version: 66.04
glider: 113
mission: 4
dive: 253
start: 11 2 108 0 6 36
data:
$ID,113
$MISSION,4
$DIVE,253
$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,-26612.178
$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,28
$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
$GPS1,235538,6650.934,-5740.261,51,1.3,51,-37.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.3
$GPS2,000539,6650.838,-5740.518,12,1.3,12,-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,-0.022,0.223
$KALMAN_X,29497.5,-177.6,440.9,-41358.4,674.5
$KALMAN_Y,-81421.4,1075.4,-620.3,73475.7,-3654.2
$MHEAD_RNG_PITCHd_Wd,32.0,15634,-12.9,-7.021
$D_GRID,715
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,133,0.00,0.00,-114.70,0.000,2,0.000,0.000,164,2333,2861
$GC,136,-1.08,-146.0,3.3,-3.2,20,156,8.90,2.33,-5.30,0.000,4,0.266,0.070,2199,928,3018
$GC,213,-0.47,-146.0,21.3,-20.5,33,220,0.47,2.28,0.00,0.000,6,0.175,0.054,2333,2338,3021
$GC,558,-0.55,-146.0,51.0,-5.8,94,564,0.00,2.30,0.00,0.000,4,0.000,0.068,2333,3743,3022
$GC,752,-0.70,-146.0,62.8,-6.1,128,759,0.17,2.20,0.00,0.000,6,0.090,0.041,2271,2329,3022
$GC,1096,-0.70,-146.0,92.8,-8.4,189,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2329,3022
$GC,1435,-0.70,-146.0,118.5,-7.1,217,1439,0.00,2.35,0.00,0.000,4,0.000,0.068,2271,3756,3022
$GC,1490,-0.70,-146.0,122.6,-7.5,219,1494,0.00,2.20,0.00,0.000,6,0.000,0.042,2271,2341,3022
$GC,1810,-0.70,-146.0,145.9,-7.6,235,1814,0.00,2.22,0.00,0.000,4,0.000,0.056,2271,932,3021
$GC,1893,-0.70,-146.0,153.2,-9.0,238,1900,0.00,2.25,0.00,0.000,6,0.000,0.052,2271,2345,3021
$GC,2209,-0.70,-146.0,177.8,-7.5,254,2213,0.00,2.30,0.00,0.000,4,0.000,0.069,2271,3747,3021
$GC,2281,-0.78,-146.0,183.3,-7.7,257,2285,0.00,2.20,0.00,0.000,6,0.000,0.041,2271,2327,3021
$GC,2608,-0.84,-146.0,204.7,-6.7,273,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2327,3021
$GC,2918,-0.91,-146.0,225.6,-6.8,288,2922,0.12,2.35,0.00,0.000,4,0.093,0.067,2223,3745,3020
$GC,3002,-0.86,-146.0,232.7,-8.7,292,3006,0.10,2.20,0.00,0.000,6,0.169,0.042,2246,2326,3021
$GC,3334,-0.86,-146.0,257.0,-6.9,308,3338,0.00,2.20,0.00,0.000,4,0.000,0.056,2247,935,3020
$GC,3474,-0.86,-146.0,267.3,-7.2,314,3478,0.00,2.25,0.00,0.000,6,0.000,0.051,2246,2350,3020
$GC,3801,-0.86,-146.0,288.6,-6.2,330,3805,0.00,2.30,0.00,0.000,4,0.000,0.067,2246,3754,3020
$GC,3961,-0.92,-146.0,298.8,-6.3,337,3965,0.00,2.20,0.00,0.000,6,0.000,0.041,2246,2332,3021
$GC,4293,-0.92,-146.0,320.2,-6.5,353,4297,0.00,2.20,0.00,0.000,4,0.000,0.054,2246,934,3021
$GC,4371,-0.92,-146.0,325.7,-6.8,356,4376,0.00,2.25,0.00,0.000,6,0.000,0.051,2246,2352,3021
$GC,4692,-0.92,-146.0,345.7,-6.0,372,4696,0.00,2.28,0.00,0.000,4,0.000,0.066,2247,3750,3022
$GC,4839,-0.98,-146.0,354.6,-6.4,378,4843,0.10,2.20,0.00,0.000,6,0.115,0.039,2214,2323,3022
$GC,5159,-0.90,-146.0,377.1,-7.2,394,5163,0.10,2.20,0.00,0.000,4,0.166,0.053,2239,931,3022
$GC,5214,-0.90,-146.0,380.9,-6.9,396,5218,0.00,2.25,0.00,0.000,6,0.000,0.049,2239,2354,3022
$GC,5536,-0.90,-146.0,400.5,-6.1,412,5539,0.00,2.28,0.00,0.000,4,0.000,0.065,2239,3754,3022
$GC,5597,-0.95,-146.0,404.5,-6.3,413,5601,0.00,2.20,0.00,0.000,6,0.000,0.039,2240,2326,3022
$GC,5909,-0.95,-146.0,423.4,-6.1,421,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2326,3023
$GC,6235,-0.95,-146.0,443.2,-6.1,429,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2326,3023
$GC,6559,-0.95,-146.0,462.9,-6.0,437,6563,0.00,2.35,0.00,0.000,4,0.000,0.067,2239,3750,3023
$GC,6626,-1.01,-146.0,467.2,-6.8,438,6631,0.10,2.17,0.00,0.000,6,0.105,0.040,2204,2340,3023
$GC,6975,-0.93,-146.0,491.9,-7.1,447,6977,0.12,0.00,0.00,0.000,6,0.154,0.000,2238,2339,3023
$GC,7299,-0.93,-146.0,511.7,-6.0,455,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2339,3024
$GC,7624,-0.93,-146.0,531.2,-6.0,463,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2338,3024
$GC,7949,-0.93,-146.0,550.3,-5.9,471,7953,0.00,2.33,0.00,0.000,4,0.000,0.067,2238,3742,3024
$GC,8040,-1.00,-146.0,555.8,-6.2,473,8044,0.00,2.15,0.00,0.000,6,0.000,0.040,2239,2339,3024
$GC,8369,-1.00,-146.0,574.7,-5.7,481,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2339,3023
$GC,8694,-1.00,-146.0,594.2,-6.1,489,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2339,3024
$GC,9020,-1.04,-146.0,613.8,-6.1,497,9024,0.12,2.35,0.00,0.000,4,0.100,0.066,2193,3752,3023
$GC,9086,-0.96,-146.0,619.0,-7.9,498,9090,0.12,2.17,0.00,0.000,6,0.153,0.040,2226,2340,3023
$GC,9434,-0.96,-146.0,641.3,-6.3,507,9438,0.00,2.22,0.00,0.000,4,0.000,0.054,2226,929,3023
$GC,9501,-0.96,-146.0,646.0,-6.7,508,9505,0.00,2.25,0.00,0.000,6,0.000,0.049,2226,2348,3023
$GC,9849,-0.96,-146.0,667.9,-6.1,517,9852,0.00,2.30,0.00,0.000,4,0.000,0.067,2226,3754,3023
$GC,9972,-0.96,-146.0,675.9,-6.3,519,9976,0.00,2.20,0.00,0.000,6,0.000,0.039,2226,2330,3023
$GC,10309,-0.96,-146.0,697.6,-6.6,528,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2330,3023
$STATE,10590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10590,begin apogee
$GC,10596,-0.34,0.0,715.4,6.1,535,10734,0.45,0.00,134.70,1.332,6,0.143,0.000,2364,2517,2420
$STATE,10735,end apogee,CONTROL_FINISHED_OK
$STATE,10735,begin climb
$GC,10738,1.08,146.0,718.0,0.0,538,10888,1.08,0.00,141.10,1.227,6,0.107,0.000,2674,2517,1824
$GC,11199,0.91,146.0,681.4,8.7,550,11204,0.15,2.40,0.00,0.000,4,0.138,0.066,2633,3929,1820
$GC,11243,0.79,146.0,677.5,8.3,551,11247,0.10,2.25,0.00,0.000,6,0.155,0.040,2608,2518,1819
$GC,11567,0.89,177.3,658.0,6.0,559,11596,0.00,0.00,27.10,1.257,6,0.000,0.000,2608,2519,1697
$GC,11891,1.00,200.2,637.9,6.2,567,11915,0.15,0.00,20.70,1.234,6,0.077,0.000,2665,2518,1603
$GC,12216,0.92,200.2,610.4,8.4,575,12221,0.12,2.25,0.00,0.000,4,0.139,0.054,2630,1108,1600
$GC,12233,0.92,200.2,609.0,8.2,575,12237,0.00,2.25,0.00,0.000,6,0.000,0.049,2629,2523,1600
$GC,12546,0.97,233.5,590.2,5.9,583,12580,0.00,2.38,28.62,1.249,4,0.000,0.054,2629,1116,1468
$GC,12597,1.14,278.8,587.0,5.5,584,12643,0.17,2.30,40.30,1.219,6,0.074,0.048,2694,2533,1283
$GC,12958,1.06,278.8,552.3,10.0,593,12963,0.12,2.30,0.00,0.000,4,0.131,0.054,2659,1115,1277
$GC,13003,1.14,278.8,548.3,8.1,594,13008,0.10,2.25,0.00,0.000,6,0.091,0.049,2698,2522,1277
$GC,13333,1.04,278.8,515.5,9.9,602,13337,0.15,2.28,0.00,0.000,4,0.133,0.055,2654,1110,1277
$GC,13365,1.12,278.8,512.6,7.7,602,13370,0.10,2.25,0.00,0.000,6,0.094,0.049,2692,2534,1277
$GC,13702,1.06,278.8,480.0,9.7,611,13706,0.10,2.28,0.00,0.000,4,0.140,0.055,2665,1109,1276
$GC,13740,1.13,278.8,476.7,9.0,611,13747,0.00,2.22,0.00,0.000,6,0.000,0.048,2664,2520,1275
$GC,14071,1.13,278.8,449.4,8.3,620,14075,0.00,2.25,0.00,0.000,4,0.000,0.054,2664,1109,1276
$GC,14110,1.19,278.8,446.0,8.6,620,14117,0.12,2.22,0.00,0.000,6,0.086,0.048,2716,2526,1275
$GC,14441,1.05,278.8,409.5,11.3,629,14446,0.17,2.28,0.00,0.000,4,0.130,0.055,2663,1109,1275
$GC,14491,1.13,278.8,405.3,7.8,630,14494,0.00,2.22,0.00,0.000,6,0.000,0.048,2662,2524,1275
$GC,14813,1.13,278.8,380.8,7.2,644,14816,0.00,2.25,0.00,0.000,4,0.000,0.054,2662,1111,1275
$GC,14863,1.21,286.4,377.4,6.8,646,14879,0.12,2.22,6.53,0.952,6,0.085,0.048,2711,2529,1252
$GC,15189,1.10,286.4,346.8,9.6,662,15194,0.15,2.28,0.00,0.000,4,0.130,0.054,2666,1110,1253
$GC,15239,1.18,291.8,342.9,6.8,664,15252,0.10,2.22,6.65,0.937,6,0.093,0.048,2706,2522,1230
$GC,15561,1.09,291.8,312.3,10.0,680,15566,0.12,2.25,0.00,0.000,4,0.135,0.054,2669,1112,1229
$GC,15612,1.16,291.8,307.9,8.0,682,15615,0.00,2.22,0.00,0.000,6,0.000,0.048,2669,2525,1229
$GC,15938,1.21,291.8,279.5,9.0,698,15942,0.12,2.25,0.00,0.000,4,0.075,0.052,2720,1114,1228
$GC,16005,1.13,291.8,272.1,11.8,701,16010,0.15,2.22,0.00,0.000,6,0.130,0.048,2677,2532,1228
$GC,16337,1.13,291.8,240.7,9.1,717,16341,0.00,2.25,0.00,0.000,4,0.000,0.053,2677,1112,1229
$GC,16404,1.19,291.8,234.8,8.8,720,16408,0.00,2.22,0.00,0.000,6,0.000,0.048,2676,2531,1229
$GC,16737,1.19,291.8,206.3,8.1,736,16740,0.00,2.25,0.00,0.000,4,0.000,0.052,2677,1109,1229
$GC,16760,1.25,291.8,204.3,8.6,737,16764,0.12,2.20,0.00,0.000,6,0.081,0.048,2726,2522,1230
$GC,17093,1.15,291.8,168.8,10.8,753,17098,0.15,2.25,0.00,0.000,4,0.132,0.053,2681,1106,1230
$GC,17108,1.15,291.8,167.0,10.4,753,17115,0.00,2.22,0.00,0.000,6,0.000,0.047,2681,2528,1230
$GC,17424,1.22,291.8,141.9,7.6,769,17428,0.00,2.25,0.00,0.000,4,0.000,0.052,2681,1109,1230
$GC,17473,1.31,291.8,138.1,8.0,771,17478,0.15,2.22,0.00,0.000,6,0.076,0.048,2743,2530,1230
$GC,17800,1.20,291.8,105.2,9.8,787,17804,0.17,2.25,0.00,0.000,4,0.130,0.052,2689,1117,1231
$GC,17827,1.25,291.8,103.0,7.2,788,17831,0.00,2.20,0.00,0.000,6,0.000,0.048,2689,2521,1231
$GC,18167,1.36,313.0,80.2,6.3,841,18192,0.15,2.33,19.25,0.961,4,0.071,0.054,2757,1119,1142
$GC,18227,1.26,313.0,74.7,9.6,851,18234,0.17,2.25,0.00,0.000,6,0.136,0.048,2708,2529,1141
$GC,18571,1.32,313.0,46.9,8.3,912,18577,0.00,2.28,0.00,0.000,4,0.000,0.054,2708,1107,1140
$GC,18629,1.44,313.0,42.4,7.4,922,18636,0.15,2.25,0.00,0.000,6,0.074,0.048,2770,2529,1139
$GC,18974,1.28,313.0,5.6,10.8,983,18981,0.20,2.28,0.00,0.000,4,0.123,0.064,2703,3930,1138
$GC,18994,1.17,313.0,3.5,11.1,986,19001,0.00,2.17,0.00,0.000,6,0.000,0.040,2703,2518,1138
$STATE,19005,end climb,SURFACE_DEPTH_REACHED
$STATE,19005,begin surface coast
$FINISH,0.7,1.025954
$STATE,19023,end surface coast,CONTROL_FINISHED_OK
$STATE,19023,begin surface
$SM_CCo,19100,0.00,0.000,0,0,1136,314.97
$SM_GC,1.63,7.03,0.00,0.00,0.067,0.000,0.000,165,2330,1136,-10.37,-0.28,314.97
$RAFOS_CLK,1064
$RAFOS,4,1225601047,4.750000,4.735278,61,61,57,56,56,54,148,198,120,213,225,237
$RAFOS,3,1225600442,4.583333,4.567222,59,54,53,51,50,50,207,125,192,170,156,139
$RAFOS,2,1225599850,4.416667,4.402778,60,59,58,57,54,51,181,512,214,196,224,159
$RAFOS,1,1225599246,4.250000,4.235000,64,51,50,50,49,48,210,167,190,731,181,228
$RAFOS,0,1225598672,4.083333,4.075555,64,59,58,57,54,54,123,156,208,221,176,197
$RAFOS,4,1225586642,0.750000,0.733889,80,60,58,56,54,49,771,212,197,221,119,161
$RAFOS,3,1225586060,0.583333,0.572222,60,57,55,54,51,51,170,152,194,208,122,765
$RAFOS,2,1225585445,0.416667,0.401389,75,61,60,57,55,51,566,221,169,122,152,202
$RAFOS,1,1225584844,0.250000,0.234444,58,56,55,55,54,54,220,745,229,207,150,174
$RAFOS_FIX,6652.694336,-5743.538086,021108,000016,2,78,2.22
$IRIDIUM_FIX,6625.71,-5745.17,270198,000020
$TT8_MAMPS,0.027612
$HUMID,1884
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,20.9,49.387
$10V_AH,10.6,21.109
$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,22.625,167.200,424.950,0.000,0.000,48.665,66.288,289.381,0.000,0.000,0.000,14.398,1914.843,14437.634,613.642,2052.269,685.735,33.375,1723.445,0.000,2022.739,3240.000,0.529,0.000
$DEVICE_MAMPS,266.149,73.632,1331.512,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.378,678.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37855,991
$CAP_FILE_SIZE,155077,0
$CFSIZE,260165632,232075264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.4
$GPS,021108,052628,6653.400,-5740.111,40,1.6,40,-37.6