$GC,7007,-0.93,-146.0,542.4,-6.5,400,7010,0.00,2.38,0.00,0.000,4,0.000,0.067,2234,3759,3023
$GC,7079,-0.93,-146.0,547.0,-6.5,401,7083,0.00,2.20,0.00,0.000,6,0.000,0.040,2234,2336,3024
$GC,7421,-0.93,-146.0,567.3,-5.9,410,7424,0.00,2.35,0.00,0.000,4,0.000,0.067,2234,3753,3024
$GC,7460,-0.98,-146.0,569.8,-6.0,410,7466,0.00,2.20,0.00,0.000,6,0.000,0.041,2234,2333,3024
$GC,7791,-0.98,-146.0,589.9,-6.1,419,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2333,3024
$GC,8117,-0.98,-146.0,610.8,-6.6,427,8121,0.00,2.35,0.00,0.000,4,0.000,0.068,2234,3750,3024
$GC,8128,-0.98,-146.0,611.6,-6.5,427,8132,0.00,2.20,0.00,0.000,6,0.000,0.041,2234,2331,3024
$GC,8447,-0.98,-146.0,631.3,-6.2,435,8451,0.00,2.35,0.00,0.000,4,0.000,0.067,2234,3754,3025
$GC,8474,-1.03,-146.0,633.2,-6.8,435,8479,0.10,2.20,0.00,0.000,6,0.114,0.041,2199,2327,3024
$GC,8810,-0.95,-146.0,657.8,-7.4,444,8815,0.12,2.38,0.00,0.000,4,0.160,0.069,2231,3750,3024
$GC,8831,-0.95,-146.0,659.5,-7.6,444,8835,0.00,2.20,0.00,0.000,6,0.000,0.041,2232,2329,3024
$GC,9179,-0.95,-146.0,681.9,-6.4,453,9183,0.00,2.35,0.00,0.000,4,0.000,0.069,2232,3749,3025
$GC,9213,-1.00,-146.0,684.0,-6.4,453,9216,0.00,2.20,0.00,0.000,6,0.000,0.041,2232,2331,3024
$GC,9553,-1.00,-146.0,704.2,-5.8,462,9557,0.00,2.35,0.00,0.000,4,0.000,0.069,2232,3749,3025
$STATE,9577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9578,begin apogee
$GC,9585,-0.34,0.0,706.3,6.7,462,9722,0.40,0.00,134.57,1.329,6,0.146,0.000,2358,2515,2420
$STATE,9723,end apogee,CONTROL_FINISHED_OK
$STATE,9723,begin climb
$GC,9725,1.08,146.0,709.0,0.0,466,9878,1.08,2.60,139.52,1.230,4,0.113,0.052,2666,1119,1823
$GC,9908,0.97,146.0,697.2,8.0,470,9913,0.00,2.50,0.00,0.000,6,0.000,0.051,2666,2518,1821
$GC,10221,0.84,146.0,672.1,8.0,478,10226,0.17,2.40,0.00,0.000,4,0.142,0.066,2618,3940,1820
$GC,10310,0.78,146.0,665.3,7.9,480,10314,0.00,2.28,0.00,0.000,6,0.000,0.041,2618,2515,1820
$GC,10634,0.83,181.6,646.4,5.8,488,10667,0.00,0.00,30.83,1.263,6,0.000,0.000,2618,2514,1679
$GC,10961,0.91,202.4,625.7,6.3,496,10985,0.00,2.33,18.70,1.221,4,0.000,0.054,2618,1118,1594
$GC,11025,1.06,218.1,621.2,6.5,497,11048,0.17,2.30,14.98,1.177,6,0.075,0.050,2683,2533,1530
$GC,11371,0.97,218.1,589.2,9.1,506,11376,0.15,2.30,0.00,0.000,4,0.130,0.067,2639,3936,1528
$GC,11415,0.92,218.1,585.1,9.5,507,11419,0.00,2.22,0.00,0.000,6,0.000,0.041,2639,2512,1528
$GC,11739,0.92,218.1,561.5,7.2,515,11743,0.00,2.20,0.00,0.000,4,0.000,0.055,2639,1112,1527
$GC,11805,1.00,218.9,556.8,7.0,516,11809,0.00,2.22,0.00,0.000,6,0.000,0.050,2639,2520,1527
$GC,12153,1.00,218.9,530.9,7.5,525,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2520,1527
$GC,12478,1.00,218.9,505.3,7.9,533,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2520,1527
$GC,12803,1.04,218.9,481.5,7.1,541,12807,0.08,2.25,0.00,0.000,4,0.101,0.055,2678,1107,1526
$GC,12853,1.00,218.9,477.4,8.6,542,12857,0.10,2.25,0.00,0.000,6,0.146,0.050,2652,2530,1526
$GC,13176,1.00,218.9,454.1,7.2,550,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2530,1526
$GC,13501,1.00,218.9,430.7,7.2,558,13505,0.00,2.25,0.00,0.000,4,0.000,0.054,2652,1115,1526
$GC,13557,1.06,226.2,426.8,6.8,559,13571,0.00,2.22,8.12,1.042,6,0.000,0.049,2652,2526,1496
$GC,13914,1.06,226.9,401.3,7.0,568,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2527,1495
$GC,14222,1.09,252.0,381.6,6.2,582,14252,0.00,2.38,22.55,1.141,4,0.000,0.054,2652,1113,1392
$GC,14288,1.22,276.5,377.7,6.2,585,14315,0.17,2.28,21.73,1.105,6,0.075,0.049,2719,2527,1292
$GC,14638,1.10,276.5,342.2,10.8,602,14640,0.17,0.00,0.00,0.000,6,0.127,0.000,2667,2528,1289
$GC,14947,1.15,276.5,315.4,8.9,617,14950,0.00,2.28,0.00,0.000,4,0.000,0.054,2667,1108,1289
$GC,15024,1.25,276.5,308.3,8.7,620,15029,0.15,2.25,0.00,0.000,6,0.079,0.049,2725,2535,1288
$GC,15345,1.13,276.5,271.3,11.8,636,15350,0.15,2.28,0.00,0.000,4,0.134,0.055,2681,1116,1288
$GC,15385,1.19,276.5,267.5,8.8,638,15389,0.00,2.22,0.00,0.000,6,0.000,0.050,2681,2525,1289
$GC,15716,1.19,276.5,240.7,7.4,654,15718,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2525,1288
$GC,16026,1.19,276.5,218.2,7.2,669,16030,0.00,2.28,0.00,0.000,4,0.000,0.055,2681,1107,1289
$GC,16082,1.30,290.3,214.4,6.6,671,16102,0.12,2.25,12.55,1.025,6,0.083,0.050,2731,2529,1236
$GC,16424,1.21,290.3,182.6,9.5,688,16426,0.12,0.00,0.00,0.000,6,0.135,0.000,2695,2529,1234
$GC,16732,1.21,290.3,159.6,7.2,703,16736,0.00,2.28,0.00,0.000,4,0.000,0.056,2694,1110,1234
$GC,16771,1.28,290.3,156.7,7.5,704,16777,0.00,2.25,0.00,0.000,6,0.000,0.051,2695,2531,1234
$GC,17086,1.33,290.3,131.6,8.3,720,17088,0.12,0.00,0.00,0.000,6,0.078,0.000,2748,2531,1233
$GC,17396,1.24,290.3,99.9,10.2,735,17403,0.15,2.28,0.00,0.000,4,0.135,0.057,2703,1118,1234
$GC,17438,1.30,290.3,96.3,8.5,742,17444,0.00,2.22,0.00,0.000,6,0.000,0.052,2703,2517,1233
$GC,17781,1.39,315.1,72.9,6.2,803,17811,0.12,2.33,21.38,1.029,4,0.081,0.058,2759,1120,1134
$GC,17858,1.33,315.1,66.7,8.4,816,17865,0.15,2.28,0.00,0.000,6,0.138,0.052,2718,2528,1133
$GC,18202,1.41,315.1,42.3,7.8,877,18208,0.10,0.00,0.00,0.000,6,0.087,0.000,2761,2528,1131
$GC,18546,1.37,315.1,10.9,9.3,938,18553,0.12,2.28,0.00,0.000,4,0.140,0.056,2725,1116,1130
$GC,18622,1.52,345.8,6.3,6.0,951,18657,0.15,2.25,26.35,0.999,6,0.080,0.053,2784,2526,1010
$STATE,18667,end climb,SURFACE_DEPTH_REACHED
$STATE,18667,begin surface coast
$FINISH,0.9,1.024929
$STATE,18691,end surface coast,CONTROL_FINISHED_OK
$STATE,18691,begin surface
$SM_CCo,18768,0.00,0.000,0,0,1003,347.34
$SM_GC,1.67,7.50,0.00,0.00,0.077,0.000,0.000,165,2330,1003,-10.38,-0.28,347.34
$RAFOS_CLK,1068
$RAFOS,4,1225025051,12.750000,12.736389,59,54,54,53,52,51,201,162,210,188,134,179
$RAFOS,3,1225024478,12.583333,12.577222,62,60,57,53,52,49,199,217,178,158,147,229
$RAFOS,2,1225023866,12.416667,12.407222,67,60,58,57,52,51,210,201,182,124,171,152
$RAFOS,1,1225023252,12.250000,12.236667,67,66,65,64,58,58,610,197,216,155,236,117
$RAFOS,0,1225022678,12.083333,12.077222,83,63,58,57,52,51,365,213,140,123,161,193
$RAFOS_FIX,6643.702148,-5957.321289,261008,040433,3,98,0.00
$IRIDIUM_FIX,6614.97,-5959.11,200198,101003
$TT8_MAMPS,0.027612
$HUMID,1900
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.20
$XPDR_PINGS,2
$24V_AH,21.0,45.379
$10V_AH,10.5,19.123
$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,22.325,164.175,451.275,0.000,0.000,54.774,52.374,151.023,0.500,0.000,0.000,32.820,1794.851,14391.035,607.497,1922.783,508.594,33.372,1682.240,0.000,1871.169,1800.000,0.528,0.000
$DEVICE_MAMPS,272.285,84.370,1329.211,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.471,658.672,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34763,963
$CAP_FILE_SIZE,147454,0
$CFSIZE,260165632,233893888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.3
$GPS,261008,151938,6644.666,-5948.158,62,1.0,62,-38.0