version: 66.04
glider: 113
mission: 4
dive: 421
start: 12 12 108 5 10 16
data:
$ID,113
$MISSION,4
$DIVE,421
$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,-34745.281
$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,27
$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
$GPS1,045908,6654.421,-5739.217,32,1.2,32,-37.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-49.5
$GPS2,050920,6654.273,-5739.003,16,1.2,33,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_MID
$TGT_LATLONG,6656.000,-5805.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.202,0.097
$KALMAN_X,-146863.5,3781.6,3778.8,128736.7,-10905.4
$KALMAN_Y,6572.3,-1647.0,265.1,-6284.6,434.2
$MHEAD_RNG_PITCHd_Wd,333.1,19133,-12.9,-7.021
$D_GRID,790
$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,-146.0,0.0,0.0,0,223,0.00,0.00,-202.50,0.000,6,0.000,0.000,162,2330,3016
$GC,229,-1.08,-146.0,3.5,-3.0,36,243,8.82,2.40,0.00,0.000,4,0.264,0.067,2192,3749,3019
$GC,398,-0.58,-146.0,36.6,-16.8,65,405,0.43,2.22,0.00,0.000,6,0.169,0.041,2311,2328,3023
$GC,744,-0.58,-146.0,71.5,-8.6,126,750,0.00,2.22,0.00,0.000,4,0.000,0.057,2311,939,3025
$GC,813,-0.58,-146.0,77.9,-9.2,138,819,0.00,2.28,0.00,0.000,6,0.000,0.053,2311,2345,3024
$GC,1169,-0.64,-146.0,104.5,-7.0,193,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2345,3025
$GC,1479,-0.73,-146.0,125.9,-6.9,208,1484,0.12,2.38,0.00,0.000,4,0.091,0.070,2261,3756,3026
$GC,1541,-0.73,-146.0,131.2,-8.4,210,1547,0.00,2.22,0.00,0.000,6,0.000,0.041,2261,2341,3026
$GC,1857,-0.67,-146.0,158.6,-8.2,226,1862,0.12,2.40,0.00,0.000,4,0.166,0.068,2289,3749,3025
$GC,1943,-0.76,-146.0,164.6,-6.8,230,1947,0.00,2.22,0.00,0.000,6,0.000,0.041,2289,2338,3026
$GC,2276,-0.82,-146.0,185.4,-6.2,246,2280,0.12,2.28,0.00,0.000,4,0.107,0.054,2243,927,3025
$GC,2338,-0.69,-146.0,190.8,-8.9,248,2345,0.17,2.33,0.00,0.000,6,0.169,0.054,2287,2354,3025
$GC,2654,-0.77,-146.0,212.7,-7.1,264,2657,0.00,2.35,0.00,0.000,4,0.000,0.070,2287,3750,3025
$GC,2740,-0.91,-146.0,218.6,-6.7,267,2747,0.17,2.22,0.00,0.000,6,0.090,0.040,2227,2336,3025
$GC,3057,-0.80,-146.0,247.4,-9.2,283,3061,0.15,2.28,0.00,0.000,4,0.166,0.054,2266,932,3025
$GC,3157,-0.80,-146.0,256.1,-8.5,287,3161,0.00,2.30,0.00,0.000,6,0.000,0.052,2267,2345,3025
$GC,3479,-0.85,-146.0,282.2,-8.2,303,3483,0.00,2.38,0.00,0.000,4,0.000,0.069,2267,3755,3025
$GC,3608,-0.95,-146.0,293.5,-9.2,308,3615,0.15,2.22,0.00,0.000,6,0.093,0.039,2216,2336,3025
$GC,3924,-0.83,-146.0,322.6,-8.7,324,3929,0.15,2.40,0.00,0.000,4,0.155,0.067,2257,3745,3025
$GC,3975,-0.90,-146.0,326.6,-7.6,326,3979,0.00,2.22,0.00,0.000,6,0.000,0.039,2257,2327,3025
$GC,4296,-0.90,-146.0,349.9,-7.1,342,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2327,3026
$GC,4606,-0.95,-146.0,372.7,-7.4,357,4611,0.12,2.25,0.00,0.000,4,0.097,0.051,2211,926,3027
$GC,4673,-0.80,-146.0,379.2,-10.0,360,4678,0.20,2.30,0.00,0.000,6,0.163,0.051,2260,2354,3027
$GC,5022,-0.85,-146.0,404.1,-6.9,376,5026,0.00,2.33,0.00,0.000,4,0.000,0.066,2260,3745,3028
$GC,5193,-0.94,-146.0,416.3,-7.3,379,5197,0.12,2.20,0.00,0.000,6,0.104,0.039,2217,2340,3028
$GC,5530,-0.86,-146.0,444.5,-8.4,388,5532,0.12,0.00,0.00,0.000,6,0.157,0.000,2251,2338,3029
$GC,5855,-0.86,-146.0,467.7,-7.1,396,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2338,3029
$GC,6179,-0.86,-146.0,489.9,-6.7,404,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2338,3029
$GC,6505,-0.86,-146.0,511.6,-6.7,412,6509,0.00,2.38,0.00,0.000,4,0.000,0.067,2251,3743,3029
$GC,6589,-0.94,-146.0,517.3,-6.7,413,6596,0.00,2.22,0.00,0.000,6,0.000,0.039,2251,2326,3029
$GC,6922,-0.98,-146.0,538.9,-6.5,422,6924,0.12,0.00,0.00,0.000,6,0.103,0.000,2205,2326,3030
$GC,7246,-0.88,-146.0,564.8,-8.1,430,7251,0.15,2.42,0.00,0.000,4,0.153,0.066,2246,3743,3030
$GC,7342,-0.94,-146.0,571.6,-7.1,432,7346,0.00,2.20,0.00,0.000,6,0.000,0.039,2246,2341,3030
$GC,7661,-0.94,-146.0,594.2,-7.1,440,7665,0.00,2.25,0.00,0.000,4,0.000,0.051,2246,935,3030
$GC,7722,-0.94,-146.0,599.1,-8.4,441,7726,0.00,2.28,0.00,0.000,6,0.000,0.050,2246,2341,3030
$GC,8035,-0.94,-146.0,623.5,-8.0,449,8039,0.00,2.35,0.00,0.000,4,0.000,0.066,2246,3745,3030
$GC,8143,-1.02,-146.0,632.5,-8.3,451,8147,0.12,2.20,0.00,0.000,6,0.101,0.038,2203,2338,3030
$GC,8456,-0.92,-146.0,661.7,-9.4,459,8460,0.12,2.25,0.00,0.000,4,0.154,0.050,2237,939,3030
$GC,8540,-0.92,-146.0,668.9,-8.7,460,8546,0.00,2.28,0.00,0.000,6,0.000,0.051,2237,2343,3030
$GC,8871,-0.92,-146.0,694.3,-7.5,469,8875,0.00,2.35,0.00,0.000,4,0.000,0.067,2237,3742,3030
$GC,8983,-0.97,-146.0,702.9,-7.3,471,8987,0.00,2.20,0.00,0.000,6,0.000,0.038,2237,2340,3030
$GC,9332,-0.97,-146.0,727.8,-7.0,480,9336,0.00,2.25,0.00,0.000,4,0.000,0.051,2237,931,3030
$GC,9411,-0.97,-146.0,733.6,-7.1,481,9414,0.00,2.30,0.00,0.000,6,0.000,0.050,2237,2349,3030
$GC,9748,-0.97,-146.0,755.5,-6.5,490,9752,0.00,2.35,0.00,0.000,4,0.000,0.067,2237,3745,3030
$GC,9895,-1.04,-146.0,765.6,-6.8,493,9900,0.12,2.22,0.00,0.000,6,0.099,0.038,2194,2326,3030
$GC,10214,-1.13,-146.0,787.1,-6.1,501,10218,0.00,2.22,0.00,0.000,4,0.000,0.052,2194,937,3031
$STATE,10352,end dive,NO_VERTICAL_VELOCITY
$STATE,10352,begin apogee
$GC,10362,-0.34,0.0,787.1,0.0,504,10499,0.50,0.00,133.65,1.355,6,0.110,0.000,2361,2521,2421
$STATE,10500,end apogee,CONTROL_FINISHED_OK
$STATE,10500,begin climb
$GC,10503,1.08,146.0,787.1,0.0,507,10773,1.08,2.78,179.05,1.084,4,0.104,0.064,2665,3924,1825
$GC,10902,0.83,146.0,758.3,9.8,516,10907,0.20,2.40,0.00,0.000,6,0.141,0.039,2614,2526,1827
$GC,11246,0.86,173.6,737.0,6.1,525,11275,0.00,2.42,24.33,1.281,4,0.000,0.067,2614,3938,1713
$GC,11293,0.88,185.7,733.7,6.6,526,11312,0.00,2.25,12.10,1.177,6,0.000,0.040,2614,2515,1662
$GC,11660,0.99,216.7,711.4,6.0,535,11694,0.12,2.35,27.10,1.285,4,0.080,0.053,2665,1116,1536
$GC,11702,0.92,216.7,707.8,8.1,536,11707,0.12,2.30,0.00,0.000,6,0.142,0.050,2631,2530,1536
$GC,12028,0.98,223.2,685.5,6.8,544,12041,0.00,2.33,6.55,1.047,4,0.000,0.051,2631,1117,1511
$GC,12072,1.13,265.0,682.9,5.6,545,12115,0.17,2.25,37.28,1.282,6,0.074,0.049,2701,2532,1340
$GC,12439,1.00,265.0,647.2,9.9,554,12443,0.17,2.28,0.00,0.000,4,0.130,0.053,2650,1111,1341
$GC,12485,1.11,282.2,643.8,6.4,555,12506,0.10,2.25,15.38,1.207,6,0.087,0.049,2691,2532,1269
$GC,12855,1.02,282.2,611.3,9.0,564,12860,0.12,2.28,0.00,0.000,4,0.128,0.052,2654,1112,1271
$GC,12900,1.13,295.1,607.5,6.6,565,12920,0.10,2.25,12.40,1.169,6,0.087,0.048,2694,2530,1217
$GC,13265,1.04,295.1,573.7,9.4,574,13269,0.12,2.28,0.00,0.000,4,0.129,0.052,2660,1107,1220
$GC,13315,1.12,295.1,569.6,7.1,575,13319,0.00,2.25,0.00,0.000,6,0.000,0.048,2660,2524,1220
$GC,13640,1.12,295.1,546.1,7.3,583,13643,0.00,2.25,0.00,0.000,4,0.000,0.052,2660,1118,1220
$GC,13709,1.20,301.4,541.2,6.8,584,13723,0.12,2.25,6.68,1.015,6,0.083,0.048,2709,2533,1192
$GC,14055,1.09,301.4,508.2,9.7,593,14059,0.15,2.28,0.00,0.000,4,0.129,0.052,2665,1119,1194
$GC,14106,1.20,317.7,504.3,6.5,594,14127,0.12,2.25,15.48,1.157,6,0.084,0.048,2716,2533,1124
$GC,14465,1.09,317.7,468.3,10.1,603,14469,0.17,2.28,0.00,0.000,4,0.127,0.052,2663,1119,1126
$GC,14534,1.19,317.7,463.0,7.2,604,14538,0.12,2.22,0.00,0.000,6,0.082,0.048,2712,2522,1126
$GC,14882,1.09,317.7,427.5,10.5,613,14886,0.15,2.28,0.00,0.000,4,0.131,0.052,2667,1112,1126
$GC,14927,1.18,317.7,423.5,7.8,614,14932,0.10,2.25,0.00,0.000,6,0.085,0.048,2707,2528,1125
$GC,15259,1.11,317.7,388.9,10.8,624,15264,0.12,2.28,0.00,0.000,4,0.133,0.051,2669,1118,1125
$GC,15315,1.21,317.7,383.7,8.3,626,15322,0.12,2.25,0.00,0.000,6,0.074,0.047,2719,2530,1125
$GC,15632,1.11,317.7,347.5,11.6,642,15636,0.15,2.30,0.00,0.000,4,0.121,0.051,2674,1108,1125
$GC,15677,1.19,317.7,343.1,9.4,644,15681,0.00,2.25,0.00,0.000,6,0.000,0.048,2674,2520,1125
$GC,16010,1.19,317.7,313.7,8.8,660,16014,0.00,2.25,0.00,0.000,4,0.000,0.051,2674,1118,1125
$GC,16057,1.28,317.7,309.9,9.0,662,16061,0.15,2.25,0.00,0.000,6,0.076,0.046,2732,2534,1125
$GC,16389,1.15,317.7,270.9,11.6,678,16393,0.17,2.30,0.00,0.000,4,0.124,0.051,2679,1114,1125
$GC,16435,1.25,317.7,266.7,8.3,680,16439,0.10,2.25,0.00,0.000,6,0.088,0.047,2719,2524,1125
$GC,16768,1.17,317.7,231.5,10.6,696,16772,0.12,2.28,0.00,0.000,4,0.125,0.051,2682,1118,1126
$GC,16801,1.26,317.7,228.4,7.7,697,16805,0.10,2.25,0.00,0.000,6,0.082,0.047,2720,2528,1125
$GC,17123,1.19,317.7,198.0,9.1,713,17127,0.10,2.28,0.00,0.000,4,0.130,0.050,2692,1118,1126
$GC,17168,1.27,317.7,194.3,7.1,715,17172,0.00,2.25,0.00,0.000,6,0.000,0.046,2691,2530,1127
$GC,17501,1.31,317.7,169.0,7.4,731,17506,0.10,2.30,0.00,0.000,4,0.083,0.050,2735,1107,1126
$GC,17535,1.26,317.7,166.0,9.0,732,17542,0.12,2.28,0.00,0.000,6,0.137,0.048,2700,2525,1126
$GC,17851,1.28,331.9,143.4,6.5,748,17873,0.00,2.33,13.05,0.970,4,0.000,0.051,2701,1119,1066
$GC,17908,1.37,333.6,139.7,7.0,750,17912,0.12,2.25,0.00,0.000,6,0.081,0.048,2749,2525,1067
$GC,18229,1.27,333.6,112.9,8.5,766,18234,0.15,2.28,0.00,0.000,4,0.133,0.051,2703,1113,1068
$GC,18257,1.35,353.3,110.8,6.4,767,18283,0.10,2.25,19.40,0.985,6,0.089,0.048,2746,2523,979
$GC,18612,1.30,353.3,78.4,8.5,813,18619,0.12,2.28,0.00,0.000,4,0.133,0.053,2709,1115,978
$GC,18643,1.30,353.3,76.1,7.7,818,18649,0.00,2.25,0.00,0.000,6,0.000,0.049,2709,2526,978
$GC,18988,1.41,363.3,50.9,6.7,879,19007,0.12,2.33,9.38,0.913,4,0.077,0.053,2762,1119,938
$GC,19054,1.36,363.3,45.0,9.2,890,19061,0.12,2.25,0.00,0.000,6,0.140,0.050,2727,2525,938
$GC,19400,1.36,363.3,15.2,10.2,951,19406,0.00,2.28,0.00,0.000,4,0.000,0.053,2727,1112,939
$GC,19480,1.44,363.3,7.9,8.5,965,19487,0.00,2.28,0.00,0.000,6,0.000,0.051,2727,2529,938
$STATE,19558,end climb,SURFACE_DEPTH_REACHED
$STATE,19558,begin surface coast
$FINISH,1.0,1.026648
$STATE,19587,end surface coast,CONTROL_FINISHED_OK
$STATE,19587,begin surface
$SM_CCo,19667,0.00,0.000,0,0,936,363.78
$SM_GC,1.65,7.07,0.00,0.00,0.058,0.000,0.000,158,2323,936,-10.40,-0.48,363.78
$RAFOS_CLK,1116
$RAFOS,4,1229071462,8.750000,8.739445,91,56,52,51,51,50,641,199,176,209,131,115
$RAFOS,3,1229070848,8.583333,8.568889,65,60,59,52,52,51,151,187,210,139,120,221
$RAFOS,2,1229070269,8.416667,8.408055,98,57,56,53,53,52,411,186,222,164,126,148
$RAFOS,1,1229069655,8.250000,8.237500,123,59,58,57,55,54,682,198,218,166,140,124
$RAFOS,0,1229069053,8.083333,8.070278,59,58,54,51,51,48,192,211,156,81,284,125
$RAFOS_FIX,6656.395996,-5745.276855,121208,080852,3,104,0.50
$IRIDIUM_FIX,6631.12,-5736.37,070398,222213
$TT8_MAMPS,0.027612
$HUMID,1931
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.40
$XPDR_PINGS,3
$24V_AH,19.9,77.039
$10V_AH,10.4,34.565
$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,24.625,197.250,511.800,0.000,0.000,28.053,35.498,370.819,0.750,0.000,0.000,34.898,1941.622,14417.623,757.810,2331.172,830.885,33.381,2070.115,0.000,2260.738,1800.000,0.528,0.000
$DEVICE_MAMPS,263.848,69.797,1354.522,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.151,673.904,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37884,984
$CAP_FILE_SIZE,173450,0
$CFSIZE,260165632,219750400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,16,0
$SOUNDSPEED,1452.8
$GPS,121208,103937,6654.961,-5741.125,37,1.0,37,-37.6