version: 66.04
glider: 113
mission: 4
dive: 282
start: 11 8 108 3 55 11
data:
$ID,113
$MISSION,4
$DIVE,282
$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,-27190.129
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,034126,6703.436,-5701.527,38,1.5,38,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-51.0
$GPS2,035416,6703.325,-5701.426,13,1.5,14,-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,-0.174,-0.142
$KALMAN_X,-24007.3,947.2,470.9,39360.7,-2514.9
$KALMAN_Y,-54792.6,914.1,-421.0,69944.5,773.4
$MHEAD_RNG_PITCHd_Wd,268.3,25598,-12.9,-7.021
$D_GRID,661
$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,17,-1.08,-146.0,0.0,0.0,0,197,0.00,0.00,-175.98,0.000,2,0.000,0.000,156,2333,2995
$GC,200,-1.08,-146.0,3.7,-3.3,31,215,8.65,2.40,-0.57,0.000,4,0.258,0.076,2191,3755,3018
$GC,468,-0.74,-146.0,58.1,-14.1,78,475,0.30,2.20,0.00,0.000,6,0.160,0.038,2278,2321,3021
$GC,812,-0.74,-146.0,87.3,-7.8,139,818,0.00,2.33,0.00,0.000,4,0.000,0.064,2278,3746,3022
$GC,863,-0.74,-146.0,91.4,-8.0,148,870,0.00,2.17,0.00,0.000,6,0.000,0.038,2278,2328,3022
$GC,1203,-0.74,-146.0,117.2,-7.1,179,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2328,3021
$GC,1514,-0.74,-146.0,137.7,-6.8,194,1518,0.00,2.33,0.00,0.000,4,0.000,0.064,2278,3753,3021
$GC,1576,-0.83,-146.0,142.5,-7.8,196,1583,0.10,2.17,0.00,0.000,6,0.104,0.038,2242,2331,3020
$GC,1891,-0.83,-146.0,167.5,-7.2,212,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2331,3020
$GC,2201,-0.83,-146.0,191.5,-7.8,227,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2331,3021
$GC,2511,-0.83,-146.0,214.2,-7.0,242,2515,0.00,2.33,0.00,0.000,4,0.000,0.064,2241,3753,3020
$GC,2595,-0.83,-146.0,220.3,-6.9,246,2599,0.00,2.17,0.00,0.000,6,0.000,0.038,2241,2333,3020
$GC,2928,-0.83,-146.0,241.8,-6.0,262,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2333,3020
$GC,3237,-0.83,-146.0,259.6,-5.9,277,3241,0.00,2.33,0.00,0.000,4,0.000,0.063,2241,3754,3021
$GC,3292,-0.83,-146.0,263.1,-6.3,279,3298,0.00,2.17,0.00,0.000,6,0.000,0.037,2241,2328,3021
$GC,3608,-0.83,-146.0,282.3,-5.8,295,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2328,3021
$GC,3917,-0.83,-146.0,299.3,-5.5,310,3921,0.00,2.33,0.00,0.000,4,0.000,0.063,2241,3753,3022
$GC,3995,-0.83,-146.0,303.8,-5.8,313,3999,0.00,2.15,0.00,0.000,6,0.000,0.036,2241,2340,3021
$GC,4316,-0.83,-146.0,322.1,-5.7,329,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2340,3022
$GC,4625,-0.83,-146.0,340.7,-6.2,344,4629,0.00,2.30,0.00,0.000,4,0.000,0.062,2241,3746,3023
$GC,4663,-0.83,-146.0,343.1,-6.0,345,4670,0.00,2.15,0.00,0.000,6,0.000,0.036,2241,2337,3023
$GC,4979,-0.83,-146.0,361.8,-6.0,361,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2337,3024
$GC,5288,-0.83,-146.0,380.1,-5.7,376,5292,0.00,2.33,0.00,0.000,4,0.000,0.062,2241,3755,3025
$GC,5360,-0.88,-146.0,384.7,-6.3,379,5364,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2340,3024
$GC,5707,-0.88,-146.0,405.8,-6.2,394,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2341,3025
$GC,6031,-0.88,-146.0,425.7,-6.0,402,6036,0.00,2.28,0.00,0.000,4,0.000,0.062,2241,3744,3026
$GC,6088,-0.94,-146.0,429.2,-6.1,403,6092,0.00,2.15,0.00,0.000,6,0.000,0.036,2241,2331,3026
$GC,6407,-0.94,-146.0,447.9,-5.8,411,6411,0.00,2.15,0.00,0.000,4,0.000,0.047,2241,936,3025
$GC,6441,-0.94,-146.0,450.1,-5.9,411,6445,0.00,2.20,0.00,0.000,6,0.000,0.044,2242,2348,3026
$GC,6778,-0.94,-146.0,468.9,-5.5,420,6781,0.00,2.25,0.00,0.000,4,0.000,0.062,2241,3745,3026
$GC,6857,-1.00,-146.0,473.4,-5.3,421,6861,0.10,2.12,0.00,0.000,6,0.100,0.036,2204,2337,3026
$GC,7193,-0.92,-146.0,496.0,-6.9,430,7198,0.12,2.28,0.00,0.000,4,0.150,0.060,2238,3742,3026
$GC,7239,-0.99,-146.0,498.8,-6.7,431,7243,0.00,2.12,0.00,0.000,6,0.000,0.035,2239,2336,3026
$GC,7569,-0.99,-146.0,518.9,-6.2,439,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2336,3027
$GC,7893,-0.99,-146.0,538.9,-5.9,447,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2336,3027
$GC,8219,-0.99,-146.0,558.7,-6.3,455,8223,0.00,2.30,0.00,0.000,4,0.000,0.062,2238,3753,3027
$GC,8315,-1.05,-146.0,564.9,-6.4,457,8319,0.12,2.15,0.00,0.000,6,0.093,0.035,2193,2340,3027
$GC,8638,-0.94,-146.0,588.9,-7.4,465,8643,0.15,2.30,0.00,0.000,4,0.149,0.061,2234,3753,3027
$GC,8677,-0.98,-146.0,591.5,-6.8,465,8683,0.00,2.17,0.00,0.000,6,0.000,0.037,2234,2329,3027
$GC,9009,-0.98,-146.0,611.9,-6.3,474,9013,0.00,2.30,0.00,0.000,4,0.000,0.061,2234,3741,3027
$GC,9070,-1.04,-146.0,615.9,-6.2,475,9075,0.10,2.12,0.00,0.000,6,0.107,0.037,2200,2337,3027
$GC,9383,-0.95,-146.0,637.3,-6.9,483,9388,0.12,2.30,0.00,0.000,4,0.153,0.061,2232,3745,3026
$GC,9429,-1.01,-146.0,640.2,-6.7,484,9433,0.00,2.15,0.00,0.000,6,0.000,0.037,2233,2327,3027
$GC,9759,-1.01,-146.0,660.0,-5.9,492,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2327,3027
$STATE,9797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9797,begin apogee
$GC,9803,-0.34,0.0,662.4,5.9,493,9935,0.43,0.00,128.60,1.253,6,0.137,0.000,2365,2520,2421
$STATE,9936,end apogee,CONTROL_FINISHED_OK
$STATE,9936,begin climb
$GC,9939,1.08,146.0,664.8,0.0,496,10084,1.02,2.58,134.27,1.176,4,0.100,0.046,2670,1126,1825
$GC,10136,0.97,146.0,651.1,8.1,501,10141,0.12,2.40,0.00,0.000,6,0.140,0.044,2640,2524,1825
$GC,10454,0.97,146.0,628.0,7.3,509,10458,0.00,2.30,0.00,0.000,4,0.000,0.062,2640,3937,1826
$GC,10500,0.82,146.0,624.1,9.3,510,10505,0.10,2.20,0.00,0.000,6,0.151,0.038,2612,2516,1825
$GC,10829,0.85,165.4,602.5,6.4,518,10853,0.00,2.40,17.05,1.154,4,0.000,0.063,2612,3927,1746
$GC,10872,0.85,165.4,599.7,7.2,519,10875,0.00,2.20,0.00,0.000,6,0.000,0.037,2612,2513,1746
$GC,11202,0.94,182.2,578.0,6.4,527,11220,0.10,0.00,15.43,1.143,6,0.087,0.000,2653,2512,1677
$GC,11527,0.94,182.2,551.4,8.2,535,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2512,1679
$GC,11851,0.94,182.2,524.8,8.1,543,11855,0.00,2.17,0.00,0.000,4,0.000,0.051,2653,1117,1678
$GC,11872,0.94,182.2,523.1,7.3,543,11877,0.00,2.22,0.00,0.000,6,0.000,0.045,2653,2524,1678
$GC,12221,0.94,182.2,495.1,7.9,552,12222,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2524,1677
$GC,12546,0.94,182.2,469.4,7.8,560,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2524,1677
$GC,12871,0.88,182.2,442.9,8.0,568,12875,0.10,2.22,0.00,0.000,4,0.150,0.050,2626,1111,1675
$GC,12898,0.98,198.0,440.8,6.5,568,12919,0.10,2.22,14.18,1.099,6,0.088,0.045,2665,2535,1612
$GC,13246,0.91,198.0,410.4,9.1,577,13248,0.12,0.00,0.00,0.000,6,0.130,0.000,2628,2535,1613
$GC,13550,0.96,198.0,386.2,7.7,588,13554,0.00,2.22,0.00,0.000,4,0.000,0.049,2628,1119,1612
$GC,13596,1.06,198.0,382.8,7.7,590,13600,0.12,2.20,0.00,0.000,6,0.077,0.044,2679,2530,1612
$GC,13928,0.95,198.0,351.0,9.4,606,13933,0.15,2.25,0.00,0.000,4,0.123,0.060,2634,3938,1612
$GC,13951,0.90,198.0,349.0,9.1,607,13955,0.00,2.17,0.00,0.000,6,0.000,0.037,2633,2510,1612
$GC,14284,0.95,202.6,326.0,6.9,623,14293,0.00,2.17,4.85,0.778,4,0.000,0.049,2633,1120,1594
$GC,14334,1.05,207.8,322.5,6.8,625,14345,0.12,2.20,6.32,0.857,6,0.079,0.044,2687,2533,1573
$GC,14656,0.94,207.8,293.4,8.8,640,14661,0.17,2.22,0.00,0.000,4,0.123,0.059,2634,3925,1575
$GC,14694,0.94,207.8,290.1,7.7,641,14701,0.00,2.15,0.00,0.000,6,0.000,0.037,2634,2515,1575
$GC,15010,1.02,215.3,269.6,6.8,657,15025,0.10,2.22,8.00,0.886,4,0.087,0.049,2679,1115,1542
$GC,15076,1.02,215.3,264.0,8.7,660,15081,0.10,2.20,0.00,0.000,6,0.140,0.044,2652,2530,1543
$GC,15408,1.02,217.4,239.4,7.0,676,15417,0.00,2.28,3.67,0.609,4,0.000,0.048,2652,1112,1534
$GC,15441,1.09,217.4,237.0,7.2,677,15445,0.00,2.20,0.00,0.000,6,0.000,0.044,2652,2523,1534
$GC,15762,1.09,217.4,214.2,7.3,693,15766,0.00,2.25,0.00,0.000,4,0.000,0.061,2652,3936,1536
$GC,15778,1.09,217.4,212.7,7.4,693,15784,0.00,2.17,0.00,0.000,6,0.000,0.036,2652,2505,1536
$GC,16094,1.17,243.0,190.7,6.1,709,16122,0.12,2.20,22.08,0.958,4,0.078,0.049,2707,1110,1428
$GC,16152,1.11,243.0,185.9,9.0,711,16159,0.12,2.25,0.00,0.000,6,0.133,0.044,2671,2535,1429
$GC,16467,1.11,243.0,162.0,7.2,727,16470,0.00,2.25,0.00,0.000,4,0.000,0.049,2671,1109,1430
$GC,16501,1.18,243.0,159.7,7.1,728,16505,0.00,2.20,0.00,0.000,6,0.000,0.044,2670,2518,1431
$GC,16822,1.18,243.0,138.0,7.3,744,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2519,1430
$GC,17132,1.23,243.0,114.9,8.0,759,17136,0.12,2.20,0.00,0.000,4,0.074,0.049,2723,1123,1430
$GC,17165,1.16,243.0,111.6,10.0,760,17169,0.12,2.20,0.00,0.000,6,0.134,0.045,2687,2530,1429
$GC,17495,1.16,243.0,83.4,8.1,802,17502,0.00,2.25,0.00,0.000,4,0.000,0.063,2687,3930,1429
$GC,17525,1.16,243.0,80.9,8.3,807,17531,0.00,2.17,0.00,0.000,6,0.000,0.038,2688,2510,1429
$GC,17869,1.16,243.0,55.8,7.7,868,17875,0.00,2.17,0.00,0.000,4,0.000,0.051,2688,1116,1428
$GC,17933,1.35,297.9,51.8,5.2,879,17986,0.15,2.20,44.75,0.938,6,0.075,0.045,2748,2522,1204
$GC,18326,1.39,331.4,17.3,5.9,948,18362,0.00,2.33,27.40,0.902,4,0.000,0.052,2748,1124,1067
$GC,18369,1.37,386.4,15.0,5.1,955,18422,0.00,2.25,46.90,0.871,6,0.000,0.044,2748,2533,843
$STATE,18510,end climb,SURFACE_DEPTH_REACHED
$STATE,18510,begin surface coast
$FINISH,0.8,1.025730
$STATE,18541,end surface coast,CONTROL_FINISHED_OK
$STATE,18541,begin surface
$SM_CCo,18618,0.00,0.000,0,0,832,389.54
$SM_GC,1.58,7.25,0.00,0.00,0.064,0.000,0.000,162,2326,832,-10.40,-0.40,389.54
$RAFOS_CLK,985
$RAFOS,4,1226133842,8.750000,8.733889,61,60,59,51,50,50,162,199,213,147,121,184
$RAFOS,3,1226133248,8.583333,8.568889,63,59,53,51,50,45,206,172,189,148,129,226
$RAFOS,2,1226132642,8.416667,8.400556,62,58,52,50,50,50,160,192,617,209,231,128
$RAFOS,1,1226132043,8.250000,8.234167,56,55,52,50,50,47,201,210,160,128,183,149
$RAFOS,0,1226131456,8.083333,8.071111,66,57,53,51,50,49,207,188,157,123,132,222
$RAFOS,4,1226119457,4.750000,4.738056,65,62,60,60,56,52,149,195,177,118,218,162
$RAFOS,3,1226118853,4.583333,4.570278,65,60,60,52,50,49,193,184,211,127,227,329
$RAFOS,2,1226118256,4.416667,4.404444,67,56,53,52,51,50,211,189,115,162,221,94
$RAFOS,1,1226117650,4.250000,4.236111,63,58,58,56,55,50,177,152,201,210,126,167
$RAFOS,0,1226117047,4.083333,4.068611,60,59,56,56,54,54,165,204,119,220,145,192
$RAFOS_FIX,-22612.656250,3250.732910,071108,161652,2,76,3420.54
$IRIDIUM_FIX,6636.54,-5702.96,020298,030334
$TT8_MAMPS,0.027612
$HUMID,1876
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.10
$XPDR_PINGS,1
$24V_AH,21.2,53.626
$10V_AH,10.6,23.246
$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,20.550,152.475,473.500,0.000,0.000,85.097,93.951,328.977,0.250,0.000,0.000,15.574,1807.363,14180.998,653.155,1929.151,813.050,33.381,1743.835,0.000,1897.809,3600.000,0.529,0.000
$DEVICE_MAMPS,257.712,75.933,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.314,666.512,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37855,985
$CAP_FILE_SIZE,150104,0
$CFSIZE,260165632,230080512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.9
$GPS,081108,090656,6703.018,-5706.866,41,1.6,41,-37.6