version: 66.04
glider: 113
mission: 4
dive: 201
start: 10 21 108 8 4 45
data:
$ID,113
$MISSION,4
$DIVE,201
$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,-2
$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,275
$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,-25711.645
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,075837,6644.735,-5957.458,40,1.3,40,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-64.5
$GPS2,080350,6644.760,-5957.661,13,1.2,13,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.205,0.092
$KALMAN_X,18832.3,390.7,-214.0,-130201.0,297.9
$KALMAN_Y,8980.1,-1854.9,1623.1,-27465.8,-2293.1
$MHEAD_RNG_PITCHd_Wd,332.2,33604,-12.9,-7.021
$D_GRID,663
$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,15,-1.08,-146.0,0.0,0.0,0,127,0.00,0.00,-108.65,0.000,2,0.000,0.000,165,2333,2819
$GC,129,-1.08,-146.0,3.4,-3.2,19,155,9.02,2.42,-7.00,0.000,4,0.275,0.084,2192,3748,3019
$GC,408,-0.73,-146.0,55.5,-14.8,68,415,0.30,2.22,0.00,0.000,6,0.171,0.043,2274,2336,3022
$GC,752,-0.67,-146.0,89.2,-9.2,129,758,0.00,2.25,0.00,0.000,4,0.000,0.058,2274,928,3023
$GC,892,-0.59,-146.0,102.3,-9.3,151,897,0.12,2.28,0.00,0.000,6,0.164,0.054,2308,2346,3023
$GC,1219,-0.69,-146.0,125.3,-7.3,167,1224,0.10,2.28,0.00,0.000,4,0.104,0.057,2273,936,3023
$GC,1285,-0.63,-146.0,131.3,-8.6,170,1290,0.12,2.28,0.00,0.000,6,0.167,0.057,2305,2344,3023
$GC,1612,-0.75,-146.0,154.6,-7.1,186,1616,0.12,2.33,0.00,0.000,4,0.098,0.072,2260,3745,3023
$GC,1695,-0.75,-146.0,162.2,-9.6,190,1699,0.00,2.20,0.00,0.000,6,0.000,0.044,2260,2341,3023
$GC,2027,-0.75,-146.0,188.9,-7.5,206,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2341,3023
$GC,2336,-0.75,-146.0,210.4,-6.4,221,2340,0.00,2.35,0.00,0.000,4,0.000,0.071,2260,3749,3022
$GC,2403,-0.75,-146.0,214.7,-6.7,224,2407,0.00,2.22,0.00,0.000,6,0.000,0.044,2260,2329,3022
$GC,2736,-0.75,-146.0,236.8,-7.1,240,2740,0.00,2.22,0.00,0.000,4,0.000,0.060,2260,934,3022
$GC,2875,-0.75,-146.0,247.6,-7.8,246,2880,0.00,2.30,0.00,0.000,6,0.000,0.054,2260,2346,3021
$GC,3202,-0.75,-146.0,271.4,-7.4,262,3206,0.00,2.33,0.00,0.000,4,0.000,0.072,2260,3751,3021
$GC,3286,-0.81,-146.0,277.6,-7.2,265,3292,0.00,2.22,0.00,0.000,6,0.000,0.044,2260,2333,3021
$GC,3600,-0.81,-146.0,300.7,-7.6,281,3604,0.00,2.25,0.00,0.000,4,0.000,0.061,2260,926,3021
$GC,3701,-0.81,-146.0,308.8,-8.3,285,3705,0.00,2.28,0.00,0.000,6,0.000,0.054,2260,2341,3021
$GC,4022,-0.86,-146.0,330.4,-6.4,301,4026,0.00,2.33,0.00,0.000,4,0.000,0.070,2260,3755,3021
$GC,4230,-0.95,-146.0,343.3,-5.9,310,4235,0.12,2.22,0.00,0.000,6,0.097,0.044,2215,2334,3021
$GC,4556,-0.87,-146.0,365.3,-6.7,326,4561,0.12,2.25,0.00,0.000,4,0.159,0.058,2248,931,3021
$GC,4651,-0.87,-146.0,371.4,-6.1,330,4655,0.00,2.28,0.00,0.000,6,0.000,0.055,2248,2347,3021
$GC,4978,-0.87,-146.0,390.4,-5.9,346,4982,0.00,2.33,0.00,0.000,4,0.000,0.072,2248,3747,3021
$GC,5056,-0.93,-146.0,395.3,-6.4,349,5059,0.00,2.20,0.00,0.000,6,0.000,0.043,2248,2340,3021
$GC,5394,-0.93,-146.0,415.5,-6.0,360,5398,0.00,2.22,0.00,0.000,4,0.000,0.057,2248,930,3021
$GC,5522,-0.93,-146.0,424.0,-6.8,362,5529,0.00,2.28,0.00,0.000,6,0.000,0.052,2248,2353,3021
$GC,5853,-0.93,-146.0,443.8,-6.0,371,5857,0.00,2.30,0.00,0.000,4,0.000,0.068,2248,3753,3022
$GC,6040,-1.01,-146.0,455.9,-6.8,375,6045,0.12,2.22,0.00,0.000,6,0.104,0.042,2205,2324,3022
$GC,6363,-0.92,-146.0,480.7,-7.7,383,6365,0.12,0.00,0.00,0.000,6,0.156,0.000,2238,2323,3022
$GC,6689,-0.92,-146.0,502.7,-6.8,391,6692,0.00,2.38,0.00,0.000,4,0.000,0.071,2239,3747,3023
$GC,6812,-0.98,-146.0,511.3,-7.0,393,6816,0.00,2.20,0.00,0.000,6,0.000,0.042,2239,2333,3023
$GC,7148,-0.98,-146.0,532.9,-6.2,402,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2333,3024
$GC,7473,-0.98,-146.0,553.3,-6.3,410,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2333,3024
$GC,7797,-0.98,-146.0,573.2,-6.0,418,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2333,3024
$GC,8123,-1.03,-146.0,592.3,-5.8,426,8128,0.10,2.38,0.00,0.000,4,0.107,0.068,2203,3756,3024
$GC,8212,-1.03,-146.0,598.3,-6.9,428,8216,0.00,2.20,0.00,0.000,6,0.000,0.042,2203,2334,3024
$GC,8536,-0.96,-146.0,619.8,-6.8,436,8540,0.10,2.22,0.00,0.000,4,0.163,0.054,2228,934,3024
$GC,8607,-0.96,-146.0,624.4,-6.0,437,8611,0.00,2.28,0.00,0.000,6,0.000,0.052,2229,2356,3024
$GC,8950,-0.96,-146.0,644.9,-6.0,446,8954,0.00,2.30,0.00,0.000,4,0.000,0.069,2229,3750,3024
$GC,9119,-1.01,-146.0,656.0,-6.8,449,9122,0.00,2.20,0.00,0.000,6,0.000,0.041,2228,2337,3024
$STATE,9250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9250,begin apogee
$GC,9256,-0.34,0.0,664.0,6.0,453,9391,0.45,0.00,132.25,1.310,6,0.145,0.000,2365,2523,2420
$STATE,9391,end apogee,CONTROL_FINISHED_OK
$STATE,9392,begin climb
$GC,9394,1.08,146.0,666.9,0.0,456,9533,1.02,0.00,135.48,1.221,6,0.106,0.000,2668,2523,1824
$GC,9842,0.94,146.0,631.9,8.5,467,9847,0.12,2.40,0.00,0.000,4,0.150,0.068,2636,3926,1821
$GC,9875,0.81,146.0,629.0,8.2,467,9882,0.10,2.30,0.00,0.000,6,0.156,0.041,2611,2513,1820
$GC,10206,0.90,173.3,608.5,6.1,476,10236,0.00,2.47,23.65,1.230,4,0.000,0.068,2611,3924,1713
$GC,10253,0.90,174.4,605.3,7.0,477,10257,0.00,2.28,0.00,0.000,6,0.000,0.041,2611,2512,1712
$GC,10578,1.02,199.4,584.9,6.2,485,10604,0.15,0.00,22.92,1.223,6,0.078,0.000,2669,2512,1607
$GC,10902,0.94,199.4,556.2,9.0,493,10904,0.12,0.00,0.00,0.000,6,0.141,0.000,2635,2512,1605
$GC,11227,0.94,199.4,531.6,7.6,501,11231,0.00,2.22,0.00,0.000,4,0.000,0.056,2635,1111,1605
$GC,11237,0.94,199.4,530.7,7.6,501,11242,0.00,2.25,0.00,0.000,6,0.000,0.051,2635,2526,1605
$GC,11555,0.94,199.4,507.6,7.2,509,11559,0.00,2.25,0.00,0.000,4,0.000,0.054,2635,1111,1605
$GC,11565,0.99,199.4,506.9,7.3,509,11569,0.00,2.25,0.00,0.000,6,0.000,0.050,2635,2534,1604
$GC,11884,0.99,199.4,484.5,7.1,517,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2535,1604
$GC,12208,0.99,199.4,461.3,7.1,525,12212,0.00,2.28,0.00,0.000,4,0.000,0.054,2634,1105,1604
$GC,12219,1.04,200.0,460.5,7.0,525,12223,0.10,2.25,0.00,0.000,6,0.091,0.050,2677,2529,1604
$GC,12537,0.95,200.0,434.1,8.3,533,12541,0.15,2.28,0.00,0.000,4,0.126,0.067,2632,3929,1604
$GC,12547,0.87,200.0,433.1,8.3,533,12551,0.00,2.20,0.00,0.000,6,0.000,0.041,2632,2505,1604
$GC,12865,0.97,229.0,413.7,6.0,541,12892,0.00,0.00,25.35,1.174,6,0.000,0.000,2632,2505,1486
$GC,13171,1.10,255.4,395.3,6.1,550,13201,0.15,2.33,23.15,1.139,4,0.079,0.056,2692,1120,1377
$GC,13207,1.03,255.4,392.1,8.7,551,13214,0.12,2.30,0.00,0.000,6,0.136,0.049,2657,2531,1377
$GC,13522,1.03,255.4,368.3,7.4,567,13526,0.00,2.28,0.00,0.000,4,0.000,0.054,2657,1116,1376
$GC,13532,1.08,255.4,367.5,7.5,567,13536,0.00,2.25,0.00,0.000,6,0.000,0.049,2657,2529,1376
$GC,13853,1.08,255.4,343.9,7.4,583,13857,0.00,2.28,0.00,0.000,4,0.000,0.054,2657,1106,1375
$GC,13880,1.18,264.7,342.0,6.7,584,13897,0.12,2.25,8.98,1.015,6,0.084,0.049,2705,2525,1340
$GC,14206,1.09,264.7,312.0,9.0,600,14210,0.12,2.28,0.00,0.000,4,0.138,0.054,2668,1109,1339
$GC,14221,1.09,264.7,310.7,8.5,600,14228,0.00,2.25,0.00,0.000,6,0.000,0.050,2668,2529,1339
$GC,14537,1.09,264.7,288.6,7.3,616,14540,0.00,2.25,0.00,0.000,4,0.000,0.054,2668,1119,1338
$GC,14546,1.09,264.7,287.9,7.3,616,14551,0.00,2.25,0.00,0.000,6,0.000,0.049,2668,2522,1338
$GC,14868,1.09,264.7,263.8,7.8,632,14872,0.00,2.25,0.00,0.000,4,0.000,0.055,2668,1116,1338
$GC,14895,1.17,264.7,261.6,7.8,633,14899,0.00,2.22,0.00,0.000,6,0.000,0.050,2668,2525,1338
$GC,15222,1.22,264.7,236.5,7.7,649,15227,0.12,2.25,0.00,0.000,4,0.078,0.054,2720,1109,1338
$GC,15267,1.14,264.7,232.5,9.8,651,15272,0.15,2.22,0.00,0.000,6,0.134,0.050,2677,2527,1338
$GC,15598,1.14,264.7,208.0,7.2,667,15602,0.00,2.25,0.00,0.000,4,0.000,0.055,2677,1118,1339
$GC,15614,1.20,264.7,206.7,7.7,667,15621,0.00,2.22,0.00,0.000,6,0.000,0.050,2677,2525,1339
$GC,15929,1.26,264.7,181.7,7.9,683,15934,0.12,2.25,0.00,0.000,4,0.076,0.054,2731,1117,1339
$GC,15956,1.21,264.7,179.1,10.1,684,15960,0.12,2.22,0.00,0.000,6,0.140,0.051,2695,2528,1338
$GC,16276,1.21,264.7,150.4,8.9,700,16280,0.00,2.25,0.00,0.000,4,0.000,0.056,2696,1119,1339
$GC,16286,1.21,264.7,149.4,9.1,700,16291,0.00,2.22,0.00,0.000,6,0.000,0.051,2695,2525,1338
$GC,16607,1.21,264.7,120.5,8.9,716,16611,0.00,2.25,0.00,0.000,4,0.000,0.056,2695,1108,1338
$GC,16617,1.21,264.7,119.5,8.9,716,16621,0.00,2.28,0.00,0.000,6,0.000,0.051,2695,2520,1338
$GC,16942,1.27,264.7,92.7,7.7,743,16948,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2520,1338
$GC,17286,1.33,273.7,68.4,6.7,804,17300,0.10,2.35,8.73,0.956,4,0.087,0.071,2737,3926,1304
$GC,17306,1.33,273.7,66.7,7.3,807,17312,0.00,2.20,0.00,0.000,6,0.000,0.044,2739,2519,1303
$GC,17650,1.25,273.7,35.2,7.8,868,17657,0.12,2.25,0.00,0.000,4,0.153,0.058,2705,1112,1302
$GC,17715,1.41,294.7,31.1,6.3,879,17740,0.12,2.25,18.73,1.009,6,0.085,0.054,2756,2519,1217
$GC,18079,1.45,329.5,4.9,5.8,943,18115,0.00,2.40,28.92,0.995,4,0.000,0.071,2756,3935,1074
$STATE,18124,end climb,SURFACE_DEPTH_REACHED
$STATE,18125,begin surface coast
$FINISH,0.8,1.012711
$STATE,18142,end surface coast,CONTROL_FINISHED_OK
$STATE,18143,begin surface
$SM_CCo,18221,0.00,0.000,0,0,1068,331.65
$SM_GC,1.79,7.50,0.00,0.00,0.080,0.000,0.000,167,2334,1068,-10.37,-0.17,331.65
$RAFOS_CLK,1029
$RAFOS,4,1224593056,12.750000,12.737778,121,67,55,54,53,53,738,216,141,198,183,156
$RAFOS,3,1224592456,12.583333,12.571111,64,60,55,54,54,53,154,213,195,117,240,691
$RAFOS,2,1224591860,12.416667,12.405556,67,62,59,59,58,57,191,222,208,836,169,110
$RAFOS,1,1224591257,12.250000,12.238055,83,61,57,55,54,51,611,164,218,199,118,926
$RAFOS,0,1224590655,12.083333,12.070833,131,65,60,53,51,51,465,214,160,198,179,123
$RAFOS,4,1224578641,8.750000,8.733611,130,61,60,57,55,52,817,195,210,120,173,135
$RAFOS,3,1224578042,8.583333,8.567223,136,59,57,57,57,57,760,166,195,207,223,124
$RAFOS,2,1224577460,8.416667,8.405556,105,63,55,55,51,50,822,214,170,188,230,154
$RAFOS,1,1224576844,8.250000,8.234445,130,65,59,57,54,52,680,137,118,166,217,155
$RAFOS_FIX,6644.555176,-5952.786133,211008,080828,4,125,2.16
$IRIDIUM_FIX,6620.33,-6001.10,150198,020249
$TT8_MAMPS,0.027612
$HUMID,1876
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,21.3,41.028
$10V_AH,10.5,17.292
$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,21.625,168.575,428.150,0.000,0.000,29.309,36.237,125.720,0.250,0.000,0.000,14.974,1866.881,13685.922,600.116,1992.715,435.932,33.373,1684.191,0.000,1962.683,3240.000,0.529,0.000
$DEVICE_MAMPS,274.586,83.603,1310.036,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.838,652.983,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34752,954
$CAP_FILE_SIZE,146399,0
$CFSIZE,260165632,235610112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.3
$GPS,211008,131037,6644.202,-6001.951,35,0.9,35,-38.0