version: 66.04
glider: 113
mission: 4
dive: 434
start: 12 15 108 18 59 15
data:
$ID,113
$MISSION,4
$DIVE,434
$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,-40664.309
$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
$GPS1,185037,6700.435,-5712.518,28,1.1,28,-37.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-59.8
$GPS2,185820,6700.401,-5712.500,11,1.3,16,-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,-0.021,0.223
$KALMAN_X,-133290.6,-1029.0,-58.5,143138.2,76.8
$KALMAN_Y,-3988.2,3111.4,402.1,10689.9,-4854.3
$MHEAD_RNG_PITCHd_Wd,32.1,18336,-12.9,-7.021
$D_GRID,747
$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,-146.0,0.0,0.0,0,148,0.00,0.00,-128.57,0.000,6,0.000,0.000,166,2327,3016
$GC,152,-1.08,-146.0,3.1,-1.7,23,165,8.73,2.28,0.00,0.000,4,0.261,0.054,2199,926,3020
$GC,302,-0.60,-146.0,31.6,-17.7,49,309,0.38,2.28,0.00,0.000,6,0.171,0.050,2303,2350,3022
$GC,647,-0.60,-146.0,62.5,-8.5,110,653,0.00,2.30,0.00,0.000,4,0.000,0.065,2303,3742,3022
$GC,813,-0.67,-146.0,77.5,-9.3,139,819,0.00,2.20,0.00,0.000,6,0.000,0.038,2303,2332,3023
$GC,1165,-0.74,-146.0,109.4,-8.9,188,1167,0.10,0.00,0.00,0.000,6,0.104,0.000,2261,2331,3023
$GC,1475,-0.69,-146.0,135.6,-8.7,203,1479,0.10,2.38,0.00,0.000,4,0.166,0.065,2286,3746,3024
$GC,1565,-0.79,-146.0,143.1,-7.9,207,1569,0.00,2.20,0.00,0.000,6,0.000,0.039,2286,2341,3023
$GC,1893,-0.88,-146.0,170.0,-8.1,223,1898,0.15,2.25,0.00,0.000,4,0.091,0.052,2231,939,3021
$GC,1978,-0.73,-146.0,178.6,-11.0,227,1983,0.17,2.28,0.00,0.000,6,0.160,0.051,2277,2346,3021
$GC,2305,-0.82,-146.0,202.7,-6.8,243,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2346,3020
$GC,2616,-0.92,-146.0,224.9,-7.7,258,2618,0.15,0.00,0.00,0.000,6,0.094,0.000,2225,2346,3020
$GC,2923,-0.84,-146.0,255.0,-9.7,273,2925,0.12,0.00,0.00,0.000,6,0.159,0.000,2257,2347,3020
$GC,3233,-0.89,-146.0,280.2,-8.0,288,3237,0.00,2.33,0.00,0.000,4,0.000,0.064,2257,3742,3021
$GC,3318,-0.98,-146.0,286.9,-7.6,291,3325,0.12,2.20,0.00,0.000,6,0.091,0.038,2211,2333,3021
$GC,3634,-0.87,-146.0,313.9,-8.2,307,3638,0.15,2.25,0.00,0.000,4,0.154,0.049,2253,931,3021
$GC,3713,-0.87,-146.0,319.6,-6.7,310,3719,0.00,2.28,0.00,0.000,6,0.000,0.048,2253,2348,3022
$GC,4029,-0.92,-146.0,339.2,-6.0,326,4033,0.00,2.30,0.00,0.000,4,0.000,0.064,2253,3745,3022
$GC,4144,-1.01,-146.0,346.5,-6.9,331,4149,0.15,2.20,0.00,0.000,6,0.091,0.037,2201,2328,3022
$GC,4471,-0.89,-146.0,375.6,-9.2,347,4475,0.15,2.22,0.00,0.000,4,0.150,0.049,2243,937,3023
$GC,4556,-0.89,-146.0,383.0,-8.5,351,4560,0.00,2.25,0.00,0.000,6,0.000,0.047,2242,2345,3024
$GC,4888,-0.89,-146.0,411.0,-8.6,364,4892,0.00,2.30,0.00,0.000,4,0.000,0.064,2243,3743,3024
$GC,4960,-0.95,-146.0,417.7,-9.5,365,4964,0.00,2.20,0.00,0.000,6,0.000,0.036,2243,2327,3024
$GC,5304,-0.95,-146.0,447.5,-8.8,374,5308,0.00,2.20,0.00,0.000,4,0.000,0.049,2242,934,3025
$GC,5365,-0.95,-146.0,453.5,-9.0,375,5368,0.00,2.25,0.00,0.000,6,0.000,0.047,2242,2342,3025
$GC,5678,-0.95,-146.0,480.6,-8.6,383,5682,0.00,2.33,0.00,0.000,4,0.000,0.062,2243,3746,3025
$GC,5816,-1.03,-146.0,492.1,-8.7,386,5821,0.12,2.20,0.00,0.000,6,0.093,0.037,2198,2333,3025
$GC,6141,-0.91,-146.0,523.5,-9.6,394,6145,0.15,2.22,0.00,0.000,4,0.154,0.048,2240,940,3025
$GC,6196,-0.91,-146.0,528.5,-8.9,395,6200,0.00,2.25,0.00,0.000,6,0.000,0.047,2240,2343,3025
$GC,6510,-0.91,-146.0,552.7,-7.7,403,6514,0.00,2.33,0.00,0.000,4,0.000,0.064,2241,3746,3025
$GC,6616,-0.99,-146.0,561.0,-7.8,405,6620,0.00,2.20,0.00,0.000,6,0.000,0.038,2241,2327,3025
$GC,6930,-1.04,-146.0,583.6,-7.2,413,6935,0.12,2.20,0.00,0.000,4,0.095,0.049,2193,939,3025
$GC,7021,-0.87,-146.0,592.0,-9.8,415,7026,0.20,2.25,0.00,0.000,6,0.156,0.048,2246,2340,3025
$GC,7346,-0.93,-146.0,615.0,-6.9,423,7350,0.00,2.33,0.00,0.000,4,0.000,0.063,2246,3749,3025
$GC,7499,-1.03,-146.0,625.4,-6.5,426,7504,0.12,2.20,0.00,0.000,6,0.102,0.038,2203,2340,3025
$GC,7813,-0.95,-146.0,650.1,-7.9,434,7817,0.10,2.25,0.00,0.000,4,0.160,0.049,2229,934,3025
$GC,7880,-0.95,-146.0,655.3,-7.6,435,7884,0.00,2.28,0.00,0.000,6,0.000,0.049,2229,2343,3024
$GC,8223,-0.95,-146.0,678.6,-6.8,444,8226,0.00,2.35,0.00,0.000,4,0.000,0.064,2229,3753,3025
$GC,8352,-1.00,-146.0,687.8,-7.5,446,8358,0.00,2.22,0.00,0.000,6,0.000,0.038,2229,2327,3024
$GC,8684,-1.00,-146.0,710.2,-6.7,455,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2327,3024
$GC,9009,-1.00,-146.0,731.9,-6.8,463,9012,0.00,2.22,0.00,0.000,4,0.000,0.051,2229,933,3024
$GC,9064,-1.00,-146.0,736.1,-7.2,464,9068,0.00,2.28,0.00,0.000,6,0.000,0.049,2228,2342,3024
$STATE,9258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9267,-0.34,0.0,749.1,6.6,469,9404,0.45,0.00,134.70,1.338,6,0.138,0.000,2366,2525,2420
$STATE,9405,end apogee,CONTROL_FINISHED_OK
$STATE,9405,begin climb
$GC,9408,1.08,146.0,752.6,0.0,472,9663,1.05,0.00,175.43,1.070,6,0.100,0.000,2667,2525,1824
$GC,9979,0.93,146.0,711.9,8.3,486,9984,0.12,2.35,0.00,0.000,4,0.152,0.065,2634,3936,1824
$GC,10019,0.81,146.0,708.5,7.9,487,10024,0.10,2.22,0.00,0.000,6,0.157,0.040,2609,2513,1824
$GC,10346,0.90,177.8,689.2,5.9,495,10376,0.08,0.00,27.58,1.274,6,0.100,0.000,2648,2512,1696
$GC,10669,0.90,177.8,663.9,8.0,503,10673,0.00,2.35,0.00,0.000,4,0.000,0.065,2648,3939,1697
$GC,10691,0.81,177.8,661.9,8.3,503,10696,0.15,2.20,0.00,0.000,6,0.148,0.040,2607,2517,1696
$GC,11034,0.95,212.3,641.2,5.8,512,11066,0.12,0.00,29.90,1.269,6,0.081,0.000,2662,2516,1554
$GC,11359,0.89,212.3,614.6,8.3,520,11364,0.12,2.35,0.00,0.000,4,0.127,0.066,2626,3940,1555
$GC,11375,0.89,212.3,613.1,8.0,520,11379,0.00,2.20,0.00,0.000,6,0.000,0.040,2626,2516,1554
$GC,11724,0.99,229.1,590.3,6.4,529,11742,0.10,0.00,15.48,1.199,6,0.087,0.000,2668,2516,1486
$GC,12049,0.94,229.1,563.8,8.2,537,12054,0.12,2.22,0.00,0.000,4,0.127,0.051,2632,1110,1487
$GC,12060,0.94,229.1,562.9,8.1,537,12064,0.00,2.25,0.00,0.000,6,0.000,0.048,2632,2531,1487
$GC,12373,1.02,245.0,543.2,6.5,545,12393,0.10,2.30,14.40,1.170,4,0.089,0.051,2679,1117,1421
$GC,12421,1.02,245.0,539.4,7.5,546,12426,0.10,2.25,0.00,0.000,6,0.143,0.048,2653,2529,1422
$GC,12741,1.02,245.1,516.5,7.0,554,12744,0.00,2.25,0.00,0.000,4,0.000,0.051,2653,1119,1422
$GC,12752,1.03,255.1,515.6,6.7,554,12767,0.00,2.22,9.95,1.098,6,0.000,0.047,2653,2522,1380
$GC,13105,1.05,271.3,493.2,6.5,563,13125,0.00,2.28,15.38,1.149,4,0.000,0.051,2653,1121,1313
$GC,13148,1.14,279.6,490.2,6.7,564,13163,0.12,2.22,8.32,1.025,6,0.083,0.048,2705,2519,1280
$GC,13472,1.04,279.6,460.8,9.1,572,13476,0.15,2.25,0.00,0.000,4,0.130,0.051,2661,1114,1280
$GC,13483,0.96,279.6,459.8,9.1,572,13487,0.00,2.22,0.00,0.000,6,0.000,0.047,2661,2520,1280
$GC,13797,0.96,279.6,437.3,7.3,580,13800,0.00,2.25,0.00,0.000,4,0.000,0.051,2661,1112,1280
$GC,13819,1.02,285.4,435.7,6.8,580,13830,0.00,2.22,6.20,0.943,6,0.000,0.047,2661,2520,1256
$GC,14163,1.02,285.4,409.2,8.0,589,14166,0.00,2.25,0.00,0.000,4,0.000,0.051,2661,1112,1258
$GC,14213,1.08,285.4,404.8,8.0,590,14217,0.00,2.25,0.00,0.000,6,0.000,0.046,2661,2531,1258
$GC,14541,1.08,285.4,376.2,8.6,604,14545,0.00,2.28,0.00,0.000,4,0.000,0.050,2661,1109,1258
$GC,14576,1.16,285.4,373.2,8.1,605,14581,0.10,2.25,0.00,0.000,6,0.091,0.047,2703,2522,1257
$GC,14892,1.07,285.4,339.7,10.7,620,14897,0.12,2.28,0.00,0.000,4,0.131,0.051,2667,1115,1257
$GC,14914,1.07,285.4,337.5,8.8,621,14917,0.00,2.25,0.00,0.000,6,0.000,0.047,2666,2527,1257
$GC,15241,1.07,285.4,310.8,7.8,637,15245,0.00,2.28,0.00,0.000,4,0.000,0.051,2666,1110,1257
$GC,15292,1.14,285.4,306.8,7.6,639,15296,0.00,2.25,0.00,0.000,6,0.000,0.046,2667,2522,1257
$GC,15619,1.14,285.4,282.1,7.2,655,15623,0.00,2.25,0.00,0.000,4,0.000,0.051,2667,1123,1258
$GC,15670,1.21,285.4,278.4,7.7,657,15675,0.12,2.25,0.00,0.000,6,0.080,0.047,2718,2531,1257
$GC,15991,1.09,285.4,248.1,9.4,673,15993,0.17,0.00,0.00,0.000,6,0.123,0.000,2665,2532,1257
$GC,16301,1.15,285.4,226.4,7.1,688,16304,0.00,2.28,0.00,0.000,4,0.000,0.051,2665,1114,1258
$GC,16341,1.26,286.6,223.4,7.0,689,16348,0.15,2.25,0.00,0.000,6,0.074,0.046,2721,2526,1258
$GC,16657,1.15,286.6,191.0,10.3,705,16659,0.12,0.00,0.00,0.000,6,0.129,0.000,2684,2527,1258
$GC,16967,1.15,286.6,165.4,8.1,720,16968,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2527,1258
$GC,17276,1.17,301.0,143.5,6.5,735,17297,0.00,2.30,14.65,0.944,4,0.000,0.051,2684,1123,1193
$GC,17304,1.22,301.0,141.6,7.1,736,17308,0.00,2.25,0.00,0.000,6,0.000,0.046,2684,2529,1193
$GC,17632,1.31,324.7,120.9,6.2,752,17659,0.12,2.30,20.80,0.951,4,0.074,0.050,2735,1119,1096
$GC,17671,1.24,324.7,117.5,8.7,754,17676,0.12,2.25,0.00,0.000,6,0.131,0.047,2699,2529,1095
$GC,17997,1.24,324.7,92.8,8.5,780,18003,0.00,2.25,0.00,0.000,4,0.000,0.050,2699,1113,1095
$GC,18061,1.33,324.7,87.0,9.2,791,18068,0.10,2.25,0.00,0.000,6,0.087,0.047,2738,2532,1095
$GC,18406,1.27,324.7,48.5,11.7,852,18413,0.12,2.28,0.00,0.000,4,0.137,0.051,2702,1121,1093
$GC,18465,1.36,324.7,43.1,8.5,862,18472,0.10,2.22,0.00,0.000,6,0.088,0.047,2745,2518,1094
$GC,18811,1.27,324.7,8.4,8.0,923,18818,0.12,2.28,0.00,0.000,4,0.133,0.051,2709,1115,1093
$GC,18836,1.27,324.7,6.1,9.1,927,18842,0.00,2.25,0.00,0.000,6,0.000,0.048,2709,2524,1093
$STATE,18880,end climb,SURFACE_DEPTH_REACHED
$STATE,18880,begin surface coast
$FINISH,0.9,1.026854
$STATE,18905,end surface coast,CONTROL_FINISHED_OK
$STATE,18905,begin surface
$SM_CCo,18985,0.00,0.000,0,0,1092,325.76
$SM_GC,1.91,7.20,0.00,0.00,0.067,0.000,0.000,165,2338,1092,-10.38,-0.06,325.76
$RAFOS_CLK,1043
$RAFOS,0,1229385845,0.083333,0.068056,65,65,61,51,50,49,188,205,218,230,152,120
$RAFOS,4,1229373858,20.750000,20.738333,131,66,61,58,56,51,715,216,191,154,125,1233
$RAFOS,3,1229373242,20.583334,20.567223,70,62,57,57,51,49,214,200,123,171,148,160
$RAFOS,2,1229372652,20.416666,20.403334,102,69,60,60,59,58,555,191,226,157,212,201
$RAFOS,1,1229372045,20.250000,20.234722,65,63,60,55,51,50,819,195,210,229,119,95
$RAFOS,0,1229371457,20.083334,20.071388,69,61,59,59,51,49,136,179,204,214,169,146
$RAFOS_FIX,6625.452148,-5905.453125,151208,202012,3,101,18.21
$IRIDIUM_FIX,6631.12,-5719.52,110398,131341
$TT8_MAMPS,0.031447
$HUMID,1922
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,19.3,79.853
$10V_AH,10.4,35.885
$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,22.900,172.125,472.775,0.000,0.000,27.682,30.922,251.355,0.000,0.000,0.000,17.822,1842.555,14216.876,724.210,2005.276,690.037,33.371,1821.539,0.000,1966.477,2520.000,0.529,0.000
$DEVICE_MAMPS,260.780,75.166,1338.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.484,643.089,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34693,939
$CAP_FILE_SIZE,154092,0
$CFSIZE,260165632,218763264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$SOUNDSPEED,1459.0
$GPS,161208,001758,6701.583,-5709.183,33,8.4,52,-37.6