version: 66.04
glider: 113
mission: 4
dive: 251
start: 11 1 108 12 58 28
data:
$ID,113
$MISSION,4
$DIVE,251
$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,-26579.363
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,125208,6648.271,-5746.248,26,1.4,26,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.8
$GPS2,125733,6648.293,-5746.340,14,1.2,14,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD4_EB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.094,0.204
$KALMAN_X,27842.6,-92.4,415.8,-43987.9,-200.7
$KALMAN_Y,-75965.2,-358.9,-981.5,65113.6,-25.1
$MHEAD_RNG_PITCHd_Wd,62.4,21461,-12.9,-7.021
$D_GRID,674
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-119.57,0.000,2,0.000,0.000,158,2324,2886
$GC,141,-1.08,-146.0,3.2,-2.7,21,161,9.05,2.45,-4.70,0.000,4,0.271,0.081,2192,3755,3018
$GC,270,-0.61,-146.0,28.2,-17.6,43,277,0.40,2.22,0.00,0.000,6,0.182,0.043,2300,2340,3021
$GC,615,-0.61,-146.0,58.6,-7.8,104,621,0.00,2.35,0.00,0.000,4,0.000,0.068,2300,3756,3022
$GC,684,-0.67,-146.0,64.2,-8.0,116,690,0.00,2.22,0.00,0.000,6,0.000,0.043,2300,2330,3022
$GC,1027,-0.72,-146.0,88.9,-7.1,177,1033,0.10,0.00,0.00,0.000,6,0.112,0.000,2262,2330,3022
$GC,1365,-0.72,-146.0,117.7,-8.4,210,1368,0.00,2.35,0.00,0.000,4,0.000,0.070,2261,3743,3022
$GC,1409,-0.72,-146.0,121.4,-8.3,212,1413,0.00,2.20,0.00,0.000,6,0.000,0.043,2261,2331,3022
$GC,1741,-0.72,-146.0,147.9,-7.9,228,1745,0.00,2.22,0.00,0.000,4,0.000,0.058,2261,929,3021
$GC,1809,-0.66,-146.0,153.4,-8.1,231,1814,0.12,2.28,0.00,0.000,6,0.177,0.054,2294,2351,3021
$GC,2136,-0.77,-146.0,172.2,-5.9,247,2141,0.10,2.30,0.00,0.000,4,0.110,0.071,2258,3743,3021
$GC,2191,-0.77,-146.0,176.3,-7.8,249,2197,0.00,2.20,0.00,0.000,6,0.000,0.043,2258,2329,3021
$GC,2507,-0.77,-146.0,200.0,-7.4,265,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2330,3021
$GC,2816,-0.77,-146.0,222.0,-6.9,280,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2330,3020
$GC,3125,-0.77,-146.0,241.8,-6.4,295,3129,0.00,2.35,0.00,0.000,4,0.000,0.070,2258,3743,3020
$GC,3198,-0.84,-146.0,246.7,-6.9,298,3202,0.00,2.20,0.00,0.000,6,0.000,0.043,2258,2333,3020
$GC,3525,-0.84,-146.0,268.2,-6.6,314,3529,0.00,2.22,0.00,0.000,4,0.000,0.057,2258,930,3020
$GC,3676,-0.84,-146.0,278.9,-7.0,320,3682,0.00,2.28,0.00,0.000,6,0.000,0.053,2257,2353,3019
$GC,3992,-0.90,-146.0,298.5,-5.9,336,3996,0.00,2.28,0.00,0.000,4,0.000,0.068,2258,3744,3019
$GC,4037,-0.99,-146.0,301.3,-6.4,338,4042,0.15,2.20,0.00,0.000,6,0.094,0.041,2203,2323,3019
$GC,4370,-0.88,-146.0,325.9,-7.3,354,4375,0.15,2.38,0.00,0.000,4,0.150,0.067,2244,3750,3020
$GC,4477,-0.95,-146.0,332.7,-6.2,359,4481,0.00,2.20,0.00,0.000,6,0.000,0.041,2245,2330,3020
$GC,4810,-0.95,-146.0,352.9,-6.2,375,4813,0.00,2.20,0.00,0.000,4,0.000,0.054,2245,932,3020
$GC,4860,-0.95,-146.0,356.5,-7.0,377,4863,0.00,2.25,0.00,0.000,6,0.000,0.051,2245,2345,3020
$GC,5186,-0.95,-146.0,378.3,-6.8,393,5190,0.00,2.30,0.00,0.000,4,0.000,0.067,2245,3752,3021
$GC,5247,-1.02,-146.0,382.7,-7.4,395,5253,0.12,2.17,0.00,0.000,6,0.098,0.040,2201,2340,3021
$GC,5561,-0.91,-146.0,407.6,-7.8,409,5566,0.15,2.35,0.00,0.000,4,0.153,0.065,2243,3757,3021
$GC,5611,-0.97,-146.0,411.0,-6.5,410,5615,0.00,2.20,0.00,0.000,6,0.000,0.041,2243,2337,3021
$GC,5930,-0.97,-146.0,431.3,-6.4,418,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2337,3022
$GC,6254,-0.97,-146.0,453.2,-6.9,426,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2337,3022
$GC,6579,-0.97,-146.0,475.0,-6.7,434,6583,0.00,2.33,0.00,0.000,4,0.000,0.066,2243,3747,3022
$GC,6640,-1.05,-146.0,479.5,-7.0,435,6645,0.12,2.17,0.00,0.000,6,0.099,0.041,2199,2337,3022
$GC,6954,-0.95,-146.0,504.2,-8.0,443,6959,0.12,2.35,0.00,0.000,4,0.158,0.065,2231,3753,3022
$GC,7014,-0.95,-146.0,508.7,-7.4,444,7018,0.00,2.22,0.00,0.000,6,0.000,0.041,2231,2336,3022
$GC,7362,-0.95,-146.0,531.5,-6.5,453,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2336,3022
$GC,7688,-0.95,-146.0,553.4,-6.7,461,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2336,3023
$GC,8012,-0.95,-146.0,574.9,-6.6,469,8016,0.00,2.33,0.00,0.000,4,0.000,0.066,2231,3744,3023
$GC,8068,-1.01,-146.0,578.9,-7.4,470,8072,0.00,2.17,0.00,0.000,6,0.000,0.040,2231,2336,3023
$GC,8387,-1.01,-146.0,599.6,-6.6,478,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2336,3023
$GC,8711,-1.01,-146.0,620.5,-6.3,486,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2335,3023
$GC,9036,-1.01,-146.0,640.4,-6.1,494,9040,0.00,2.35,0.00,0.000,4,0.000,0.067,2231,3754,3023
$GC,9109,-1.06,-146.0,644.9,-6.2,495,9114,0.10,2.20,0.00,0.000,6,0.107,0.040,2195,2330,3023
$GC,9451,-0.96,-146.0,669.7,-7.3,504,9456,0.12,2.35,0.00,0.000,4,0.157,0.067,2228,3752,3023
$STATE,9517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9517,begin apogee
$GC,9524,-0.34,0.0,674.3,7.0,505,9661,0.40,0.00,133.98,1.305,6,0.141,0.000,2356,2516,2420
$STATE,9662,end apogee,CONTROL_FINISHED_OK
$STATE,9662,begin climb
$GC,9665,1.08,146.0,676.7,0.0,509,9814,1.08,0.00,140.07,1.201,6,0.112,0.000,2667,2516,1824
$GC,10112,1.08,146.0,643.6,7.9,520,10116,0.00,2.30,0.00,0.000,4,0.000,0.053,2667,1116,1821
$GC,10241,0.98,146.0,633.0,8.3,522,10247,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2530,1820
$GC,10572,0.85,146.0,603.1,9.2,531,10577,0.17,2.30,0.00,0.000,4,0.145,0.067,2616,3936,1820
$GC,10617,0.79,146.0,599.3,8.7,532,10621,0.00,2.20,0.00,0.000,6,0.000,0.041,2616,2510,1819
$GC,10947,0.80,151.5,576.6,6.8,540,10957,0.00,2.35,5.53,0.958,4,0.000,0.067,2616,3933,1802
$GC,10974,0.80,151.5,574.4,7.2,540,10978,0.00,2.20,0.00,0.000,6,0.000,0.041,2616,2512,1802
$GC,11311,0.85,153.8,550.7,6.9,549,11321,0.00,2.38,3.62,0.737,4,0.000,0.067,2616,3926,1793
$GC,11344,0.85,153.8,548.1,8.3,549,11348,0.00,2.20,0.00,0.000,6,0.000,0.041,2616,2507,1793
$GC,11681,0.92,158.2,524.7,6.9,558,11691,0.00,2.35,5.78,0.971,4,0.000,0.067,2615,3936,1774
$GC,11713,0.92,158.2,522.1,7.7,558,11720,0.00,2.20,0.00,0.000,6,0.000,0.041,2616,2516,1774
$GC,12046,0.99,172.9,500.4,6.5,567,12066,0.12,2.38,13.80,1.157,4,0.086,0.067,2665,3920,1715
$GC,12089,0.82,172.9,496.7,8.7,568,12094,0.20,2.20,0.00,0.000,6,0.144,0.041,2608,2514,1715
$GC,12413,0.95,198.8,476.1,6.1,576,12439,0.12,0.00,23.08,1.181,6,0.083,0.000,2661,2512,1609
$GC,12740,0.90,198.8,448.8,8.6,584,12744,0.12,2.22,0.00,0.000,4,0.132,0.054,2626,1116,1607
$GC,12755,0.90,198.8,447.4,8.2,584,12759,0.00,2.22,0.00,0.000,6,0.000,0.048,2626,2517,1607
$GC,13068,0.99,213.6,426.9,6.5,592,13084,0.10,0.00,13.35,1.108,6,0.088,0.000,2668,2518,1550
$GC,13394,0.94,213.6,398.7,8.8,600,13398,0.12,2.25,0.00,0.000,4,0.127,0.054,2633,1116,1548
$GC,13426,1.05,213.6,396.0,7.2,601,13433,0.12,2.22,0.00,0.000,6,0.084,0.049,2685,2524,1548
$GC,13742,0.95,213.6,366.5,9.3,617,13747,0.15,2.25,0.00,0.000,4,0.127,0.053,2640,1118,1548
$GC,13775,1.05,218.5,363.8,6.9,618,13786,0.10,2.22,5.85,0.910,6,0.091,0.048,2680,2527,1529
$GC,14110,0.97,218.5,333.2,9.5,635,14115,0.12,2.25,0.00,0.000,4,0.133,0.053,2647,1117,1528
$GC,14154,1.04,218.5,329.3,7.5,637,14158,0.00,2.22,0.00,0.000,6,0.000,0.048,2647,2528,1528
$GC,14480,1.04,218.5,303.3,7.8,653,14484,0.00,2.25,0.00,0.000,4,0.000,0.053,2647,1110,1528
$GC,14507,1.10,218.5,301.2,7.1,654,14512,0.10,2.22,0.00,0.000,6,0.090,0.048,2691,2525,1527
$GC,14834,0.99,218.5,268.7,9.9,670,14838,0.15,2.25,0.00,0.000,4,0.126,0.052,2647,1112,1527
$GC,14860,0.99,218.5,266.3,8.1,671,14864,0.00,2.22,0.00,0.000,6,0.000,0.048,2647,2533,1528
$GC,15182,1.04,218.5,243.0,7.2,687,15186,0.00,2.25,0.00,0.000,4,0.000,0.052,2647,1112,1528
$GC,15215,1.17,238.8,240.6,6.3,688,15241,0.15,2.22,18.05,1.029,6,0.076,0.047,2708,2532,1446
$GC,15559,1.06,238.8,205.5,10.7,705,15563,0.15,2.28,0.00,0.000,4,0.132,0.052,2664,1110,1445
$GC,15586,1.11,238.8,202.8,8.8,706,15590,0.00,2.22,0.00,0.000,6,0.000,0.048,2664,2520,1445
$GC,15907,1.16,238.8,178.1,7.3,722,15909,0.10,0.00,0.00,0.000,6,0.083,0.000,2708,2521,1445
$GC,16217,1.08,238.8,150.3,8.7,737,16222,0.15,2.25,0.00,0.000,4,0.130,0.053,2663,1110,1445
$GC,16232,1.08,238.8,149.0,8.4,737,16239,0.00,2.22,0.00,0.000,6,0.000,0.048,2663,2524,1445
$GC,16548,1.17,244.3,127.5,6.8,753,16560,0.10,2.25,6.18,0.842,4,0.082,0.052,2708,1112,1424
$GC,16605,1.17,244.3,122.9,8.6,755,16611,0.00,2.22,0.00,0.000,6,0.000,0.048,2707,2522,1424
$GC,16922,1.12,244.3,96.7,8.2,774,16928,0.12,0.00,0.00,0.000,6,0.137,0.000,2670,2522,1423
$GC,17265,1.26,275.1,75.2,6.0,835,17301,0.15,2.35,26.27,0.996,4,0.073,0.056,2732,1115,1297
$GC,17313,1.20,275.1,71.5,8.1,843,17320,0.15,2.28,0.00,0.000,6,0.130,0.050,2689,2523,1296
$GC,17658,1.27,275.1,47.6,7.1,904,17663,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2523,1293
$GC,18000,1.50,275.1,23.3,7.3,965,18007,0.20,2.28,0.00,0.000,4,0.071,0.054,2775,1105,1293
$GC,18093,1.40,275.1,15.0,9.0,981,18100,0.15,2.25,0.00,0.000,6,0.156,0.051,2735,2520,1292
$STATE,18251,end climb,SURFACE_DEPTH_REACHED
$STATE,18251,begin surface coast
$FINISH,0.8,1.025906
$STATE,18273,end surface coast,CONTROL_FINISHED_OK
$STATE,18273,begin surface
$SM_CCo,18350,0.00,0.000,0,0,1290,277.19
$SM_GC,1.60,7.15,0.00,0.00,0.068,0.000,0.000,161,2343,1290,-10.39,0.08,277.19
$RAFOS_CLK,1031
$RAFOS,4,1225557841,16.750000,16.733612,59,59,58,58,55,52,137,763,218,171,188,207
$RAFOS,3,1225557252,16.583334,16.570000,65,65,62,59,52,51,212,227,137,786,173,201
$RAFOS,2,1225556678,16.416666,16.410555,56,55,55,51,50,49,222,212,142,151,194,172
$RAFOS,1,1225556066,16.250000,16.240555,100,62,58,58,52,45,605,206,156,176,222,192
$RAFOS,0,1225555454,16.083334,16.070555,91,62,56,54,52,50,840,219,228,150,204,124
$RAFOS,4,1225543442,12.750000,12.733889,83,56,54,54,51,50,759,126,204,184,157,213
$RAFOS_FIX,6634.973633,-5852.863770,011108,121224,4,78,0.00
$IRIDIUM_FIX,6620.33,-5749.28,260198,070741
$TT8_MAMPS,0.027612
$HUMID,1874
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,20.9,49.063
$10V_AH,10.5,20.953
$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,22.600,158.300,395.550,0.000,0.000,26.338,35.954,135.546,0.000,0.000,0.000,16.180,1923.485,13760.904,589.342,1981.423,473.256,33.369,1668.037,0.000,1950.626,1800.000,0.528,0.000
$DEVICE_MAMPS,270.751,80.535,1304.667,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.146,693.719,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37880,1013
$CAP_FILE_SIZE,147708,0
$CFSIZE,260165632,232222720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.5
$GPS,011108,180638,6650.755,-5744.731,38,1.0,38,-37.5