version: 66.04
glider: 113
mission: 4
dive: 446
start: 12 18 108 8 55 9
data:
$ID,113
$MISSION,4
$DIVE,446
$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,-40934.059
$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,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
$GPS1,084801,6701.521,-5707.920,38,1.2,43,-37.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-62.7
$GPS2,085414,6701.485,-5707.969,13,1.0,13,-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,-0.206,0.090
$KALMAN_X,-122445.3,875.7,-650.6,134259.0,263.7
$KALMAN_Y,-13128.9,-258.8,1010.3,24619.5,-2867.3
$MHEAD_RNG_PITCHd_Wd,331.1,42611,-12.9,-7.021
$D_GRID,735
$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,15,begin dive
$GC,18,-1.08,-146.0,0.0,0.0,0,145,0.00,0.00,-122.95,0.000,6,0.000,0.000,160,2333,3017
$GC,149,-1.08,-146.0,2.9,-1.8,22,162,8.77,2.40,0.00,0.000,4,0.262,0.064,2200,3752,3020
$GC,243,-0.52,-146.0,18.8,-16.2,38,250,0.43,2.20,0.00,0.000,6,0.176,0.038,2319,2338,3023
$GC,588,-0.52,-146.0,51.5,-8.4,99,594,0.00,2.25,0.00,0.000,4,0.000,0.051,2319,928,3023
$GC,691,-0.52,-146.0,60.9,-9.4,117,697,0.00,2.28,0.00,0.000,6,0.000,0.049,2319,2341,3023
$GC,1036,-0.63,-146.0,88.8,-7.2,178,1042,0.00,2.35,0.00,0.000,4,0.000,0.064,2319,3751,3023
$GC,1256,-0.81,-146.0,103.6,-6.1,209,1263,0.20,2.22,0.00,0.000,6,0.079,0.038,2246,2334,3023
$GC,1573,-0.72,-146.0,127.2,-7.7,225,1577,0.12,2.25,0.00,0.000,4,0.160,0.051,2280,942,3022
$GC,1714,-0.72,-146.0,137.1,-6.7,231,1718,0.00,2.28,0.00,0.000,6,0.000,0.049,2280,2350,3023
$GC,2043,-0.78,-146.0,159.0,-6.9,247,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2350,3023
$GC,2351,-0.85,-146.0,181.9,-7.4,262,2356,0.12,2.35,0.00,0.000,4,0.095,0.064,2233,3747,3023
$GC,2447,-0.80,-146.0,190.9,-9.2,266,2451,0.12,2.22,0.00,0.000,6,0.166,0.038,2265,2328,3022
$GC,2768,-0.80,-146.0,217.3,-8.4,282,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2328,3023
$GC,3077,-0.80,-146.0,241.7,-7.5,297,3081,0.00,2.40,0.00,0.000,4,0.000,0.064,2265,3751,3022
$GC,3184,-0.88,-146.0,249.6,-7.6,301,3190,0.00,2.22,0.00,0.000,6,0.000,0.039,2265,2336,3022
$GC,3501,-0.94,-146.0,268.6,-5.6,317,3505,0.12,2.25,0.00,0.000,4,0.100,0.050,2219,938,3022
$GC,3579,-0.80,-146.0,274.6,-8.0,320,3584,0.17,2.28,0.00,0.000,6,0.161,0.049,2264,2348,3021
$GC,3901,-0.87,-146.0,294.4,-6.2,336,3905,0.00,2.33,0.00,0.000,4,0.000,0.064,2264,3753,3022
$GC,4030,-0.98,-146.0,302.6,-5.7,341,4037,0.15,2.22,0.00,0.000,6,0.091,0.036,2212,2326,3021
$GC,4347,-0.88,-146.0,327.7,-8.6,357,4351,0.12,2.25,0.00,0.000,4,0.155,0.049,2244,931,3021
$GC,4517,-0.88,-146.0,341.1,-7.9,364,4520,0.00,2.28,0.00,0.000,6,0.000,0.048,2245,2340,3021
$GC,4839,-0.88,-146.0,362.2,-6.2,380,4843,0.00,2.35,0.00,0.000,4,0.000,0.061,2245,3753,3021
$GC,4975,-0.95,-146.0,371.1,-6.4,386,4979,0.00,2.22,0.00,0.000,6,0.000,0.037,2245,2329,3021
$GC,5308,-0.95,-146.0,391.6,-6.3,402,5312,0.00,2.22,0.00,0.000,4,0.000,0.048,2245,933,3022
$GC,5403,-0.95,-146.0,398.0,-6.1,406,5407,0.00,2.28,0.00,0.000,6,0.000,0.046,2245,2347,3022
$GC,5726,-0.95,-146.0,417.9,-6.2,415,5730,0.00,2.35,0.00,0.000,4,0.000,0.064,2245,3748,3023
$GC,5844,-1.01,-146.0,425.6,-6.7,417,5849,0.12,2.22,0.00,0.000,6,0.094,0.037,2201,2328,3023
$GC,6187,-0.89,-146.0,452.9,-8.1,426,6189,0.15,0.00,0.00,0.000,6,0.150,0.000,2243,2325,3023
$GC,6512,-0.89,-146.0,474.5,-6.6,434,6516,0.00,2.40,0.00,0.000,4,0.000,0.062,2243,3752,3023
$GC,6619,-0.96,-146.0,481.6,-6.4,436,6623,0.00,2.20,0.00,0.000,6,0.000,0.037,2243,2340,3023
$GC,6933,-0.96,-146.0,502.0,-6.5,444,6937,0.00,2.22,0.00,0.000,4,0.000,0.049,2244,933,3023
$GC,7024,-0.96,-146.0,508.7,-7.6,446,7027,0.00,2.28,0.00,0.000,6,0.000,0.047,2243,2345,3024
$GC,7355,-1.01,-146.0,531.2,-6.8,454,7359,0.10,2.35,0.00,0.000,4,0.102,0.062,2205,3750,3023
$GC,7472,-0.95,-146.0,540.6,-7.6,456,7477,0.10,2.20,0.00,0.000,6,0.151,0.036,2229,2338,3023
$GC,7815,-0.95,-146.0,565.2,-7.1,465,7819,0.00,2.25,0.00,0.000,4,0.000,0.051,2229,934,3024
$GC,7888,-0.95,-146.0,570.7,-8.1,466,7892,0.00,2.28,0.00,0.000,6,0.000,0.048,2229,2345,3024
$GC,8231,-0.95,-146.0,593.7,-6.6,475,8235,0.00,2.35,0.00,0.000,4,0.000,0.064,2229,3749,3023
$GC,8349,-0.95,-146.0,601.9,-6.8,477,8353,0.00,2.20,0.00,0.000,6,0.000,0.037,2229,2341,3024
$GC,8692,-0.95,-146.0,624.8,-6.7,486,8696,0.00,2.25,0.00,0.000,4,0.000,0.050,2229,932,3024
$GC,8771,-0.95,-146.0,630.7,-7.8,487,8775,0.00,2.28,0.00,0.000,6,0.000,0.047,2229,2343,3023
$GC,9109,-0.95,-146.0,654.1,-6.9,496,9112,0.00,2.35,0.00,0.000,4,0.000,0.063,2229,3747,3024
$GC,9245,-1.00,-146.0,664.0,-7.9,499,9249,0.00,2.20,0.00,0.000,6,0.000,0.038,2229,2337,3024
$GC,9575,-1.00,-146.0,686.5,-6.8,507,9579,0.00,2.25,0.00,0.000,4,0.000,0.050,2229,931,3024
$GC,9648,-1.00,-146.0,691.9,-7.3,508,9652,0.00,2.30,0.00,0.000,6,0.000,0.047,2229,2352,3023
$GC,9991,-1.00,-146.0,714.1,-6.5,517,9995,0.00,2.33,0.00,0.000,4,0.000,0.064,2229,3743,3024
$GC,10123,-1.05,-146.0,722.9,-6.8,519,10129,0.00,2.22,0.00,0.000,6,0.000,0.038,2229,2324,3024
$STATE,10329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10329,begin apogee
$GC,10337,-0.34,0.0,736.8,6.6,525,10474,0.45,0.00,134.68,1.328,6,0.139,0.000,2365,2526,2420
$STATE,10475,end apogee,CONTROL_FINISHED_OK
$STATE,10475,begin climb
$GC,10478,1.08,146.0,740.0,0.0,528,10739,1.05,2.72,174.73,1.058,4,0.100,0.063,2665,3920,1825
$GC,10791,0.84,146.0,718.5,9.7,535,10796,0.20,2.47,0.00,0.000,6,0.137,0.037,2616,2529,1825
$GC,11134,0.87,173.9,697.2,6.1,544,11163,0.00,2.42,24.42,1.244,4,0.000,0.066,2616,3942,1712
$GC,11170,0.93,215.4,694.9,5.6,544,11213,0.08,2.28,37.00,1.237,6,0.102,0.038,2649,2512,1541
$GC,11537,0.93,215.4,666.5,7.8,553,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2512,1541
$GC,11863,0.93,215.4,642.1,7.5,561,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2512,1540
$GC,12187,0.93,215.4,617.4,7.6,569,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2512,1539
$GC,12512,0.93,215.4,592.7,7.5,577,12516,0.00,2.22,0.00,0.000,4,0.000,0.052,2650,1111,1539
$GC,12525,0.93,215.4,591.8,7.5,577,12529,0.00,2.25,0.00,0.000,6,0.000,0.047,2649,2523,1539
$GC,12844,0.93,215.4,567.2,7.7,585,12848,0.00,2.25,0.00,0.000,4,0.000,0.051,2650,1120,1539
$GC,12855,0.93,215.4,566.3,7.7,585,12859,0.00,2.25,0.00,0.000,6,0.000,0.047,2649,2532,1539
$GC,13175,0.93,215.4,541.1,8.0,593,13176,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2532,1539
$GC,13499,0.93,215.4,516.6,7.3,601,13502,0.00,2.28,0.00,0.000,4,0.000,0.049,2649,1116,1539
$GC,13511,0.93,215.4,515.7,7.0,601,13515,0.00,2.25,0.00,0.000,6,0.000,0.046,2649,2524,1539
$GC,13830,0.93,215.4,492.9,7.1,609,13834,0.00,2.28,0.00,0.000,4,0.000,0.049,2649,1109,1539
$GC,13841,0.93,215.4,491.9,7.2,609,13845,0.00,2.25,0.00,0.000,6,0.000,0.046,2650,2518,1539
$GC,14160,0.93,215.4,468.3,7.5,617,14161,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2519,1539
$GC,14484,0.93,215.4,443.6,7.7,625,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2518,1539
$GC,14809,0.93,215.4,417.8,7.9,633,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2518,1539
$GC,15115,0.93,215.4,391.8,8.8,642,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2518,1539
$GC,15425,0.93,215.4,364.0,8.6,657,15429,0.00,2.25,0.00,0.000,4,0.000,0.051,2650,1117,1539
$GC,15435,0.93,215.4,362.9,8.2,657,15439,0.00,2.25,0.00,0.000,6,0.000,0.046,2649,2523,1539
$GC,15757,0.93,215.4,336.8,7.9,673,15761,0.00,2.28,0.00,0.000,4,0.000,0.049,2650,1115,1539
$GC,15781,0.98,215.4,335.0,7.4,674,15785,0.00,2.25,0.00,0.000,6,0.000,0.046,2650,2522,1538
$GC,16113,0.98,215.4,308.1,8.2,690,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2522,1538
$GC,16423,0.98,215.4,283.4,7.8,705,16424,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2522,1538
$GC,16732,0.98,215.4,260.7,7.2,720,16734,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2522,1538
$GC,17042,1.03,219.5,238.9,6.9,735,17048,0.00,0.00,4.38,0.723,6,0.000,0.000,2650,2522,1525
$GC,17351,1.10,235.6,218.3,6.5,750,17371,0.10,0.00,14.77,0.984,6,0.085,0.000,2694,2523,1459
$GC,17681,1.04,235.6,191.3,8.1,766,17685,0.12,2.33,0.00,0.000,4,0.134,0.062,2657,3937,1460
$GC,17702,1.04,235.6,189.4,8.1,767,17706,0.00,2.20,0.00,0.000,6,0.000,0.037,2657,2516,1460
$GC,18029,1.10,235.6,166.0,7.5,783,18030,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2516,1460
$GC,18338,1.17,235.6,142.8,7.5,798,18340,0.12,0.00,0.00,0.000,6,0.077,0.000,2709,2516,1460
$GC,18648,1.09,235.6,113.7,9.4,813,18652,0.15,2.25,0.00,0.000,4,0.129,0.050,2664,1121,1460
$GC,18658,1.09,235.6,112.6,9.7,813,18662,0.00,2.25,0.00,0.000,6,0.000,0.046,2664,2528,1459
$GC,18987,1.17,235.6,88.1,7.6,849,18994,0.10,2.28,0.00,0.000,4,0.082,0.048,2709,1114,1459
$GC,19034,1.17,235.6,83.8,9.3,857,19041,0.00,2.28,0.00,0.000,6,0.000,0.047,2710,2534,1460
$GC,19380,1.11,235.6,55.3,7.6,918,19386,0.12,0.00,0.00,0.000,6,0.133,0.000,2672,2534,1459
$GC,19725,1.21,250.0,35.1,6.5,979,19744,0.10,2.35,13.00,0.912,4,0.083,0.051,2718,1124,1400
$GC,19757,1.22,257.0,33.0,6.8,984,19771,0.00,2.25,7.40,0.810,6,0.000,0.047,2718,2528,1372
$GC,20110,1.15,257.0,6.6,8.2,1046,20115,0.12,0.00,0.00,0.000,6,0.130,0.000,2681,2528,1372
$STATE,20177,end climb,SURFACE_DEPTH_REACHED
$STATE,20177,begin surface coast
$FINISH,0.8,1.027498
$STATE,20210,end surface coast,CONTROL_FINISHED_OK
$STATE,20210,begin surface
$SM_CCo,20289,0.00,0.000,0,0,1371,257.32
$SM_GC,1.73,7.00,0.00,0.00,0.062,0.000,0.000,159,2330,1371,-10.39,-0.28,257.32
$RAFOS_CLK,1110
$RAFOS,4,1229604255,12.750000,12.737500,107,70,56,55,54,51,728,211,165,194,120,147
$RAFOS,3,1229603679,12.583333,12.577500,72,63,62,57,56,53,209,179,165,197,149,123
$RAFOS,2,1229603043,12.416667,12.400833,123,58,55,54,51,51,602,134,216,196,178,155
$RAFOS,1,1229602450,12.250000,12.236111,131,65,59,58,57,56,793,137,229,119,152,214
$RAFOS,0,1229601881,12.083333,12.078055,67,64,60,59,59,56,207,160,218,150,229,129
$RAFOS_FIX,6631.965332,-5841.724121,181208,121256,4,108,6.78
$IRIDIUM_FIX,6636.54,-5658.34,140398,030300
$TT8_MAMPS,0.027612
$HUMID,1919
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.10
$XPDR_PINGS,3
$24V_AH,19.8,81.744
$10V_AH,10.4,36.788
$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,20.550,151.300,410.375,0.000,0.000,28.373,35.061,160.660,0.750,0.000,0.000,14.916,2037.024,15221.076,615.773,2243.119,589.257,33.374,1822.296,0.000,2198.764,1800.000,0.529,0.000
$DEVICE_MAMPS,262.314,69.797,1327.677,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.319,728.295,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40932,1064
$CAP_FILE_SIZE,150702,0
$CFSIZE,260165632,218255360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$SOUNDSPEED,1458.5
$GPS,181208,143533,6701.150,-5711.951,37,1.5,38,-37.6