version: 66.04
glider: 113
mission: 4
dive: 431
start: 12 15 108 1 7 38
data:
$ID,113
$MISSION,4
$DIVE,431
$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,558.3028
$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,-40437.164
$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,26
$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
$GPS1,003037,6656.258,-5726.257,25,1.9,26,-37.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-47.1
$GPS2,003037,6656.258,-5726.257,25,1.9,26,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.148,0.168
$KALMAN_X,-128556.0,-438.8,-2419.7,130152.4,8717.8
$KALMAN_Y,4901.2,496.6,-499.6,4992.9,-1460.7
$MHEAD_RNG_PITCHd_Wd,79.0,30318,-12.9,-7.021
$D_GRID,767
$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,-146.0,0.0,0.0,0,224,0.00,0.00,-200.45,0.000,6,0.000,0.000,154,2347,3017
$GC,230,-1.08,-146.0,3.0,-2.1,36,244,8.75,2.38,0.00,0.000,4,0.256,0.058,2196,918,3020
$GC,381,-0.40,-146.0,28.7,-17.3,62,388,0.57,2.30,0.00,0.000,6,0.183,0.053,2347,2338,3022
$GC,727,-0.50,-146.0,64.8,-9.6,123,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2338,3024
$GC,1072,-0.69,-146.0,90.9,-5.2,184,1078,0.20,2.38,0.00,0.000,4,0.085,0.067,2262,3752,3024
$GC,1131,-0.63,-146.0,95.2,-7.5,194,1138,0.15,2.25,0.00,0.000,6,0.152,0.039,2301,2316,3024
$GC,1457,-0.69,-146.0,112.2,-5.1,219,1461,0.00,2.42,0.00,0.000,4,0.000,0.067,2301,3750,3025
$GC,1531,-0.81,-146.0,116.2,-4.8,222,1535,0.15,2.22,0.00,0.000,6,0.086,0.040,2247,2337,3025
$GC,1858,-0.71,-146.0,147.9,-11.0,238,1862,0.12,2.28,0.00,0.000,4,0.170,0.054,2279,932,3025
$GC,1926,-0.71,-146.0,155.1,-10.2,241,1930,0.00,2.30,0.00,0.000,6,0.000,0.052,2279,2345,3025
$GC,2258,-0.71,-146.0,184.7,-8.7,257,2263,0.00,2.35,0.00,0.000,4,0.000,0.068,2277,3750,3024
$GC,2332,-0.79,-146.0,190.9,-8.9,260,2336,0.00,2.22,0.00,0.000,6,0.000,0.040,2277,2340,3024
$GC,2660,-0.85,-146.0,216.2,-7.0,276,2662,0.10,0.00,0.00,0.000,6,0.109,0.000,2240,2340,3023
$GC,2968,-0.85,-146.0,235.8,-5.3,291,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2340,3022
$GC,3278,-0.85,-146.0,255.2,-6.5,306,3281,0.00,2.25,0.00,0.000,4,0.000,0.054,2240,936,3022
$GC,3335,-0.77,-146.0,259.7,-8.0,308,3339,0.12,2.30,0.00,0.000,6,0.171,0.053,2270,2353,3022
$GC,3656,-0.85,-146.0,283.9,-8.2,324,3660,0.00,2.33,0.00,0.000,4,0.000,0.067,2270,3745,3023
$GC,3752,-0.96,-146.0,292.4,-9.2,328,3756,0.15,2.22,0.00,0.000,6,0.084,0.039,2217,2328,3023
$GC,4078,-0.87,-146.0,327.5,-10.2,344,4083,0.12,2.40,0.00,0.000,4,0.155,0.064,2248,3746,3024
$GC,4124,-0.91,-146.0,331.6,-8.4,346,4128,0.00,2.20,0.00,0.000,6,0.000,0.038,2248,2333,3024
$GC,4458,-0.91,-146.0,352.8,-5.5,362,4462,0.00,2.40,0.00,0.000,4,0.000,0.065,2248,3756,3025
$GC,4536,-0.96,-146.0,357.1,-4.9,365,4540,0.00,2.22,0.00,0.000,6,0.000,0.039,2248,2340,3025
$GC,4859,-0.96,-146.0,375.0,-6.2,381,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2340,3025
$GC,5167,-0.96,-146.0,394.5,-6.5,396,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2340,3026
$GC,5474,-0.96,-146.0,414.8,-6.7,406,5477,0.00,2.40,0.00,0.000,4,0.000,0.066,2248,3756,3026
$GC,5502,-1.02,-146.0,416.8,-6.7,406,5507,0.12,2.22,0.00,0.000,6,0.104,0.038,2204,2337,3026
$GC,5845,-0.91,-146.0,443.1,-7.8,415,5850,0.15,2.40,0.00,0.000,4,0.148,0.064,2245,3745,3026
$GC,5890,-0.97,-146.0,446.4,-6.8,416,5894,0.00,2.20,0.00,0.000,6,0.000,0.038,2245,2341,3026
$GC,6215,-0.97,-146.0,469.1,-7.2,424,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2341,3027
$GC,6540,-0.97,-146.0,494.3,-7.8,432,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2341,3027
$GC,6865,-0.97,-146.0,518.1,-7.2,440,6868,0.00,2.38,0.00,0.000,4,0.000,0.065,2245,3745,3027
$GC,6915,-1.05,-146.0,521.8,-7.3,441,6920,0.15,2.22,0.00,0.000,6,0.088,0.038,2192,2327,3027
$GC,7241,-0.90,-146.0,551.1,-8.9,449,7246,0.17,2.42,0.00,0.000,4,0.148,0.064,2241,3752,3027
$GC,7281,-0.96,-146.0,554.3,-7.8,450,7285,0.00,2.22,0.00,0.000,6,0.000,0.038,2241,2333,3027
$GC,7611,-0.96,-146.0,577.2,-6.9,458,7615,0.00,2.38,0.00,0.000,4,0.000,0.065,2242,3749,3027
$GC,7663,-1.04,-146.0,580.7,-7.0,459,7668,0.12,2.22,0.00,0.000,6,0.093,0.038,2197,2331,3027
$GC,7988,-0.92,-146.0,607.8,-8.3,467,7993,0.15,2.42,0.00,0.000,4,0.155,0.064,2234,3753,3027
$GC,8039,-0.97,-146.0,611.7,-7.9,468,8043,0.00,2.22,0.00,0.000,6,0.000,0.038,2234,2336,3027
$GC,8358,-0.97,-146.0,635.0,-7.4,476,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2336,3027
$GC,8682,-0.97,-146.0,658.3,-7.1,484,8686,0.00,2.40,0.00,0.000,4,0.000,0.065,2234,3752,3027
$GC,8729,-1.03,-146.0,661.7,-7.8,485,8733,0.00,2.22,0.00,0.000,6,0.000,0.038,2234,2333,3027
$GC,9060,-1.03,-146.0,684.9,-6.9,493,9064,0.00,2.38,0.00,0.000,4,0.000,0.065,2234,3745,3027
$GC,9112,-1.08,-146.0,688.5,-6.7,494,9117,0.12,2.22,0.00,0.000,6,0.102,0.038,2190,2327,3027
$GC,9436,-0.95,-146.0,715.8,-8.3,502,9441,0.15,2.42,0.00,0.000,4,0.151,0.064,2231,3749,3027
$GC,9487,-1.00,-146.0,719.5,-7.4,503,9491,0.00,2.22,0.00,0.000,6,0.000,0.038,2231,2331,3027
$GC,9807,-1.00,-146.0,740.8,-6.2,511,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2331,3027
$GC,10132,-1.00,-146.0,761.9,-6.7,519,10136,0.00,2.40,0.00,0.000,4,0.000,0.065,2231,3749,3027
$GC,10189,-1.06,-146.0,766.0,-6.9,520,10194,0.10,2.20,0.00,0.000,6,0.098,0.038,2196,2340,3027
$STATE,10202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10202,begin apogee
$GC,10210,-0.34,0.0,767.3,7.5,520,10347,0.52,0.00,132.73,1.344,6,0.147,0.000,2355,2527,2421
$STATE,10347,end apogee,CONTROL_FINISHED_OK
$STATE,10348,begin climb
$GC,10351,1.08,146.0,771.1,0.0,524,10611,1.10,2.75,175.73,1.081,4,0.103,0.064,2666,3923,1825
$GC,10663,0.82,146.0,751.0,10.3,531,10668,0.22,2.50,0.00,0.000,6,0.140,0.038,2611,2523,1826
$GC,11001,0.84,156.8,729.1,6.7,540,11014,0.00,0.00,10.55,1.157,6,0.000,0.000,2611,2523,1781
$GC,11330,0.91,173.4,707.2,6.5,548,11351,0.08,2.38,15.43,1.230,4,0.102,0.067,2650,3933,1712
$GC,11380,0.75,173.4,702.9,9.6,549,11385,0.20,2.22,0.00,0.000,6,0.140,0.040,2593,2512,1714
$GC,11694,0.95,182.5,682.7,6.7,557,11709,0.17,2.22,9.18,1.144,4,0.077,0.051,2662,1116,1676
$GC,11783,0.95,182.5,675.3,8.2,559,11789,0.00,2.25,0.00,0.000,6,0.000,0.049,2662,2536,1677
$GC,12115,0.86,182.5,646.3,8.8,567,12119,0.15,2.28,0.00,0.000,4,0.140,0.064,2618,3931,1679
$GC,12187,0.86,182.5,640.2,7.3,568,12191,0.00,2.20,0.00,0.000,6,0.000,0.039,2618,2515,1678
$GC,12530,0.93,187.7,616.9,6.8,577,12538,0.00,0.00,6.00,1.007,6,0.000,0.000,2618,2515,1654
$GC,12856,1.01,198.9,595.6,6.6,585,12869,0.12,0.00,11.02,1.160,6,0.086,0.000,2668,2515,1609
$GC,13180,0.94,198.9,569.6,7.9,593,13184,0.12,2.35,0.00,0.000,4,0.135,0.064,2632,3929,1611
$GC,13225,0.88,198.9,566.0,7.2,594,13229,0.00,2.20,0.00,0.000,6,0.000,0.039,2632,2513,1612
$GC,13550,0.92,223.7,545.4,6.2,602,13573,0.00,0.00,22.10,1.214,6,0.000,0.000,2632,2513,1507
$GC,13875,0.99,237.8,524.6,6.5,610,13894,0.00,2.28,12.85,1.144,4,0.000,0.052,2632,1119,1451
$GC,13914,1.15,270.1,522.1,5.9,610,13950,0.17,2.25,28.75,1.189,6,0.074,0.048,2704,2533,1318
$GC,14287,1.02,270.1,484.3,10.3,620,14289,0.17,0.00,0.00,0.000,6,0.127,0.000,2652,2533,1318
$GC,14612,1.07,270.1,458.6,7.8,628,14616,0.00,2.28,0.00,0.000,4,0.000,0.052,2651,1111,1319
$GC,14653,1.16,270.1,455.5,8.0,628,14660,0.12,2.25,0.00,0.000,6,0.082,0.048,2704,2524,1319
$GC,14984,1.05,270.1,423.4,9.4,637,14986,0.15,0.00,0.00,0.000,6,0.130,0.000,2659,2524,1318
$GC,15309,1.12,317.0,404.1,5.4,645,15355,0.00,2.40,39.83,1.151,4,0.000,0.052,2659,1114,1127
$GC,15402,1.29,365.6,399.4,5.4,647,15453,0.20,2.28,43.25,1.107,6,0.068,0.048,2734,2528,929
$GC,15770,1.18,365.6,359.4,11.9,665,15774,0.17,2.28,0.00,0.000,4,0.127,0.052,2681,1110,923
$GC,15832,1.28,365.6,353.6,8.8,667,15839,0.12,2.25,0.00,0.000,6,0.074,0.047,2732,2530,922
$GC,16148,1.18,365.6,316.6,12.1,683,16152,0.15,2.28,0.00,0.000,4,0.129,0.052,2689,1118,921
$GC,16210,1.26,365.6,310.6,8.6,685,16216,0.00,2.22,0.00,0.000,6,0.000,0.047,2689,2520,920
$GC,16526,1.26,365.6,281.9,9.0,701,16530,0.00,2.28,0.00,0.000,4,0.000,0.051,2689,1107,919
$GC,16610,1.34,365.6,274.6,8.8,704,16617,0.12,2.28,0.00,0.000,6,0.081,0.047,2737,2534,919
$GC,16927,1.25,365.6,242.0,9.7,720,16931,0.12,2.30,0.00,0.000,4,0.138,0.051,2703,1111,919
$GC,16977,1.31,365.6,237.9,7.1,722,16981,0.00,2.25,0.00,0.000,6,0.000,0.047,2703,2523,919
$GC,17304,1.38,416.9,216.4,5.3,738,17355,0.12,2.40,42.67,1.030,4,0.077,0.052,2759,1120,719
$GC,17431,1.31,416.9,205.2,9.5,743,17438,0.15,2.25,0.00,0.000,6,0.134,0.047,2717,2532,717
$GC,17746,1.31,416.9,174.5,11.0,759,17750,0.00,2.25,0.00,0.000,4,0.000,0.051,2717,1117,714
$GC,17843,1.40,416.9,164.0,10.8,763,17847,0.10,2.22,0.00,0.000,6,0.091,0.047,2759,2520,713
$GC,18170,1.32,416.9,118.7,12.6,779,18174,0.15,2.28,0.00,0.000,4,0.135,0.051,2715,1113,713
$GC,18276,1.41,416.9,108.9,8.1,783,18283,0.10,2.25,0.00,0.000,6,0.087,0.047,2759,2529,712
$GC,18611,1.41,416.9,71.9,11.4,829,18617,0.00,2.28,0.00,0.000,4,0.000,0.051,2760,1113,713
$GC,18686,1.41,416.9,63.5,11.1,842,18692,0.00,2.25,0.00,0.000,6,0.000,0.048,2760,2524,713
$GC,19031,1.36,416.9,25.8,11.1,903,19038,0.12,2.28,0.00,0.000,4,0.140,0.051,2723,1118,712
$GC,19124,1.48,416.9,17.1,9.1,919,19131,0.12,2.25,0.00,0.000,6,0.078,0.047,2773,2531,712
$STATE,19264,end climb,SURFACE_DEPTH_REACHED
$STATE,19264,begin surface coast
$FINISH,0.8,1.026810
$STATE,19283,end surface coast,CONTROL_FINISHED_OK
$STATE,19283,begin surface
$SM_CCo,19302,126.43,0.893,1,0,144,558.30
$SM_GC,1.53,0.00,0.00,126.43,0.000,0.000,0.893,160,2328,144,-10.47,-0.34,558.30
$RAFOS_CLK,1157
$RAFOS,4,1229316272,4.750000,4.742222,83,66,58,56,52,49,611,212,151,165,175,115
$RAFOS,3,1229315662,4.583333,4.572778,58,57,57,51,50,49,185,173,207,150,216,115
$RAFOS,2,1229315045,4.416667,4.401389,122,61,59,56,55,54,549,210,198,170,124,179
$RAFOS,1,1229314463,4.250000,4.239722,91,56,52,52,52,51,683,214,165,223,188,140
$RAFOS,0,1229313842,4.083333,4.067222,60,58,54,53,53,51,126,219,199,144,168,190
$RAFOS,2,1229300644,0.416667,0.401111,78,59,58,57,56,55,211,186,198,222,152,129
$RAFOS_FIX,6658.632812,-5731.640625,151208,040430,3,99,0.41
$IRIDIUM_FIX,6625.71,-5727.10,110398,000031
$TT8_MAMPS,0.026845
$HUMID,1880
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,15.90
$XPDR_PINGS,1
$24V_AH,19.7,79.227
$10V_AH,10.5,35.626
$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,24.050,166.125,550.075,126.425,0.000,136.982,227.735,459.742,0.250,0.000,0.000,906.065,1860.258,14623.274,904.059,2980.633,1274.513,33.367,2108.345,0.000,2046.514,1800.000,0.528,0.000
$DEVICE_MAMPS,256.178,69.797,1343.784,892.788,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.692,647.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34751,947
$CAP_FILE_SIZE,163013,0
$CFSIZE,260165632,218869760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,16,0
$SOUNDSPEED,1455.3
$GPS,151208,063338,6658.215,-5722.449,31,1.1,31,-37.6