version: 66.04
glider: 113
mission: 4
dive: 447
start: 12 18 108 14 42 39
data:
$ID,113
$MISSION,4
$DIVE,447
$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,-40951.219
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,143533,6701.150,-5711.951,37,1.5,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-63.4
$GPS2,144144,6701.172,-5711.958,10,1.2,15,-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,-0.194,-0.113
$KALMAN_X,-120841.0,-857.3,884.5,129945.0,-481.6
$KALMAN_Y,-13876.6,-24.1,-933.8,26492.3,1284.6
$MHEAD_RNG_PITCHd_Wd,277.3,39662,-12.9,-7.021
$D_GRID,757
$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,-146.0,0.0,0.0,0,136,0.00,0.00,-115.12,0.000,6,0.000,0.000,159,2331,3016
$GC,140,-1.08,-146.0,3.1,-2.1,21,154,8.75,2.38,0.00,0.000,4,0.262,0.061,2192,3744,3020
$GC,346,-0.65,-146.0,39.1,-15.2,57,353,0.38,2.20,0.00,0.000,6,0.170,0.040,2295,2337,3022
$GC,692,-0.65,-146.0,71.0,-8.2,118,698,0.00,2.25,0.00,0.000,4,0.000,0.053,2295,929,3023
$GC,761,-0.65,-146.0,77.0,-8.7,130,767,0.00,2.28,0.00,0.000,6,0.000,0.049,2295,2339,3022
$GC,1108,-0.71,-146.0,103.3,-7.5,186,1112,0.00,2.35,0.00,0.000,4,0.000,0.064,2295,3753,3023
$GC,1165,-0.81,-146.0,107.4,-6.8,188,1169,0.15,2.22,0.00,0.000,6,0.084,0.038,2242,2328,3022
$GC,1486,-0.72,-146.0,135.1,-8.6,204,1488,0.15,0.00,0.00,0.000,6,0.160,0.000,2283,2327,3023
$GC,1796,-0.78,-146.0,156.6,-6.9,219,1800,0.00,2.22,0.00,0.000,4,0.000,0.052,2283,941,3023
$GC,1897,-0.78,-146.0,164.3,-7.6,223,1900,0.00,2.28,0.00,0.000,6,0.000,0.050,2283,2345,3023
$GC,2219,-0.87,-146.0,186.8,-6.9,239,2224,0.15,2.30,0.00,0.000,4,0.086,0.050,2229,933,3023
$GC,2264,-0.74,-146.0,190.8,-9.4,241,2269,0.17,2.30,0.00,0.000,6,0.162,0.049,2273,2354,3022
$GC,2586,-0.81,-146.0,211.6,-6.0,257,2590,0.00,2.33,0.00,0.000,4,0.000,0.064,2273,3745,3022
$GC,2655,-0.92,-146.0,215.8,-6.0,260,2660,0.15,2.20,0.00,0.000,6,0.093,0.038,2222,2338,3022
$GC,2988,-0.83,-146.0,241.2,-7.9,276,2992,0.12,2.25,0.00,0.000,4,0.159,0.050,2255,936,3022
$GC,3071,-0.83,-146.0,247.1,-6.8,279,3078,0.00,2.30,0.00,0.000,6,0.000,0.050,2255,2349,3022
$GC,3388,-0.83,-146.0,267.2,-6.5,295,3391,0.00,2.35,0.00,0.000,4,0.000,0.067,2255,3745,3022
$GC,3479,-0.90,-146.0,273.5,-7.4,299,3483,0.00,2.22,0.00,0.000,6,0.000,0.039,2255,2327,3022
$GC,3812,-0.90,-146.0,297.5,-7.0,315,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2327,3021
$GC,4123,-0.96,-146.0,318.6,-6.8,330,4128,0.12,2.42,0.00,0.000,4,0.096,0.064,2207,3755,3021
$GC,4190,-0.89,-146.0,324.4,-8.5,333,4195,0.15,2.22,0.00,0.000,6,0.152,0.038,2245,2335,3022
$GC,4517,-0.89,-146.0,346.6,-6.5,349,4521,0.00,2.38,0.00,0.000,4,0.000,0.064,2246,3745,3022
$GC,4587,-0.95,-146.0,351.2,-6.8,352,4591,0.00,2.20,0.00,0.000,6,0.000,0.038,2246,2338,3022
$GC,4920,-0.95,-146.0,373.4,-6.6,368,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2338,3022
$GC,5229,-0.95,-146.0,394.1,-6.7,383,5233,0.00,2.38,0.00,0.000,4,0.000,0.064,2246,3745,3023
$GC,5271,-1.01,-146.0,396.8,-6.8,385,5275,0.12,2.20,0.00,0.000,6,0.099,0.038,2203,2340,3023
$GC,5599,-0.90,-146.0,424.7,-8.6,394,5601,0.15,0.00,0.00,0.000,6,0.148,0.000,2244,2338,3023
$GC,5923,-0.90,-146.0,448.7,-7.5,402,5927,0.00,2.38,0.00,0.000,4,0.000,0.064,2244,3745,3025
$GC,5974,-0.97,-146.0,452.6,-7.7,403,5978,0.00,2.20,0.00,0.000,6,0.000,0.038,2245,2340,3024
$GC,6299,-0.97,-146.0,475.6,-6.9,411,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2340,3025
$GC,6625,-1.02,-146.0,497.9,-6.8,419,6627,0.12,0.00,0.00,0.000,6,0.098,0.000,2197,2340,3025
$GC,6950,-0.90,-146.0,526.5,-9.0,427,6954,0.15,2.42,0.00,0.000,4,0.153,0.064,2234,3754,3025
$GC,7011,-0.90,-146.0,531.5,-7.6,428,7015,0.00,2.22,0.00,0.000,6,0.000,0.038,2234,2338,3025
$GC,7326,-0.90,-146.0,554.1,-7.0,436,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2338,3025
$GC,7650,-0.90,-146.0,575.6,-6.5,444,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2338,3025
$GC,7974,-0.90,-146.0,596.0,-6.2,452,7978,0.00,2.40,0.00,0.000,4,0.000,0.065,2234,3746,3025
$GC,8042,-0.95,-146.0,600.3,-6.0,453,8046,0.00,2.22,0.00,0.000,6,0.000,0.038,2234,2334,3024
$GC,8391,-0.95,-146.0,622.1,-6.3,462,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2334,3025
$GC,8715,-0.95,-146.0,641.9,-6.1,470,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2334,3025
$GC,9040,-0.95,-146.0,661.3,-6.0,478,9044,0.00,2.40,0.00,0.000,4,0.000,0.064,2234,3743,3024
$GC,9113,-1.01,-146.0,666.0,-6.4,479,9118,0.00,2.22,0.00,0.000,6,0.000,0.039,2234,2328,3024
$GC,9456,-1.01,-146.0,687.2,-6.1,488,9461,0.00,2.40,0.00,0.000,4,0.000,0.064,2234,3747,3024
$GC,9509,-1.08,-146.0,690.5,-6.3,489,9514,0.12,2.22,0.00,0.000,6,0.102,0.038,2191,2333,3024
$GC,9834,-0.96,-146.0,714.9,-7.4,497,9836,0.15,0.00,0.00,0.000,6,0.146,0.000,2231,2332,3024
$GC,10158,-0.96,-146.0,734.5,-6.0,505,10162,0.00,2.40,0.00,0.000,4,0.000,0.064,2232,3746,3024
$GC,10199,-1.02,-146.0,737.0,-6.6,505,10205,0.00,2.22,0.00,0.000,6,0.000,0.038,2231,2334,3024
$STATE,10527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10527,begin apogee
$GC,10535,-0.34,0.0,757.1,6.0,514,10674,0.43,0.00,135.77,1.345,6,0.140,0.000,2361,2520,2420
$STATE,10674,end apogee,CONTROL_FINISHED_OK
$STATE,10675,begin climb
$GC,10678,1.08,146.0,759.9,0.0,517,10936,1.10,0.00,175.73,1.074,6,0.104,0.000,2668,2520,1824
$GC,11248,0.93,146.0,716.1,8.6,531,11253,0.12,2.42,0.00,0.000,4,0.149,0.064,2636,3931,1824
$GC,11299,0.79,146.0,711.8,9.0,532,11303,0.12,2.25,0.00,0.000,6,0.149,0.040,2601,2520,1823
$GC,11612,0.92,177.3,692.9,6.0,540,11642,0.12,0.00,27.25,1.279,6,0.079,0.000,2652,2519,1697
$GC,11937,0.86,177.3,668.1,7.6,548,11942,0.12,2.35,0.00,0.000,4,0.141,0.064,2615,3939,1696
$GC,11959,0.86,177.3,666.3,7.7,548,11963,0.00,2.22,0.00,0.000,6,0.000,0.040,2615,2506,1696
$GC,12302,0.98,208.0,645.7,6.0,557,12336,0.12,2.50,26.50,1.269,4,0.079,0.067,2665,3932,1571
$GC,12359,0.83,208.0,640.9,9.2,558,12364,0.17,2.22,0.00,0.000,6,0.143,0.040,2615,2522,1571
$GC,12708,0.96,234.2,619.4,6.1,567,12738,0.12,2.33,22.80,1.245,4,0.077,0.052,2666,1114,1465
$GC,12761,0.96,234.2,615.1,7.4,568,12765,0.00,2.28,0.00,0.000,6,0.000,0.048,2666,2534,1465
$GC,13079,0.96,234.2,587.2,8.9,576,13081,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2535,1465
$GC,13404,0.96,234.2,558.1,9.0,584,13408,0.00,2.28,0.00,0.000,4,0.000,0.051,2666,1116,1464
$GC,13428,0.96,234.2,556.1,8.6,584,13432,0.00,2.25,0.00,0.000,6,0.000,0.047,2666,2530,1464
$GC,13777,0.96,234.2,525.1,8.9,593,13778,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2530,1464
$GC,14101,0.96,234.2,496.2,8.9,601,14103,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2530,1464
$GC,14426,0.96,234.2,468.0,8.7,609,14431,0.00,2.28,0.00,0.000,4,0.000,0.051,2666,1109,1464
$GC,14455,0.96,234.2,465.6,8.3,609,14458,0.00,2.28,0.00,0.000,6,0.000,0.048,2666,2529,1464
$GC,14797,0.96,234.2,435.8,8.8,618,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2529,1464
$GC,15122,0.96,234.2,407.9,8.4,626,15123,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2529,1464
$GC,15429,0.96,234.2,384.5,7.4,638,15433,0.00,2.30,0.00,0.000,4,0.000,0.051,2666,1110,1464
$GC,15453,0.96,234.2,382.8,7.0,639,15457,0.00,2.28,0.00,0.000,6,0.000,0.048,2666,2528,1463
$GC,15786,0.96,234.2,357.3,8.1,655,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2529,1463
$GC,16095,0.96,234.2,330.9,8.8,670,16099,0.00,2.30,0.00,0.000,4,0.000,0.051,2666,1107,1463
$GC,16111,0.96,234.2,329.3,9.3,670,16118,0.00,2.28,0.00,0.000,6,0.000,0.046,2666,2527,1464
$GC,16427,0.96,234.2,303.2,7.7,686,16431,0.00,2.30,0.00,0.000,4,0.000,0.051,2666,1109,1464
$GC,16451,0.96,234.2,301.5,7.4,687,16455,0.00,2.28,0.00,0.000,6,0.000,0.047,2666,2530,1463
$GC,16783,0.97,240.6,277.6,6.8,703,16792,0.00,0.00,6.80,0.900,6,0.000,0.000,2666,2530,1438
$GC,17093,0.97,240.6,255.0,7.7,718,17097,0.00,2.28,0.00,0.000,4,0.000,0.051,2666,1116,1440
$GC,17116,0.97,242.7,253.3,7.0,719,17125,0.00,2.25,3.47,0.616,6,0.000,0.046,2666,2528,1430
$GC,17449,0.99,253.9,229.6,6.6,735,17465,0.00,2.30,11.23,0.964,4,0.000,0.049,2666,1109,1384
$GC,17483,1.10,286.1,227.4,5.9,735,17515,0.00,2.25,27.23,1.009,6,0.000,0.046,2666,2521,1253
$GC,17839,1.18,286.1,204.0,7.3,753,17843,0.10,2.25,0.00,0.000,4,0.084,0.050,2709,1116,1252
$GC,17907,1.18,286.1,198.1,8.4,756,17911,0.00,2.25,0.00,0.000,6,0.000,0.047,2709,2534,1253
$GC,18240,1.12,286.1,164.9,10.9,772,18242,0.12,0.00,0.00,0.000,6,0.130,0.000,2672,2534,1252
$GC,18550,1.19,286.1,133.9,10.3,787,18554,0.10,2.30,0.00,0.000,4,0.089,0.050,2715,1107,1252
$GC,18577,1.19,286.1,130.5,12.7,788,18581,0.00,2.28,0.00,0.000,6,0.000,0.046,2715,2533,1252
$GC,18897,1.13,286.1,96.2,9.8,808,18903,0.12,2.30,0.00,0.000,4,0.130,0.050,2679,1115,1251
$GC,18928,1.13,286.1,93.6,9.0,813,18934,0.00,2.25,0.00,0.000,6,0.000,0.046,2679,2523,1251
$GC,19273,1.27,304.4,67.2,6.4,874,19294,0.12,2.35,15.68,0.912,4,0.076,0.051,2733,1112,1179
$GC,19318,1.27,304.4,63.2,8.8,881,19324,0.00,2.25,0.00,0.000,6,0.000,0.046,2733,2526,1179
$GC,19663,1.20,304.4,34.5,8.5,942,19670,0.15,2.30,0.00,0.000,4,0.128,0.062,2687,3929,1180
$GC,19694,1.20,304.4,32.1,7.9,947,19700,0.00,2.20,0.00,0.000,6,0.000,0.038,2687,2511,1180
$GC,20039,1.37,345.9,9.7,5.6,1008,20081,0.15,2.33,34.97,0.906,4,0.072,0.052,2749,1120,1009
$GC,20105,1.37,345.9,4.1,8.7,1019,20111,0.00,2.25,0.00,0.000,6,0.000,0.047,2749,2523,1007
$STATE,20126,end climb,SURFACE_DEPTH_REACHED
$STATE,20126,begin surface coast
$FINISH,0.8,1.021182
$STATE,20149,end surface coast,CONTROL_FINISHED_OK
$STATE,20150,begin surface
$SM_CCo,20229,0.00,0.000,0,0,1004,347.34
$SM_GC,1.59,7.18,0.00,0.00,0.065,0.000,0.000,158,2329,1004,-10.39,-0.31,347.34
$RAFOS_CLK,1112
$RAFOS,0,1229630642,20.083334,20.067223,58,53,50,50,47,46,208,129,172,115,650,146
$RAFOS,4,1229618680,16.750000,16.744444,82,58,57,56,53,52,582,204,214,148,170,227
$RAFOS,3,1229618061,16.583334,16.572500,60,55,54,51,50,47,150,227,180,170,203,191
$RAFOS,2,1229617452,16.416666,16.403334,139,59,59,55,50,50,544,218,195,175,228,143
$RAFOS,1,1229616873,16.250000,16.242500,61,58,56,55,53,51,656,221,188,199,179,130
$RAFOS,0,1229616255,16.083334,16.070833,59,55,55,51,50,50,209,192,166,177,97,122
$RAFOS_FIX,6702.010742,-5719.113281,181208,161616,2,110,0.79
$IRIDIUM_FIX,6636.54,-5710.59,140398,090904
$TT8_MAMPS,0.029913
$HUMID,1890
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,19.9,81.915
$10V_AH,10.4,36.864
$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,21.625,156.275,487.425,0.000,0.000,25.757,39.266,157.906,0.250,0.000,0.000,16.535,1888.855,15445.745,677.834,2001.636,586.121,33.380,1795.781,0.000,1959.488,2520.000,0.529,0.000
$DEVICE_MAMPS,261.547,69.797,1344.551,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.070,703.468,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37785,1027
$CAP_FILE_SIZE,149737,0
$CFSIZE,260165632,218189824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$SOUNDSPEED,1459.1
$GPS,181208,202108,6700.688,-5718.221,25,1.2,25,-37.6