version: 66.04
glider: 113
mission: 4
dive: 283
start: 11 8 108 9 18 28
data:
$ID,113
$MISSION,4
$DIVE,283
$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,-27203.52
$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,39
$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
$GPS1,090656,6703.018,-5706.866,41,1.6,41,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-56.9
$GPS2,091733,6702.995,-5706.920,11,1.6,11,-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,-0.177,-0.137
$KALMAN_X,-24687.3,1258.9,131.8,36081.2,-3345.9
$KALMAN_Y,-52708.0,60.4,412.6,67262.9,269.6
$MHEAD_RNG_PITCHd_Wd,269.8,21638,-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,16,-1.08,-146.0,0.0,0.0,0,161,0.00,0.00,-142.65,0.000,2,0.000,0.000,160,2324,3007
$GC,165,-1.08,-146.0,3.6,-3.5,25,178,8.75,2.38,0.00,0.000,4,0.260,0.059,2191,3757,3011
$GC,398,-0.68,-146.0,49.1,-17.1,66,405,0.35,2.20,0.00,0.000,6,0.158,0.041,2293,2340,3014
$GC,742,-0.68,-146.0,76.2,-7.1,127,749,0.00,2.20,0.00,0.000,4,0.000,0.053,2293,933,3014
$GC,879,-0.68,-146.0,85.9,-6.8,151,885,0.00,2.22,0.00,0.000,6,0.000,0.049,2293,2342,3014
$GC,1214,-0.75,-146.0,106.4,-6.2,197,1217,0.00,2.28,0.00,0.000,4,0.000,0.064,2293,3752,3014
$GC,1367,-0.85,-146.0,116.6,-7.0,203,1374,0.15,2.20,0.00,0.000,6,0.089,0.038,2238,2320,3014
$GC,1683,-0.78,-146.0,143.4,-8.0,219,1687,0.12,2.17,0.00,0.000,4,0.164,0.050,2271,930,3014
$GC,1732,-0.78,-146.0,147.3,-7.7,221,1736,0.00,2.22,0.00,0.000,6,0.000,0.048,2271,2343,3014
$GC,2060,-0.82,-146.0,168.7,-6.4,237,2064,0.00,2.28,0.00,0.000,4,0.000,0.065,2271,3746,3014
$GC,2144,-0.90,-146.0,173.9,-5.4,240,2151,0.12,2.17,0.00,0.000,6,0.090,0.038,2226,2331,3014
$GC,2460,-0.82,-146.0,196.5,-7.4,256,2462,0.12,0.00,0.00,0.000,6,0.163,0.000,2258,2330,3014
$GC,2769,-0.82,-146.0,215.9,-5.8,271,2773,0.00,2.33,0.00,0.000,4,0.000,0.064,2258,3749,3013
$GC,2864,-0.88,-146.0,221.8,-6.2,275,2868,0.00,2.17,0.00,0.000,6,0.000,0.039,2258,2337,3013
$GC,3191,-0.88,-146.0,241.2,-6.0,291,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2337,3013
$GC,3500,-0.93,-146.0,260.5,-6.5,306,3505,0.10,2.33,0.00,0.000,4,0.100,0.063,2220,3749,3013
$GC,3567,-0.93,-146.0,265.9,-8.8,309,3571,0.00,2.17,0.00,0.000,6,0.000,0.038,2220,2338,3013
$GC,3894,-0.86,-146.0,291.7,-7.8,325,3898,0.12,2.20,0.00,0.000,4,0.163,0.049,2254,935,3013
$GC,3920,-0.86,-146.0,293.8,-7.8,326,3925,0.00,2.25,0.00,0.000,6,0.000,0.047,2254,2341,3013
$GC,4248,-0.91,-146.0,315.5,-6.6,342,4252,0.00,2.28,0.00,0.000,4,0.000,0.063,2254,3753,3014
$GC,4304,-1.00,-146.0,319.3,-6.6,344,4309,0.12,2.17,0.00,0.000,6,0.093,0.038,2209,2336,3014
$GC,4625,-0.91,-146.0,343.5,-7.2,360,4630,0.12,2.33,0.00,0.000,4,0.154,0.064,2243,3745,3014
$GC,4665,-0.96,-146.0,346.2,-6.8,362,4669,0.00,2.17,0.00,0.000,6,0.000,0.038,2243,2330,3014
$GC,4997,-0.96,-146.0,368.0,-6.5,378,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2329,3014
$GC,5306,-0.96,-146.0,387.3,-6.1,393,5310,0.00,2.33,0.00,0.000,4,0.000,0.064,2243,3750,3014
$GC,5374,-1.02,-146.0,391.5,-6.4,396,5379,0.12,2.17,0.00,0.000,6,0.096,0.038,2199,2336,3014
$GC,5704,-0.90,-146.0,416.0,-7.3,407,5706,0.15,0.00,0.00,0.000,6,0.156,0.000,2241,2334,3013
$GC,6029,-0.90,-146.0,434.9,-5.8,415,6033,0.00,2.33,0.00,0.000,4,0.000,0.064,2241,3753,3014
$GC,6096,-0.95,-146.0,438.9,-5.9,416,6100,0.00,2.17,0.00,0.000,6,0.000,0.038,2241,2336,3014
$GC,6444,-0.95,-146.0,459.0,-5.9,425,6448,0.00,2.33,0.00,0.000,4,0.000,0.063,2241,3749,3014
$GC,6489,-1.01,-146.0,461.7,-6.3,426,6494,0.10,2.17,0.00,0.000,6,0.100,0.038,2205,2333,3014
$GC,6820,-0.92,-146.0,483.9,-6.7,434,6822,0.12,0.00,0.00,0.000,6,0.154,0.000,2239,2331,3014
$GC,7144,-0.92,-146.0,502.0,-5.6,442,7148,0.00,2.33,0.00,0.000,4,0.000,0.064,2239,3746,3014
$GC,7200,-0.97,-146.0,505.3,-6.1,443,7204,0.00,2.17,0.00,0.000,6,0.000,0.038,2240,2334,3014
$GC,7519,-0.97,-146.0,523.3,-5.6,451,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2333,3015
$GC,7844,-0.97,-146.0,542.7,-5.9,459,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2333,3014
$GC,8169,-0.97,-146.0,563.1,-6.4,467,8173,0.00,2.33,0.00,0.000,4,0.000,0.064,2240,3743,3015
$GC,8208,-1.03,-146.0,565.6,-6.2,467,8215,0.12,2.17,0.00,0.000,6,0.095,0.039,2196,2334,3014
$GC,8540,-0.93,-146.0,590.1,-7.4,476,8541,0.15,0.00,0.00,0.000,6,0.153,0.000,2238,2331,3014
$GC,8865,-0.93,-146.0,610.3,-6.2,484,8868,0.00,2.35,0.00,0.000,4,0.000,0.065,2237,3752,3014
$GC,8938,-1.00,-146.0,614.9,-6.5,485,8942,0.00,2.20,0.00,0.000,6,0.000,0.039,2237,2327,3014
$GC,9280,-1.00,-146.0,634.4,-5.6,494,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2327,3015
$GC,9605,-1.00,-146.0,652.8,-5.6,502,9609,0.00,2.35,0.00,0.000,4,0.000,0.064,2237,3750,3014
$GC,9651,-1.07,-146.0,655.5,-5.9,503,9655,0.12,2.17,0.00,0.000,6,0.097,0.038,2193,2340,3014
$GC,9980,-0.96,-146.0,678.9,-7.1,511,9982,0.12,0.00,0.00,0.000,6,0.153,0.000,2227,2338,3014
$GC,10306,-0.96,-146.0,698.7,-6.0,519,10310,0.00,2.33,0.00,0.000,4,0.000,0.064,2227,3749,3014
$GC,10358,-0.96,-146.0,701.9,-6.4,520,10362,0.00,2.17,0.00,0.000,6,0.000,0.039,2227,2343,3014
$STATE,10561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10561,begin apogee
$GC,10567,-0.34,0.0,714.2,6.1,525,10702,0.45,0.00,131.75,1.318,6,0.142,0.000,2365,2531,2420
$STATE,10702,end apogee,CONTROL_FINISHED_OK
$STATE,10702,begin climb
$GC,10705,1.08,146.0,716.0,0.0,528,10860,1.02,2.70,139.82,1.213,4,0.107,0.066,2666,3930,1824
$GC,10866,0.99,146.0,705.2,7.7,531,10872,0.00,2.50,0.00,0.000,6,0.000,0.038,2666,2522,1824
$GC,11197,0.86,146.0,676.5,8.9,540,11202,0.17,2.38,0.00,0.000,4,0.145,0.064,2616,3929,1822
$GC,11224,0.79,146.0,674.2,7.6,540,11229,0.00,2.25,0.00,0.000,6,0.000,0.039,2616,2506,1822
$GC,11562,0.81,163.3,653.0,6.4,549,11582,0.00,2.40,15.40,1.196,4,0.000,0.064,2616,3941,1754
$GC,11593,0.83,179.1,650.6,6.5,549,11614,0.00,2.22,15.00,1.168,6,0.000,0.039,2616,2518,1689
$GC,11929,0.91,192.7,628.9,6.6,558,11948,0.00,2.30,12.65,1.160,4,0.000,0.051,2616,1114,1634
$GC,11960,1.10,244.9,626.8,5.2,558,12013,0.20,2.25,45.20,1.230,6,0.069,0.047,2692,2524,1421
$GC,12343,0.98,244.9,588.7,10.3,568,12347,0.15,2.28,0.00,0.000,4,0.126,0.051,2648,1109,1419
$GC,12363,0.98,244.9,586.2,8.6,568,12368,0.00,2.25,0.00,0.000,6,0.000,0.047,2649,2529,1419
$GC,12707,0.98,244.9,559.4,7.9,577,12711,0.00,2.25,0.00,0.000,4,0.000,0.051,2648,1111,1418
$GC,12746,1.06,244.9,556.2,8.1,577,12752,0.00,2.22,0.00,0.000,6,0.000,0.046,2648,2526,1419
$GC,13077,1.06,244.9,530.5,7.8,586,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2526,1418
$GC,13402,1.06,244.9,504.3,8.1,594,13405,0.00,2.22,0.00,0.000,4,0.000,0.051,2648,1119,1418
$GC,13448,1.13,244.9,500.7,8.1,595,13452,0.12,2.22,0.00,0.000,6,0.083,0.047,2701,2535,1418
$GC,13777,1.00,244.9,464.8,11.0,603,13782,0.17,2.25,0.00,0.000,4,0.128,0.052,2649,1116,1418
$GC,13793,0.95,244.9,463.3,10.7,603,13797,0.00,2.20,0.00,0.000,6,0.000,0.046,2649,2519,1418
$GC,14106,1.00,244.9,438.1,7.8,611,14110,0.00,2.22,0.00,0.000,4,0.000,0.051,2649,1116,1417
$GC,14128,1.08,244.9,436.3,7.3,611,14133,0.08,2.22,0.00,0.000,6,0.102,0.047,2684,2534,1418
$GC,14476,1.02,244.9,403.6,9.4,620,14481,0.12,2.25,0.00,0.000,4,0.127,0.051,2649,1119,1417
$GC,14499,1.02,244.9,401.7,8.4,620,14503,0.00,2.20,0.00,0.000,6,0.000,0.046,2648,2520,1417
$GC,14832,1.07,244.9,376.7,7.4,635,14835,0.00,2.22,0.00,0.000,4,0.000,0.051,2649,1114,1417
$GC,14855,1.17,251.5,375.1,6.8,636,14867,0.15,2.22,6.38,0.934,6,0.078,0.047,2708,2532,1394
$GC,15185,1.05,251.5,340.3,10.7,652,15187,0.17,0.00,0.00,0.000,6,0.130,0.000,2655,2532,1395
$GC,15491,1.05,251.5,315.7,7.4,667,15495,0.00,2.25,0.00,0.000,4,0.000,0.051,2655,1111,1395
$GC,15537,1.13,251.5,312.4,7.2,669,15541,0.10,2.22,0.00,0.000,6,0.090,0.046,2693,2525,1394
$GC,15869,1.06,251.5,282.5,9.4,685,15874,0.12,2.28,0.00,0.000,4,0.135,0.063,2657,3929,1395
$GC,15896,1.06,251.5,279.8,9.4,686,15900,0.00,2.17,0.00,0.000,6,0.000,0.039,2657,2515,1395
$GC,16218,1.11,251.5,255.5,7.6,702,16222,0.00,2.20,0.00,0.000,4,0.000,0.052,2657,1112,1395
$GC,16296,1.19,251.5,249.4,7.4,705,16300,0.12,2.22,0.00,0.000,6,0.081,0.046,2706,2533,1395
$GC,16616,1.10,251.5,216.5,10.5,721,16621,0.12,2.25,0.00,0.000,4,0.134,0.051,2668,1119,1395
$GC,16661,1.17,251.5,212.4,8.9,723,16665,0.00,2.22,0.00,0.000,6,0.000,0.047,2669,2533,1396
$GC,16987,1.17,251.5,184.9,8.2,739,16991,0.00,2.25,0.00,0.000,4,0.000,0.051,2669,1112,1396
$GC,17003,1.23,251.5,183.6,8.2,739,17010,0.12,2.22,0.00,0.000,6,0.081,0.046,2718,2526,1396
$GC,17319,1.13,251.5,151.9,9.9,755,17324,0.15,2.28,0.00,0.000,4,0.129,0.063,2672,3927,1396
$GC,17352,1.13,251.5,148.7,8.8,756,17358,0.00,2.17,0.00,0.000,6,0.000,0.039,2672,2512,1396
$GC,17667,1.18,251.5,125.2,7.2,772,17671,0.00,2.17,0.00,0.000,4,0.000,0.052,2672,1122,1397
$GC,17724,1.27,251.5,121.2,7.2,774,17728,0.15,2.22,0.00,0.000,6,0.077,0.047,2731,2533,1396
$GC,18048,1.17,251.5,88.6,10.5,804,18055,0.15,0.00,0.00,0.000,6,0.130,0.000,2686,2533,1396
$GC,18393,1.22,251.5,60.7,7.5,865,18399,0.00,2.25,0.00,0.000,4,0.000,0.052,2686,1118,1396
$GC,18417,1.29,251.5,58.9,7.7,869,18424,0.12,2.22,0.00,0.000,6,0.083,0.048,2733,2527,1397
$GC,18764,1.26,272.0,29.7,6.3,930,18789,0.10,2.28,18.35,0.945,4,0.137,0.051,2706,1120,1311
$GC,18812,1.26,272.0,25.7,7.6,938,18819,0.00,2.25,0.00,0.000,6,0.000,0.048,2706,2526,1310
$STATE,19125,end climb,SURFACE_DEPTH_REACHED
$STATE,19125,begin surface coast
$FINISH,0.8,1.013621
$STATE,19155,end surface coast,CONTROL_FINISHED_OK
$STATE,19155,begin surface
$SM_CCo,19232,0.00,0.000,0,0,1307,273.02
$SM_GC,1.70,7.03,0.00,0.00,0.064,0.000,0.000,166,2336,1307,-10.37,-0.11,273.02
$RAFOS_CLK,1058
$RAFOS,4,1226148243,12.750000,12.734167,65,59,59,57,57,54,193,152,120,176,204,221
$RAFOS,3,1226147671,12.583333,12.575277,60,60,59,54,51,50,191,206,173,149,114,137
$RAFOS,2,1226147061,12.416667,12.405833,89,59,58,56,56,51,499,206,215,190,129,1182
$RAFOS,1,1226146466,12.250000,12.240556,67,65,64,62,59,57,152,203,179,214,166,190
$RAFOS,0,1226145845,12.083333,12.068055,65,61,59,55,54,53,181,214,127,163,194,112
$RAFOS_FIX,-22612.656250,3250.732910,071108,161652,2,76,3420.54
$IRIDIUM_FIX,6631.12,-5710.59,020298,090947
$TT8_MAMPS,0.027612
$HUMID,1908
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,15.70
$XPDR_PINGS,3
$24V_AH,20.9,53.785
$10V_AH,10.6,23.323
$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,22.250,171.775,384.550,0.000,0.000,47.537,83.394,308.695,0.750,0.000,0.000,12.764,1890.213,14662.402,561.119,2010.425,740.220,33.382,1681.455,0.000,1973.312,1800.000,0.528,0.000
$DEVICE_MAMPS,260.013,71.331,1318.473,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.708,682.734,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37880,999
$CAP_FILE_SIZE,158012,0
$CFSIZE,260165632,229998592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1458.2
$GPS,081108,144038,6702.366,-5713.991,53,1.6,53,-37.6