version: 66.04
glider: 113
mission: 4
dive: 248
start: 10 31 108 20 14 34
data:
$ID,113
$MISSION,4
$DIVE,248
$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,225
$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,-26541.195
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,200807,6648.685,-5753.428,25,1.2,26,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.2
$GPS2,201339,6648.619,-5753.410,12,1.2,12,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD4_EB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.013,0.224
$KALMAN_X,23292.0,-246.9,478.4,-44509.3,298.4
$KALMAN_Y,-64368.8,963.0,-90.0,51936.9,-4501.4
$MHEAD_RNG_PITCHd_Wd,34.2,23396,-12.9,-7.021
$D_GRID,713
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-119.55,0.000,2,0.000,0.000,160,2333,2791
$GC,141,-1.08,-146.0,3.3,-2.6,21,166,9.18,2.40,-8.15,0.000,4,0.277,0.084,2192,3754,3019
$GC,386,-0.73,-146.0,44.6,-13.2,64,393,0.30,2.22,0.00,0.000,6,0.164,0.044,2275,2340,3022
$GC,730,-0.66,-146.0,76.0,-10.0,125,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2340,3023
$GC,1075,-0.66,-146.0,106.9,-8.2,176,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2340,3023
$GC,1385,-0.66,-146.0,131.3,-7.8,191,1388,0.00,2.25,0.00,0.000,4,0.000,0.060,2275,926,3023
$GC,1462,-0.66,-146.0,138.0,-8.1,194,1466,0.00,2.28,0.00,0.000,6,0.000,0.055,2276,2345,3023
$GC,1785,-0.66,-146.0,162.2,-7.2,210,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2345,3022
$GC,2093,-0.72,-146.0,184.0,-7.2,225,2097,0.00,2.33,0.00,0.000,4,0.000,0.073,2275,3751,3022
$GC,2161,-0.81,-146.0,189.1,-7.9,228,2165,0.00,2.22,0.00,0.000,6,0.000,0.044,2276,2325,3021
$GC,2488,-0.88,-146.0,211.8,-6.4,244,2493,0.12,2.22,0.00,0.000,4,0.107,0.059,2231,934,3021
$GC,2629,-0.77,-146.0,223.9,-8.4,250,2633,0.15,2.25,0.00,0.000,6,0.169,0.055,2269,2343,3021
$GC,2950,-0.84,-146.0,244.1,-6.2,266,2954,0.00,2.30,0.00,0.000,4,0.000,0.072,2269,3743,3021
$GC,3095,-0.96,-146.0,253.2,-6.1,272,3100,0.15,2.20,0.00,0.000,6,0.089,0.044,2217,2338,3020
$GC,3411,-0.86,-146.0,276.8,-7.7,287,3413,0.12,0.00,0.00,0.000,6,0.156,0.000,2250,2337,3020
$GC,3719,-0.86,-146.0,299.0,-7.2,302,3723,0.00,2.35,0.00,0.000,4,0.000,0.070,2250,3751,3020
$GC,3788,-0.92,-146.0,304.0,-7.3,305,3792,0.00,2.20,0.00,0.000,6,0.000,0.042,2250,2339,3020
$GC,4120,-0.92,-146.0,325.9,-6.3,321,4124,0.00,2.22,0.00,0.000,4,0.000,0.056,2250,931,3020
$GC,4181,-0.92,-146.0,330.2,-7.0,323,4187,0.00,2.25,0.00,0.000,6,0.000,0.053,2250,2341,3021
$GC,4497,-0.92,-146.0,349.6,-6.2,339,4501,0.00,2.30,0.00,0.000,4,0.000,0.068,2250,3745,3021
$GC,4633,-0.99,-146.0,358.4,-6.9,345,4637,0.12,2.20,0.00,0.000,6,0.106,0.041,2205,2327,3022
$GC,4959,-0.88,-146.0,382.1,-7.1,361,4961,0.15,0.00,0.00,0.000,6,0.150,0.000,2246,2327,3022
$GC,5268,-0.88,-146.0,399.3,-5.6,376,5272,0.00,2.35,0.00,0.000,4,0.000,0.069,2246,3749,3022
$GC,5385,-0.96,-146.0,406.2,-6.2,379,5389,0.00,2.20,0.00,0.000,6,0.000,0.041,2246,2333,3022
$GC,5728,-1.01,-146.0,426.1,-5.9,388,5733,0.12,2.22,0.00,0.000,4,0.110,0.054,2202,929,3023
$GC,5800,-0.86,-146.0,431.7,-7.7,389,5805,0.17,2.28,0.00,0.000,6,0.163,0.052,2248,2356,3023
$GC,6131,-0.91,-146.0,450.8,-5.6,397,6135,0.00,2.28,0.00,0.000,4,0.000,0.067,2248,3745,3023
$GC,6205,-1.01,-146.0,454.9,-5.5,398,6209,0.12,2.17,0.00,0.000,6,0.100,0.041,2204,2339,3023
$GC,6547,-0.92,-146.0,478.0,-6.9,407,6552,0.12,2.22,0.00,0.000,4,0.154,0.053,2238,935,3024
$GC,6647,-0.92,-146.0,484.6,-6.0,409,6651,0.00,2.25,0.00,0.000,6,0.000,0.051,2238,2346,3024
$GC,6960,-0.92,-146.0,501.7,-5.4,417,6964,0.00,2.30,0.00,0.000,4,0.000,0.067,2238,3747,3023
$GC,7089,-0.98,-146.0,508.8,-5.3,419,7095,0.00,2.20,0.00,0.000,6,0.000,0.040,2238,2324,3024
$GC,7420,-0.98,-146.0,525.8,-5.1,428,7424,0.00,2.38,0.00,0.000,4,0.000,0.068,2238,3754,3024
$GC,7481,-1.05,-146.0,529.2,-5.5,429,7486,0.12,2.17,0.00,0.000,6,0.097,0.041,2193,2341,3025
$GC,7829,-0.93,-146.0,551.7,-6.7,438,7834,0.15,2.22,0.00,0.000,4,0.152,0.053,2234,937,3024
$GC,7929,-0.93,-146.0,558.0,-6.2,440,7933,0.00,2.25,0.00,0.000,6,0.000,0.051,2234,2351,3025
$GC,8242,-0.93,-146.0,575.2,-5.6,448,8246,0.00,2.30,0.00,0.000,4,0.000,0.068,2234,3752,3025
$GC,8343,-0.99,-146.0,581.2,-5.9,450,8347,0.00,2.20,0.00,0.000,6,0.000,0.040,2234,2330,3025
$GC,8662,-0.99,-146.0,598.8,-5.6,458,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2330,3025
$GC,8987,-0.99,-146.0,617.3,-5.7,466,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2330,3025
$GC,9312,-0.99,-146.0,636.1,-5.9,474,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2330,3025
$GC,9636,-0.99,-146.0,655.0,-5.8,482,9641,0.00,2.35,0.00,0.000,4,0.000,0.067,2234,3749,3025
$GC,9709,-1.06,-146.0,659.1,-5.8,483,9714,0.12,2.20,0.00,0.000,6,0.100,0.041,2191,2332,3024
$GC,10052,-0.95,-146.0,684.6,-7.6,492,10054,0.15,0.00,0.00,0.000,6,0.150,0.000,2231,2330,3025
$GC,10376,-0.95,-146.0,704.5,-6.3,500,10380,0.00,2.35,0.00,0.000,4,0.000,0.069,2232,3742,3025
$GC,10471,-0.95,-146.0,710.0,-6.4,502,10475,0.00,2.17,0.00,0.000,6,0.000,0.041,2232,2338,3025
$STATE,10549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10549,begin apogee
$GC,10556,-0.34,0.0,713.6,4.1,504,10694,0.40,0.00,135.27,1.324,6,0.114,0.000,2365,2525,2420
$STATE,10694,end apogee,CONTROL_FINISHED_OK
$STATE,10694,begin climb
$GC,10697,1.08,146.0,713.2,0.0,507,10851,1.05,2.65,139.90,1.228,4,0.116,0.053,2665,1117,1824
$GC,10908,1.01,146.0,700.6,7.8,512,10913,0.00,2.45,0.00,0.000,6,0.000,0.049,2665,2517,1821
$GC,11238,0.89,146.0,672.3,9.1,520,11243,0.15,2.38,0.00,0.000,4,0.139,0.066,2624,3936,1820
$GC,11265,0.79,146.0,669.9,8.1,520,11269,0.00,2.25,0.00,0.000,6,0.000,0.041,2623,2519,1820
$GC,11603,0.79,147.3,646.1,7.0,529,11607,0.00,2.35,0.00,0.000,4,0.000,0.067,2623,3943,1820
$GC,11652,0.69,147.3,641.9,8.1,530,11657,0.15,2.22,0.00,0.000,6,0.145,0.041,2581,2512,1819
$GC,11971,0.96,190.0,623.4,5.6,538,12014,0.20,2.35,37.17,1.272,4,0.076,0.053,2657,1119,1645
$GC,12106,0.96,190.0,613.2,8.2,541,12110,0.00,2.30,0.00,0.000,6,0.000,0.051,2657,2533,1643
$GC,12430,1.05,190.0,586.9,8.2,549,12434,0.00,2.25,0.00,0.000,4,0.000,0.052,2657,1115,1642
$GC,12464,1.16,190.0,584.1,7.5,549,12469,0.12,2.25,0.00,0.000,6,0.091,0.050,2705,2527,1642
$GC,12795,0.97,190.0,548.4,11.1,557,12800,0.20,2.28,0.00,0.000,4,0.136,0.066,2640,3926,1641
$GC,12834,0.88,190.0,544.5,10.0,558,12838,0.00,2.17,0.00,0.000,6,0.000,0.041,2640,2518,1642
$GC,13164,0.88,190.0,517.7,8.1,566,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2518,1641
$GC,13488,0.88,190.0,491.7,7.9,574,13492,0.00,2.33,0.00,0.000,4,0.000,0.067,2641,3933,1641
$GC,13521,0.79,190.0,488.7,9.4,574,13526,0.12,2.20,0.00,0.000,6,0.150,0.041,2605,2505,1641
$GC,13858,0.95,212.0,466.7,6.3,583,13880,0.12,0.00,19.40,1.177,6,0.083,0.000,2655,2505,1555
$GC,14182,0.95,212.0,440.2,8.1,591,14183,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2505,1553
$GC,14507,0.95,212.0,414.1,8.0,599,14508,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2505,1552
$GC,14813,0.95,212.0,390.0,7.7,609,14817,0.00,2.20,0.00,0.000,4,0.000,0.054,2656,1112,1552
$GC,14829,0.95,212.0,388.7,7.9,609,14836,0.00,2.22,0.00,0.000,6,0.000,0.049,2656,2522,1552
$GC,15144,0.95,212.0,363.8,7.9,625,15148,0.00,2.25,0.00,0.000,4,0.000,0.054,2656,1110,1552
$GC,15154,0.95,212.0,362.8,8.0,625,15159,0.00,2.22,0.00,0.000,6,0.000,0.048,2656,2522,1552
$GC,15476,0.95,212.0,337.0,8.2,641,15477,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2521,1552
$GC,15786,0.95,212.0,311.7,8.0,656,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2522,1552
$GC,16094,0.95,213.0,289.1,7.0,671,16096,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2522,1552
$GC,16404,0.96,223.4,267.6,6.7,686,16420,0.00,2.25,10.70,1.008,4,0.000,0.054,2656,1122,1509
$GC,16430,0.96,223.4,265.8,7.2,686,16434,0.00,2.22,0.00,0.000,6,0.000,0.049,2656,2526,1509
$GC,16752,0.99,242.8,245.6,6.4,702,16774,0.00,2.35,17.15,1.034,4,0.000,0.053,2656,1110,1430
$GC,16791,1.08,249.8,242.9,6.8,703,16806,0.00,2.28,7.57,0.894,6,0.000,0.048,2656,2533,1401
$GC,17128,1.14,249.8,217.8,7.7,720,17133,0.10,2.25,0.00,0.000,4,0.085,0.052,2702,1121,1400
$GC,17151,1.14,249.8,215.8,7.6,721,17155,0.00,2.22,0.00,0.000,6,0.000,0.048,2701,2523,1400
$GC,17483,1.08,249.8,184.9,9.2,737,17485,0.12,0.00,0.00,0.000,6,0.133,0.000,2666,2523,1401
$GC,17793,1.15,256.8,162.8,6.8,752,17802,0.00,0.00,7.60,0.903,6,0.000,0.000,2666,2523,1373
$GC,18102,1.29,296.7,144.7,5.7,767,18145,0.17,2.35,33.70,1.015,4,0.071,0.055,2735,1125,1209
$GC,18162,1.23,296.7,139.5,9.3,769,18169,0.12,2.28,0.00,0.000,6,0.133,0.048,2700,2529,1207
$GC,18477,1.23,296.7,115.5,7.0,785,18478,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2529,1204
$GC,18795,1.29,296.7,93.2,7.6,812,18801,0.00,2.28,0.00,0.000,4,0.000,0.056,2700,1111,1204
$GC,18831,1.37,296.7,90.5,7.5,818,18838,0.12,2.25,0.00,0.000,6,0.081,0.051,2749,2527,1204
$GC,19177,1.27,296.7,58.2,9.6,879,19183,0.15,2.28,0.00,0.000,4,0.135,0.057,2705,1116,1203
$GC,19224,1.35,296.7,54.2,8.1,887,19231,0.10,2.22,0.00,0.000,6,0.090,0.051,2747,2518,1203
$GC,19568,1.35,296.7,21.9,7.7,948,19573,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2518,1202
$STATE,19824,end climb,SURFACE_DEPTH_REACHED
$STATE,19824,begin surface coast
$FINISH,0.9,1.012636
$STATE,19847,end surface coast,CONTROL_FINISHED_OK
$STATE,19848,begin surface
$SM_CCo,19924,0.00,0.000,0,0,1199,299.27
$SM_GC,1.77,7.22,0.00,0.00,0.071,0.000,0.000,157,2341,1199,-10.39,0.03,299.27
$RAFOS_CLK,1119
$RAFOS,4,1225500248,0.750000,0.735556,59,58,58,55,54,51,214,167,722,113,125,732
$RAFOS,3,1225499651,0.583333,0.569722,68,67,55,54,51,50,201,184,135,212,238,775
$RAFOS,2,1225499051,0.416667,0.403056,74,59,59,57,54,51,552,156,146,172,207,118
$RAFOS,1,1225498457,0.250000,0.238056,69,60,59,59,58,57,219,132,633,642,192,157
$RAFOS,0,1225497848,0.083333,0.068889,59,57,55,55,52,51,856,215,144,203,181,191
$RAFOS,4,1225485855,20.750000,20.737499,65,61,59,55,54,52,195,151,212,164,177,706
$RAFOS,3,1225485250,20.583334,20.569445,62,61,60,59,54,52,148,184,197,212,172,128
$RAFOS,2,1225484644,20.416666,20.401112,92,71,56,53,52,51,591,214,193,240,157,115
$RAFOS,1,1225484100,20.250000,20.250000,69,59,59,58,56,55,206,132,216,168,155,114
$RAFOS,0,1225483445,20.083334,20.068056,60,59,56,55,52,52,214,177,142,168,196,224
$RAFOS_FIX,6655.387207,-5826.440918,311008,000028,3,83,1.31
$IRIDIUM_FIX,6620.33,-5800.26,250198,141439
$TT8_MAMPS,0.026845
$HUMID,1884
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,20.9,48.601
$10V_AH,10.6,20.730
$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,22.050,150.400,408.475,0.000,0.000,22.851,30.108,150.039,0.000,0.000,0.000,14.265,1891.426,15212.932,566.939,2110.153,468.994,33.369,1709.600,0.000,2076.930,3240.000,0.528,0.000
$DEVICE_MAMPS,276.887,84.370,1323.842,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.273,685.270,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37806,998
$CAP_FILE_SIZE,151356,0
$CFSIZE,260165632,232443904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.5
$GPS,011108,014801,6648.099,-5750.616,37,0.9,37,-37.5