version: 66.04
glider: 113
mission: 4
dive: 321
start: 11 18 108 9 55 8
data:
$ID,113
$MISSION,4
$DIVE,321
$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,-28852.688
$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,33
$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
$GPS1,093937,6705.937,-5709.684,80,0.8,80,-37.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-58.8
$GPS2,095410,6705.879,-5709.814,12,1.7,12,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.220,-0.044
$KALMAN_X,-38648.6,485.6,-691.9,49547.7,-2409.2
$KALMAN_Y,-32534.4,-602.8,533.2,52983.1,252.9
$MHEAD_RNG_PITCHd_Wd,138.9,16631,-12.9,-7.021
$D_GRID,646
$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,12,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,154,0.00,0.00,-134.95,0.000,6,0.000,0.000,156,2339,3018
$GC,157,-1.08,-146.0,3.8,-3.8,24,171,8.65,2.30,0.00,0.000,4,0.254,0.055,2201,928,3020
$GC,320,-0.61,-146.0,33.1,-15.6,52,327,0.35,2.25,0.00,0.000,6,0.170,0.050,2300,2343,3023
$GC,665,-0.61,-146.0,67.1,-7.8,113,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2343,3024
$GC,1008,-0.66,-146.0,92.2,-7.2,174,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2342,3025
$GC,1333,-0.74,-146.0,115.3,-7.9,205,1338,0.10,2.30,0.00,0.000,4,0.110,0.067,2262,3743,3024
$GC,1372,-0.74,-146.0,119.0,-10.3,207,1376,0.00,2.17,0.00,0.000,6,0.000,0.041,2262,2335,3024
$GC,1704,-0.74,-146.0,147.7,-7.6,223,1708,0.00,2.33,0.00,0.000,4,0.000,0.066,2262,3745,3023
$GC,1720,-0.74,-146.0,149.0,-7.6,223,1726,0.00,2.17,0.00,0.000,6,0.000,0.039,2262,2335,3023
$GC,2035,-0.74,-146.0,172.8,-7.9,239,2039,0.00,2.33,0.00,0.000,4,0.000,0.066,2262,3742,3023
$GC,2051,-0.74,-146.0,174.1,-8.1,239,2057,0.00,2.17,0.00,0.000,6,0.000,0.040,2262,2340,3023
$GC,2366,-0.74,-146.0,200.6,-8.2,255,2370,0.00,2.33,0.00,0.000,4,0.000,0.066,2262,3745,3022
$GC,2445,-0.79,-146.0,207.1,-7.8,258,2449,0.00,2.20,0.00,0.000,6,0.000,0.040,2262,2326,3022
$GC,2766,-0.79,-146.0,231.3,-7.5,274,2770,0.00,2.20,0.00,0.000,4,0.000,0.054,2262,932,3022
$GC,2816,-0.79,-146.0,235.3,-8.1,276,2820,0.00,2.25,0.00,0.000,6,0.000,0.050,2262,2345,3022
$GC,3142,-0.79,-146.0,258.8,-7.2,292,3146,0.00,2.25,0.00,0.000,4,0.000,0.052,2262,932,3021
$GC,3154,-0.79,-146.0,259.7,-7.3,292,3157,0.00,2.25,0.00,0.000,6,0.000,0.048,2262,2349,3021
$GC,3475,-0.84,-146.0,282.5,-7.0,308,3479,0.00,2.30,0.00,0.000,4,0.000,0.067,2262,3749,3021
$GC,3486,-0.90,-146.0,283.4,-7.0,308,3490,0.00,2.20,0.00,0.000,6,0.000,0.039,2262,2327,3021
$GC,3809,-0.96,-146.0,304.1,-6.2,324,3813,0.12,2.20,0.00,0.000,4,0.110,0.051,2217,933,3021
$GC,3819,-0.96,-146.0,304.8,-6.2,324,3823,0.00,2.25,0.00,0.000,6,0.000,0.049,2217,2350,3021
$GC,4140,-0.89,-146.0,326.8,-6.3,340,4142,0.10,0.00,0.00,0.000,6,0.170,0.000,2242,2350,3021
$GC,4450,-0.89,-146.0,344.2,-5.7,355,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2350,3021
$GC,4758,-0.89,-146.0,363.0,-6.4,370,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2350,3021
$GC,5068,-0.89,-146.0,383.0,-6.5,385,5072,0.00,2.30,0.00,0.000,4,0.000,0.065,2242,3756,3022
$GC,5085,-0.89,-146.0,384.0,-6.5,385,5091,0.00,2.20,0.00,0.000,6,0.000,0.037,2242,2325,3023
$GC,5400,-0.89,-146.0,403.5,-6.0,400,5403,0.00,2.35,0.00,0.000,4,0.000,0.063,2242,3752,3023
$GC,5428,-0.94,-146.0,405.3,-6.7,400,5432,0.00,2.17,0.00,0.000,6,0.000,0.036,2242,2333,3023
$GC,5771,-0.94,-146.0,425.7,-5.8,409,5775,0.00,2.33,0.00,0.000,4,0.000,0.062,2242,3748,3024
$GC,5806,-1.01,-146.0,427.9,-6.2,409,5811,0.10,2.17,0.00,0.000,6,0.095,0.037,2204,2328,3024
$GC,6143,-0.92,-146.0,450.9,-6.8,418,6147,0.12,2.35,0.00,0.000,4,0.150,0.063,2239,3756,3024
$GC,6159,-0.92,-146.0,452.1,-6.7,418,6163,0.00,2.17,0.00,0.000,6,0.000,0.036,2239,2334,3024
$GC,6472,-0.92,-146.0,469.9,-5.7,426,6476,0.00,2.33,0.00,0.000,4,0.000,0.062,2239,3753,3025
$GC,6489,-0.92,-146.0,471.0,-5.5,426,6493,0.00,2.17,0.00,0.000,6,0.000,0.036,2239,2331,3025
$GC,6802,-0.92,-146.0,489.1,-5.8,434,6806,0.00,2.33,0.00,0.000,4,0.000,0.062,2239,3747,3026
$GC,6842,-0.99,-146.0,491.5,-6.8,434,6848,0.00,2.15,0.00,0.000,6,0.000,0.036,2239,2340,3026
$GC,7173,-0.99,-146.0,509.7,-5.4,443,7177,0.00,2.33,0.00,0.000,4,0.000,0.062,2239,3756,3026
$GC,7201,-1.04,-146.0,511.3,-5.5,443,7206,0.12,2.17,0.00,0.000,6,0.092,0.035,2193,2331,3026
$GC,7544,-0.93,-146.0,534.0,-6.7,452,7549,0.15,2.35,0.00,0.000,4,0.149,0.062,2234,3754,3027
$GC,7577,-0.98,-146.0,536.2,-5.9,452,7584,0.00,2.17,0.00,0.000,6,0.000,0.036,2234,2331,3027
$GC,7908,-0.98,-146.0,555.2,-5.9,461,7912,0.00,2.33,0.00,0.000,4,0.000,0.061,2234,3752,3028
$GC,7925,-0.98,-146.0,556.1,-5.9,461,7929,0.00,2.17,0.00,0.000,6,0.000,0.035,2234,2328,3028
$GC,8238,-0.98,-146.0,574.9,-6.0,469,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2329,3028
$GC,8564,-1.02,-146.0,594.2,-5.9,477,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2328,3028
$GC,8888,-1.02,-146.0,612.2,-5.5,485,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2329,3028
$GC,9214,-1.02,-146.0,630.4,-5.8,493,9218,0.00,2.33,0.00,0.000,4,0.000,0.062,2233,3752,3029
$GC,9241,-1.07,-146.0,632.0,-5.7,493,9246,0.12,2.17,0.00,0.000,6,0.097,0.036,2190,2330,3029
$STATE,9459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9459,begin apogee
$GC,9466,-0.34,0.0,647.8,7.3,499,9602,0.57,0.00,133.75,1.224,6,0.140,0.000,2365,2522,2420
$STATE,9603,end apogee,CONTROL_FINISHED_OK
$STATE,9603,begin climb
$GC,9606,1.08,146.0,649.8,0.0,502,9754,1.00,2.65,137.68,1.146,4,0.101,0.046,2665,1128,1825
$GC,9789,0.99,146.0,636.0,8.8,506,9793,0.00,2.45,0.00,0.000,6,0.000,0.044,2665,2522,1823
$GC,10140,0.87,146.0,603.3,9.2,515,10145,0.15,2.30,0.00,0.000,4,0.140,0.061,2623,3936,1823
$GC,10240,0.77,146.0,593.5,9.5,517,10244,0.00,2.17,0.00,0.000,6,0.000,0.038,2623,2522,1822
$GC,10554,0.77,146.0,569.9,7.6,525,10557,0.00,2.20,0.00,0.000,4,0.000,0.049,2623,1109,1821
$GC,10615,0.84,157.8,565.7,6.6,526,10631,0.00,2.22,10.95,1.055,6,0.000,0.044,2623,2534,1776
$GC,10962,0.84,157.8,540.1,7.4,535,10966,0.00,2.22,0.00,0.000,4,0.000,0.061,2623,3927,1775
$GC,11019,0.78,157.8,535.4,7.8,536,11023,0.00,2.15,0.00,0.000,6,0.000,0.037,2623,2518,1776
$GC,11337,0.78,157.8,512.0,7.5,544,11341,0.00,2.17,0.00,0.000,4,0.000,0.049,2623,1112,1775
$GC,11398,0.85,157.8,507.6,7.8,545,11402,0.00,2.20,0.00,0.000,6,0.000,0.044,2623,2524,1775
$GC,11711,0.86,166.7,486.4,6.7,553,11726,0.00,2.30,8.90,1.003,4,0.000,0.062,2623,3920,1740
$GC,11760,0.81,166.7,482.6,7.5,554,11764,0.00,2.15,0.00,0.000,6,0.000,0.036,2623,2514,1740
$GC,12085,0.83,179.7,460.9,6.6,562,12104,0.00,2.25,12.27,1.039,4,0.000,0.048,2623,1123,1687
$GC,12156,0.92,179.7,456.1,7.1,563,12160,0.00,2.20,0.00,0.000,6,0.000,0.044,2623,2523,1687
$GC,12499,0.98,179.7,432.3,7.2,572,12501,0.10,0.00,0.00,0.000,6,0.080,0.000,2667,2524,1687
$GC,12823,0.90,179.7,404.3,8.3,580,12828,0.12,2.25,0.00,0.000,4,0.130,0.061,2630,3926,1687
$GC,12874,0.85,179.7,400.1,8.1,581,12878,0.00,2.15,0.00,0.000,6,0.000,0.037,2630,2513,1687
$GC,13203,0.90,179.7,377.2,7.3,596,13206,0.00,2.17,0.00,0.000,4,0.000,0.049,2630,1110,1687
$GC,13248,0.99,179.7,374.0,7.5,598,13252,0.00,2.20,0.00,0.000,6,0.000,0.044,2630,2523,1686
$GC,13582,1.04,179.7,348.4,8.0,614,13586,0.12,2.25,0.00,0.000,4,0.074,0.061,2687,3923,1686
$GC,13659,0.80,179.7,339.4,12.1,617,13664,0.28,2.15,0.00,0.000,6,0.133,0.037,2606,2513,1687
$GC,13976,0.98,214.4,319.0,5.8,632,14011,0.15,2.28,29.50,1.025,4,0.069,0.048,2670,1114,1545
$GC,14063,0.98,214.4,312.1,8.2,636,14067,0.10,2.22,0.00,0.000,6,0.146,0.044,2643,2523,1545
$GC,14397,1.02,215.8,288.5,7.0,652,14401,0.00,2.25,0.00,0.000,4,0.000,0.061,2643,3928,1544
$GC,14430,1.02,215.8,285.6,8.2,653,14434,0.00,2.17,0.00,0.000,6,0.000,0.037,2643,2521,1544
$GC,14751,1.02,215.8,259.1,8.4,669,14755,0.00,2.17,0.00,0.000,4,0.000,0.048,2643,1119,1544
$GC,14824,1.13,215.8,253.2,7.6,672,14829,0.12,2.20,0.00,0.000,6,0.079,0.044,2694,2532,1544
$GC,15150,1.04,215.8,223.4,8.4,688,15155,0.12,2.25,0.00,0.000,4,0.131,0.061,2657,3929,1544
$GC,15201,0.99,215.8,219.8,7.2,690,15205,0.00,2.15,0.00,0.000,6,0.000,0.036,2657,2519,1544
$GC,15522,1.03,240.3,200.1,6.2,706,15549,0.00,2.28,22.15,0.954,4,0.000,0.048,2657,1121,1440
$GC,15616,1.14,244.7,193.8,6.9,710,15629,0.10,2.22,5.28,0.725,6,0.083,0.044,2698,2533,1422
$GC,15938,1.09,244.7,163.4,9.8,726,15940,0.10,0.00,0.00,0.000,6,0.140,0.000,2670,2533,1422
$GC,16246,1.14,244.7,139.5,7.3,741,16250,0.00,2.22,0.00,0.000,4,0.000,0.049,2670,1120,1422
$GC,16309,1.24,244.7,134.9,7.5,743,16316,0.12,2.20,0.00,0.000,6,0.073,0.046,2720,2525,1422
$GC,16624,1.15,244.7,104.1,9.6,759,16629,0.12,2.28,0.00,0.000,4,0.131,0.061,2682,3936,1422
$GC,16674,1.10,244.7,99.6,8.1,761,16678,0.00,2.17,0.00,0.000,6,0.000,0.038,2682,2516,1422
$GC,17018,1.18,259.5,76.5,6.5,821,17037,0.00,2.28,13.32,0.917,4,0.000,0.051,2682,1115,1362
$GC,17078,1.30,265.4,72.4,6.8,831,17091,0.12,2.22,6.50,0.789,6,0.076,0.046,2732,2524,1338
$GC,17430,1.25,265.4,42.5,7.9,893,17438,0.10,2.30,0.00,0.000,4,0.135,0.064,2703,3937,1336
$GC,17478,1.25,265.4,38.3,8.9,901,17484,0.00,2.20,0.00,0.000,6,0.000,0.039,2703,2508,1336
$GC,17822,1.33,265.4,9.5,10.2,962,17828,0.00,2.17,0.00,0.000,4,0.000,0.051,2703,1120,1335
$GC,17908,1.44,265.4,2.2,7.9,977,17915,0.15,2.22,0.00,0.000,6,0.099,0.049,2753,2525,1334
$STATE,17920,end climb,SURFACE_DEPTH_REACHED
$STATE,17920,begin surface coast
$FINISH,0.8,1.026248
$STATE,17954,end surface coast,CONTROL_FINISHED_OK
$STATE,17954,begin surface
$SM_CCo,18031,0.00,0.000,0,0,1332,266.64
$SM_GC,1.61,7.15,0.00,0.00,0.063,0.000,0.000,154,2341,1332,-10.41,0.03,266.64
$RAFOS_CLK,979
$RAFOS,4,1227012242,12.750000,12.733889,63,57,55,54,51,50,201,169,226,213,152,180
$RAFOS,3,1227011648,12.583333,12.568889,63,59,54,51,51,51,199,218,145,111,177,187
$RAFOS,2,1227011075,12.416667,12.409722,58,56,55,54,52,51,199,216,117,170,187,161
$RAFOS,1,1227010465,12.250000,12.240278,61,56,56,53,51,51,214,198,178,124,163,228
$RAFOS,0,1227009851,12.083333,12.069722,64,63,63,62,59,58,206,197,125,218,1610,145
$RAFOS_FIX,7544.612793,-8455.451172,171108,161633,3,77,94.26
$IRIDIUM_FIX,6636.54,-5709.24,120298,090938
$TT8_MAMPS,0.027612
$HUMID,1885
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,20.7,60.327
$10V_AH,10.6,26.510
$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,20.775,175.375,380.300,0.000,0.000,75.476,104.148,421.939,0.000,0.000,0.000,14.142,1846.789,13622.616,549.305,1955.828,928.676,33.377,1645.359,0.000,1924.214,1800.000,0.529,0.000
$DEVICE_MAMPS,253.877,67.496,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.919,669.286,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37794,985
$CAP_FILE_SIZE,153678,0
$CFSIZE,260165632,227049472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.9
$GPS,181108,145707,6705.666,-5707.352,42,0.9,42,-37.7