version: 66.04
glider: 113
mission: 4
dive: 445
start: 12 18 108 3 27 1
data:
$ID,113
$MISSION,4
$DIVE,445
$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,-40918.512
$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,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
$GPS1,031101,6702.131,-5701.430,36,1.5,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.4
$GPS2,032607,6702.185,-5701.559,16,1.6,32,-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,-0.201,-0.099
$KALMAN_X,-123048.9,1086.3,455.2,138197.2,-57.5
$KALMAN_Y,-12087.2,-7.8,-927.1,26556.0,944.7
$MHEAD_RNG_PITCHd_Wd,281.4,47437,-12.9,-7.021
$D_GRID,688
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,149,0.00,0.00,-129.05,0.000,6,0.000,0.000,156,2340,3015
$GC,153,-1.08,-146.0,2.8,-1.6,23,167,8.75,2.35,0.00,0.000,4,0.260,0.059,2192,3753,3019
$GC,387,-0.67,-146.0,41.1,-14.8,64,394,0.35,2.20,0.00,0.000,6,0.166,0.037,2288,2335,3022
$GC,732,-0.62,-146.0,72.8,-8.1,125,738,0.00,2.22,0.00,0.000,4,0.000,0.050,2289,930,3022
$GC,796,-0.55,-146.0,78.5,-9.2,136,803,0.12,2.25,0.00,0.000,6,0.163,0.047,2322,2338,3022
$GC,1142,-0.69,-146.0,99.9,-5.6,197,1149,0.12,2.35,0.00,0.000,4,0.088,0.061,2273,3755,3022
$GC,1212,-0.69,-146.0,104.9,-7.7,201,1216,0.00,2.22,0.00,0.000,6,0.000,0.038,2274,2328,3022
$GC,1545,-0.69,-146.0,127.2,-6.8,217,1549,0.00,2.38,0.00,0.000,4,0.000,0.061,2274,3748,3022
$GC,1607,-0.69,-146.0,131.3,-6.8,219,1613,0.00,2.20,0.00,0.000,6,0.000,0.038,2274,2341,3022
$GC,1924,-0.69,-146.0,151.9,-6.8,235,1928,0.00,2.25,0.00,0.000,4,0.000,0.050,2273,929,3022
$GC,2059,-0.69,-146.0,162.2,-7.5,241,2063,0.00,2.28,0.00,0.000,6,0.000,0.047,2274,2347,3023
$GC,2392,-0.69,-146.0,184.7,-6.6,257,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2347,3023
$GC,2702,-0.74,-146.0,204.7,-6.4,272,2706,0.00,2.28,0.00,0.000,4,0.000,0.049,2274,935,3022
$GC,2770,-0.74,-146.0,209.3,-6.7,275,2774,0.00,2.25,0.00,0.000,6,0.000,0.048,2274,2341,3022
$GC,3103,-0.81,-146.0,229.5,-5.9,291,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2341,3021
$GC,3412,-0.91,-146.0,249.5,-6.8,306,3414,0.12,0.00,0.00,0.000,6,0.094,0.000,2226,2341,3021
$GC,3721,-0.86,-146.0,274.2,-7.9,321,3726,0.10,2.35,0.00,0.000,4,0.164,0.061,2249,3746,3020
$GC,3783,-0.92,-146.0,278.7,-7.6,323,3789,0.00,2.20,0.00,0.000,6,0.000,0.037,2249,2334,3020
$GC,4099,-0.92,-146.0,300.9,-6.8,339,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2334,3021
$GC,4410,-0.92,-146.0,322.1,-6.8,354,4414,0.00,2.38,0.00,0.000,4,0.000,0.061,2249,3752,3021
$GC,4466,-1.00,-146.0,326.2,-7.2,356,4470,0.12,2.20,0.00,0.000,6,0.104,0.036,2204,2337,3021
$GC,4788,-0.89,-146.0,350.6,-7.5,372,4789,0.15,0.00,0.00,0.000,6,0.145,0.000,2245,2334,3022
$GC,5096,-0.89,-146.0,369.0,-5.8,387,5100,0.00,2.38,0.00,0.000,4,0.000,0.061,2245,3751,3023
$GC,5166,-0.95,-146.0,373.0,-5.6,390,5170,0.00,2.17,0.00,0.000,6,0.000,0.036,2246,2341,3023
$GC,5499,-1.00,-146.0,393.1,-6.0,406,5501,0.10,0.00,0.00,0.000,6,0.104,0.000,2208,2341,3024
$GC,5805,-0.92,-146.0,418.0,-8.2,416,5809,0.12,2.38,0.00,0.000,4,0.151,0.061,2241,3749,3024
$GC,5889,-0.97,-146.0,424.5,-7.4,417,5895,0.00,2.20,0.00,0.000,6,0.000,0.035,2242,2336,3024
$GC,6221,-0.97,-146.0,447.2,-6.8,426,6225,0.00,2.38,0.00,0.000,4,0.000,0.060,2242,3753,3024
$GC,6278,-1.04,-146.0,451.2,-6.8,427,6282,0.12,2.20,0.00,0.000,6,0.087,0.035,2197,2334,3025
$GC,6596,-0.92,-146.0,476.6,-8.2,435,6601,0.15,2.40,0.00,0.000,4,0.151,0.059,2234,3754,3025
$GC,6652,-0.92,-146.0,481.0,-7.8,436,6656,0.00,2.20,0.00,0.000,6,0.000,0.035,2234,2340,3025
$GC,6972,-0.92,-146.0,502.1,-6.6,444,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2340,3026
$GC,7297,-0.92,-146.0,523.2,-6.4,452,7300,0.00,2.38,0.00,0.000,4,0.000,0.061,2234,3752,3026
$GC,7348,-0.96,-146.0,526.6,-6.2,453,7352,0.00,2.20,0.00,0.000,6,0.000,0.035,2234,2336,3026
$GC,7673,-0.96,-146.0,547.3,-6.5,461,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2336,3026
$GC,7998,-0.96,-146.0,567.4,-6.0,469,8002,0.00,2.22,0.00,0.000,4,0.000,0.048,2234,936,3026
$GC,8044,-0.96,-146.0,570.2,-6.4,470,8048,0.00,2.28,0.00,0.000,6,0.000,0.048,2234,2348,3025
$GC,8375,-0.96,-146.0,590.3,-6.1,478,8379,0.00,2.35,0.00,0.000,4,0.000,0.064,2234,3752,3026
$GC,8432,-1.01,-146.0,593.8,-6.0,479,8435,0.00,2.20,0.00,0.000,6,0.000,0.036,2234,2338,3026
$GC,8751,-1.01,-146.0,613.8,-6.5,487,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2338,3026
$GC,9076,-1.01,-146.0,634.8,-6.4,495,9080,0.00,2.38,0.00,0.000,4,0.000,0.063,2234,3746,3025
$GC,9127,-1.07,-146.0,638.0,-6.7,496,9131,0.12,2.20,0.00,0.000,6,0.102,0.037,2190,2337,3025
$GC,9452,-0.95,-146.0,663.4,-7.9,504,9453,0.15,0.00,0.00,0.000,6,0.146,0.000,2232,2336,3025
$GC,9776,-0.95,-146.0,684.1,-6.2,512,9780,0.00,2.38,0.00,0.000,4,0.000,0.064,2231,3743,3025
$STATE,9841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9841,begin apogee
$GC,9851,-0.34,0.0,688.2,5.5,513,9986,0.40,0.00,133.02,1.289,6,0.138,0.000,2358,2507,2420
$STATE,9987,end apogee,CONTROL_FINISHED_OK
$STATE,9987,begin climb
$GC,9991,1.08,146.0,691.0,0.0,516,10187,1.08,2.83,155.15,1.118,4,0.105,0.061,2665,3922,1824
$GC,10221,0.84,146.0,675.1,10.2,521,10226,0.20,2.50,0.00,0.000,6,0.136,0.035,2616,2527,1824
$GC,10564,0.86,156.5,652.3,6.7,530,10576,0.00,0.00,9.75,1.088,6,0.000,0.000,2616,2527,1783
$GC,10889,0.86,158.9,630.3,6.9,538,10894,0.00,0.00,3.83,0.750,6,0.000,0.000,2616,2526,1772
$GC,11214,0.86,161.1,607.2,6.9,546,11223,0.00,2.38,3.70,0.736,4,0.000,0.064,2616,3929,1763
$GC,11230,0.88,169.6,606.1,6.7,546,11244,0.00,2.20,8.95,1.090,6,0.000,0.038,2616,2511,1729
$GC,11584,0.95,182.4,582.8,6.6,555,11598,0.10,0.00,12.05,1.145,6,0.091,0.000,2659,2510,1677
$GC,11913,0.89,182.4,557.4,7.5,563,11918,0.12,2.35,0.00,0.000,4,0.146,0.064,2624,3929,1677
$GC,11940,0.89,182.4,555.2,7.5,563,11944,0.00,2.20,0.00,0.000,6,0.000,0.038,2625,2510,1676
$GC,12283,0.97,197.9,533.0,6.5,572,12303,0.10,2.25,14.25,1.152,4,0.087,0.051,2665,1114,1613
$GC,12309,0.97,197.9,530.9,7.6,572,12313,0.00,2.25,0.00,0.000,6,0.000,0.047,2665,2522,1613
$GC,12652,0.91,197.9,501.9,8.7,581,12657,0.12,2.30,0.00,0.000,4,0.140,0.061,2629,3937,1614
$GC,12691,0.91,197.9,498.4,8.1,581,12698,0.00,2.20,0.00,0.000,6,0.000,0.039,2628,2516,1614
$GC,13023,0.99,206.4,475.8,6.7,590,13038,0.08,2.28,8.38,1.042,4,0.100,0.051,2664,1116,1578
$GC,13061,0.99,206.4,472.8,7.2,590,13068,0.00,2.25,0.00,0.000,6,0.000,0.046,2664,2535,1579
$GC,13393,0.94,206.4,445.7,8.3,599,13395,0.10,0.00,0.00,0.000,6,0.146,0.000,2637,2536,1579
$GC,13718,0.94,208.6,422.8,6.9,607,13727,0.00,2.30,3.38,0.644,4,0.000,0.050,2637,1124,1569
$GC,13745,1.03,223.2,421.0,6.5,607,13766,0.08,2.22,13.82,1.094,6,0.097,0.046,2674,2526,1509
$GC,14095,0.98,223.2,391.6,8.6,618,14100,0.10,2.30,0.00,0.000,4,0.136,0.063,2645,3937,1511
$GC,14128,0.98,223.2,388.2,8.5,619,14135,0.00,2.20,0.00,0.000,6,0.000,0.038,2646,2512,1511
$GC,14444,0.98,223.2,363.9,7.5,635,14448,0.00,2.20,0.00,0.000,4,0.000,0.050,2646,1120,1511
$GC,14479,1.05,223.2,361.2,8.0,636,14483,0.00,2.22,0.00,0.000,6,0.000,0.047,2646,2517,1511
$GC,14801,1.05,223.2,336.8,7.3,652,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2517,1511
$GC,15110,1.07,237.5,315.8,6.5,667,15133,0.08,2.30,13.18,1.016,4,0.097,0.049,2689,1121,1451
$GC,15144,1.01,237.5,313.1,7.9,668,15149,0.15,2.25,0.00,0.000,6,0.133,0.047,2645,2532,1451
$GC,15466,1.07,243.7,291.3,6.8,684,15480,0.08,2.33,6.57,0.867,4,0.100,0.048,2682,1113,1427
$GC,15514,1.07,243.7,287.2,8.7,686,15518,0.00,2.22,0.00,0.000,6,0.000,0.045,2682,2524,1427
$GC,15842,1.02,243.7,257.5,9.3,702,15844,0.10,0.00,0.00,0.000,6,0.143,0.000,2654,2524,1428
$GC,16151,1.09,243.7,234.6,7.3,717,16154,0.00,2.25,0.00,0.000,4,0.000,0.048,2654,1120,1429
$GC,16207,1.19,243.7,230.3,7.5,719,16211,0.15,2.22,0.00,0.000,6,0.072,0.044,2717,2522,1429
$GC,16528,1.06,243.7,198.8,9.4,735,16533,0.17,2.33,0.00,0.000,4,0.127,0.061,2664,3926,1430
$GC,16573,1.01,243.7,194.8,7.8,737,16577,0.00,2.20,0.00,0.000,6,0.000,0.038,2664,2512,1430
$GC,16901,1.09,265.4,172.9,6.3,753,16922,0.00,0.00,19.52,0.964,6,0.000,0.000,2664,2512,1338
$GC,17231,1.20,295.0,152.8,6.0,769,17262,0.12,2.28,25.20,0.964,4,0.075,0.051,2719,1111,1216
$GC,17313,1.20,295.0,145.6,9.0,772,17319,0.10,2.25,0.00,0.000,6,0.136,0.045,2692,2532,1216
$GC,17629,1.20,295.0,121.5,7.9,788,17633,0.00,2.28,0.00,0.000,4,0.000,0.063,2691,3931,1215
$GC,17656,1.20,295.0,118.8,10.8,789,17660,0.00,2.20,0.00,0.000,6,0.000,0.038,2692,2511,1214
$GC,17984,1.20,295.0,90.6,8.8,818,17990,0.00,2.22,0.00,0.000,4,0.000,0.051,2692,1110,1214
$GC,18042,1.26,295.0,85.4,8.8,828,18048,0.00,2.25,0.00,0.000,6,0.000,0.045,2692,2525,1214
$GC,18387,1.33,295.0,57.0,7.9,889,18394,0.12,2.28,0.00,0.000,4,0.077,0.049,2747,1114,1214
$GC,18412,1.33,295.0,54.6,8.5,893,18419,0.10,2.25,0.00,0.000,6,0.140,0.046,2721,2525,1214
$GC,18758,1.33,295.0,22.6,8.8,954,18763,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2525,1214
$STATE,18991,end climb,SURFACE_DEPTH_REACHED
$STATE,18992,begin surface coast
$FINISH,0.7,1.025473
$STATE,19015,end surface coast,CONTROL_FINISHED_OK
$STATE,19015,begin surface
$SM_CCo,19094,0.00,0.000,0,0,1212,296.32
$SM_GC,1.73,7.25,0.00,0.00,0.064,0.000,0.000,159,2332,1212,-10.39,-0.23,296.32
$RAFOS_CLK,1051
$RAFOS,3,1229589244,8.583333,8.567778,72,69,59,59,59,56,211,194,158,172,1407,232
$RAFOS,2,1229588657,8.416667,8.404722,112,62,59,55,55,51,532,197,186,171,150,213
$RAFOS,1,1229588047,8.250000,8.235278,60,59,58,57,51,49,215,810,199,181,153,123
$RAFOS,0,1229587450,8.083333,8.069445,56,56,51,51,51,49,170,212,118,183,143,157
$RAFOS,4,1229575460,4.750000,4.738889,80,63,59,59,54,48,715,214,174,197,119,154
$RAFOS,3,1229574855,4.583333,4.570833,70,58,55,52,49,49,203,221,181,167,137,150
$RAFOS,2,1229574250,4.416667,4.402778,91,67,66,59,59,54,590,176,125,220,203,139
$RAFOS,1,1229573652,4.250000,4.236667,128,59,59,54,54,52,801,204,174,215,161,119
$RAFOS,0,1229573045,4.083333,4.068056,64,62,54,54,53,52,212,131,200,1007,119,185
$RAFOS_FIX,6607.756348,-5807.680176,181208,040456,4,92,28.89
$IRIDIUM_FIX,6636.54,-5702.96,130398,212151
$TT8_MAMPS,0.027612
$HUMID,1909
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,20.1,81.596
$10V_AH,10.5,36.708
$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,21.525,154.975,430.750,0.000,0.000,25.888,32.523,684.003,0.000,0.000,0.000,33.591,1954.928,14392.436,605.052,2029.256,1086.974,33.375,1716.374,0.000,1965.502,3240.000,0.529,0.000
$DEVICE_MAMPS,260.013,64.428,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.955,682.839,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37799,1000
$CAP_FILE_SIZE,149959,0
$CFSIZE,260165632,218312704
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1461.2
$GPS,181208,084801,6701.521,-5707.920,38,1.2,43,-37.6