version: 66.04
glider: 113
mission: 4
dive: 382
start: 12 2 108 6 26 16
data:
$ID,113
$MISSION,4
$DIVE,382
$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,-32153.777
$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,45
$R_STBD_OVSHOOT,32
$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
$GPS1,061426,6709.092,-5716.979,89,1.2,89,-37.8
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-53.6
$GPS2,062521,6709.212,-5717.224,11,1.9,11,-37.8
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.220,-0.046
$KALMAN_X,-154146.7,349.4,-913.2,160039.6,-2737.9
$KALMAN_Y,22581.9,-73.4,1136.2,2895.2,62.4
$MHEAD_RNG_PITCHd_Wd,139.6,24036,-12.9,-7.021
$D_GRID,684
$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,18,-1.08,-146.0,0.0,0.0,0,128,0.00,0.00,-107.40,0.000,2,0.000,0.000,156,2323,2848
$GC,132,-1.08,-146.0,3.1,-3.2,19,152,8.70,2.40,-5.95,0.000,4,0.257,0.075,2200,3756,3018
$GC,160,0.82,-146.0,8.4,-13.1,23,167,1.40,2.15,0.00,0.000,6,0.156,0.035,2615,2337,3020
$GC,506,-0.09,-146.0,26.1,-5.4,84,513,0.60,2.30,0.00,0.000,4,0.109,0.059,2414,3746,3022
$GC,526,-0.80,-146.0,26.6,-3.7,87,533,0.45,2.15,0.00,0.000,6,0.068,0.036,2247,2332,3022
$GC,873,-0.73,-146.0,58.3,-10.1,148,880,0.12,2.30,0.00,0.000,4,0.163,0.060,2280,3741,3021
$GC,1077,-0.84,-146.0,73.9,-7.4,184,1084,0.10,2.15,0.00,0.000,6,0.096,0.037,2244,2334,3021
$GC,1430,-0.84,-146.0,103.7,-8.1,241,1434,0.00,2.17,0.00,0.000,4,0.000,0.048,2244,934,3019
$GC,1442,-0.84,-146.0,104.7,-7.9,241,1446,0.00,2.20,0.00,0.000,6,0.000,0.044,2244,2339,3019
$GC,1764,-0.84,-146.0,129.3,-8.3,257,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2339,3019
$GC,2073,-0.84,-146.0,155.5,-8.5,272,2077,0.00,2.28,0.00,0.000,4,0.000,0.060,2244,3751,3019
$GC,2119,-0.90,-146.0,159.5,-9.2,274,2123,0.00,2.17,0.00,0.000,6,0.000,0.035,2244,2326,3019
$GC,2452,-0.90,-146.0,185.7,-7.6,290,2456,0.00,2.30,0.00,0.000,4,0.000,0.059,2244,3742,3019
$GC,2475,-0.95,-146.0,187.5,-7.5,291,2479,0.00,2.15,0.00,0.000,6,0.000,0.035,2244,2330,3019
$GC,2807,-0.95,-146.0,209.7,-6.4,307,2811,0.00,2.30,0.00,0.000,4,0.000,0.060,2244,3745,3019
$GC,2854,-1.02,-146.0,212.9,-7.3,309,2858,0.12,2.15,0.00,0.000,6,0.087,0.035,2194,2330,3019
$GC,3186,-0.91,-146.0,239.8,-8.2,325,3191,0.17,2.33,0.00,0.000,4,0.143,0.058,2244,3754,3020
$GC,3198,-0.82,-146.0,240.8,-8.1,325,3204,0.00,2.15,0.00,0.000,6,0.000,0.034,2244,2337,3020
$GC,3514,-0.82,-146.0,261.4,-6.6,341,3518,0.00,2.28,0.00,0.000,4,0.000,0.059,2244,3746,3021
$GC,3547,-0.91,-146.0,263.8,-7.4,342,3551,0.00,2.15,0.00,0.000,6,0.000,0.034,2244,2329,3021
$GC,3869,-0.97,-146.0,284.9,-6.5,358,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2328,3021
$GC,4178,-1.03,-146.0,303.4,-6.0,373,4182,0.12,2.15,0.00,0.000,4,0.091,0.044,2194,938,3022
$GC,4189,-1.03,-146.0,304.1,-5.9,373,4192,0.00,2.20,0.00,0.000,6,0.000,0.042,2193,2351,3022
$GC,4511,-0.93,-146.0,328.9,-7.7,389,4515,0.15,2.25,0.00,0.000,4,0.156,0.058,2234,3752,3022
$GC,4522,-0.85,-146.0,329.8,-7.6,389,4526,0.00,2.15,0.00,0.000,6,0.000,0.032,2234,2330,3022
$GC,4844,-0.85,-146.0,349.7,-6.2,405,4848,0.00,2.28,0.00,0.000,4,0.000,0.058,2234,3742,3022
$GC,4884,-0.92,-146.0,352.5,-6.7,406,4890,0.00,2.12,0.00,0.000,6,0.000,0.034,2234,2341,3022
$GC,5200,-0.92,-146.0,372.2,-6.2,422,5203,0.00,2.28,0.00,0.000,4,0.000,0.058,2234,3742,3022
$GC,5211,-0.92,-146.0,372.8,-6.0,422,5215,0.00,2.12,0.00,0.000,6,0.000,0.033,2234,2340,3023
$GC,5533,-0.92,-146.0,391.0,-5.4,438,5537,0.00,2.28,0.00,0.000,4,0.000,0.058,2234,3748,3023
$GC,5567,-0.99,-146.0,392.9,-5.8,439,5571,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2331,3023
$GC,5908,-0.99,-146.0,411.7,-5.5,451,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2331,3023
$GC,6231,-0.99,-146.0,428.8,-5.3,459,6235,0.00,2.30,0.00,0.000,4,0.000,0.058,2234,3748,3024
$GC,6243,-1.04,-146.0,429.4,-5.4,459,6248,0.10,2.12,0.00,0.000,6,0.104,0.033,2196,2339,3023
$GC,6562,-0.96,-146.0,449.9,-6.3,467,6567,0.12,2.30,0.00,0.000,4,0.150,0.058,2229,3746,3024
$GC,6602,-1.02,-146.0,452.1,-5.4,468,6606,0.00,2.12,0.00,0.000,6,0.000,0.033,2230,2340,3023
$GC,6933,-1.02,-146.0,470.6,-5.9,476,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2340,3024
$GC,7258,-1.02,-146.0,490.8,-6.2,484,7261,0.00,2.30,0.00,0.000,4,0.000,0.059,2229,3753,3024
$GC,7269,-1.02,-146.0,491.5,-6.3,484,7273,0.00,2.15,0.00,0.000,6,0.000,0.033,2229,2334,3024
$GC,7588,-1.02,-146.0,513.6,-7.2,492,7592,0.00,2.30,0.00,0.000,4,0.000,0.058,2229,3752,3024
$GC,7617,-1.08,-146.0,515.9,-8.0,492,7621,0.12,2.15,0.00,0.000,6,0.091,0.033,2183,2332,3024
$GC,7959,-0.96,-146.0,545.2,-8.3,501,7964,0.17,2.33,0.00,0.000,4,0.146,0.058,2232,3751,3024
$GC,7977,-0.96,-146.0,546.4,-7.9,501,7981,0.00,2.15,0.00,0.000,6,0.000,0.033,2232,2335,3024
$GC,8325,-1.01,-146.0,568.6,-6.2,510,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2335,3024
$GC,8651,-1.07,-146.0,587.1,-5.8,518,8656,0.12,2.30,0.00,0.000,4,0.098,0.058,2187,3743,3024
$GC,8663,-1.07,-146.0,588.0,-5.7,518,8667,0.00,2.15,0.00,0.000,6,0.000,0.033,2187,2324,3024
$GC,8976,-0.98,-146.0,611.4,-7.5,526,8981,0.15,2.35,0.00,0.000,4,0.145,0.058,2228,3754,3024
$GC,8998,-0.98,-146.0,613.0,-6.7,526,9002,0.00,2.15,0.00,0.000,6,0.000,0.033,2228,2331,3024
$GC,9341,-1.02,-146.0,634.7,-6.2,535,9345,0.00,2.30,0.00,0.000,4,0.000,0.059,2229,3742,3024
$GC,9398,-1.10,-146.0,638.3,-6.4,536,9402,0.12,2.15,0.00,0.000,6,0.085,0.035,2181,2328,3024
$GC,9717,-0.99,-146.0,663.2,-8.0,544,9721,0.15,2.33,0.00,0.000,4,0.144,0.058,2221,3746,3024
$GC,9813,-1.04,-146.0,670.0,-6.4,546,9817,0.00,2.15,0.00,0.000,6,0.000,0.035,2221,2333,3024
$STATE,10048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10048,begin apogee
$GC,10055,-0.34,0.0,685.4,6.4,552,10188,0.47,0.00,130.60,1.226,6,0.136,0.000,2366,2528,2420
$STATE,10189,end apogee,CONTROL_FINISHED_OK
$STATE,10189,begin climb
$GC,10193,1.08,146.0,688.4,0.0,555,10335,0.98,0.00,138.10,1.147,6,0.096,0.000,2665,2528,1824
$GC,10642,0.92,146.0,651.3,8.9,566,10647,0.12,2.28,0.00,0.000,4,0.138,0.059,2629,3939,1826
$GC,10715,0.79,146.0,644.7,9.3,567,10720,0.10,2.17,0.00,0.000,6,0.158,0.035,2601,2511,1825
$GC,11052,0.89,175.7,623.5,6.0,576,11081,0.10,0.00,25.85,1.144,6,0.084,0.000,2648,2510,1704
$GC,11377,0.82,175.7,597.7,8.2,584,11379,0.12,0.00,0.00,0.000,6,0.133,0.000,2612,2510,1705
$GC,11703,0.88,175.7,575.2,7.3,592,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2510,1704
$GC,12027,0.93,175.7,550.3,7.5,600,12031,0.10,2.15,0.00,0.000,4,0.084,0.046,2657,1119,1704
$GC,12072,0.93,175.7,546.5,8.4,601,12076,0.00,2.20,0.00,0.000,6,0.000,0.043,2657,2534,1704
$GC,12403,0.84,175.7,516.7,9.1,609,12407,0.15,2.22,0.00,0.000,4,0.136,0.058,2612,3929,1703
$GC,12471,0.84,175.7,510.4,8.8,610,12475,0.00,2.15,0.00,0.000,6,0.000,0.035,2612,2509,1703
$GC,12820,0.91,181.0,485.8,6.8,619,12830,0.00,2.17,5.82,0.868,4,0.000,0.045,2612,1111,1682
$GC,12899,1.02,181.0,480.4,7.3,620,12906,0.15,2.20,0.00,0.000,6,0.071,0.043,2676,2529,1683
$GC,13230,0.88,181.0,448.5,9.8,629,13235,0.17,2.25,0.00,0.000,4,0.122,0.058,2624,3931,1684
$GC,13348,0.81,181.0,437.7,9.0,631,13352,0.00,2.15,0.00,0.000,6,0.000,0.036,2623,2516,1683
$GC,13691,0.82,191.4,413.9,6.7,640,13706,0.00,2.17,10.07,0.971,4,0.000,0.045,2623,1112,1639
$GC,13770,0.94,216.5,408.9,6.2,641,13797,0.00,2.20,21.90,1.037,6,0.000,0.042,2623,2528,1537
$GC,14110,1.04,237.3,387.3,6.3,654,14131,0.12,0.00,18.17,1.010,6,0.073,0.000,2679,2528,1452
$GC,14437,0.95,237.3,358.0,8.7,670,14441,0.15,2.20,0.00,0.000,4,0.120,0.046,2633,1123,1454
$GC,14493,1.06,244.3,354.1,6.8,672,14506,0.12,2.17,7.45,0.866,6,0.076,0.042,2690,2527,1423
$GC,14814,0.95,244.3,324.4,8.9,688,14819,0.17,2.22,0.00,0.000,4,0.118,0.058,2636,3922,1426
$GC,14864,0.95,244.3,320.2,7.5,690,14868,0.00,2.12,0.00,0.000,6,0.000,0.035,2635,2517,1426
$GC,15193,1.07,279.3,300.6,5.8,706,15228,0.12,2.25,29.40,0.984,4,0.074,0.046,2693,1124,1281
$GC,15315,1.07,279.3,289.9,8.8,711,15319,0.10,2.17,0.00,0.000,6,0.135,0.042,2665,2522,1281
$GC,15636,1.07,279.3,262.4,8.3,727,15640,0.00,2.20,0.00,0.000,4,0.000,0.046,2665,1110,1281
$GC,15686,1.13,279.3,258.2,8.1,729,15690,0.00,2.17,0.00,0.000,6,0.000,0.042,2665,2519,1282
$GC,16014,1.13,279.3,229.8,9.2,745,16018,0.00,2.20,0.00,0.000,4,0.000,0.046,2665,1111,1281
$GC,16060,1.19,279.3,225.5,9.3,747,16064,0.10,2.20,0.00,0.000,6,0.084,0.041,2708,2536,1282
$GC,16392,1.07,279.3,185.3,12.4,763,16394,0.15,0.00,0.00,0.000,6,0.128,0.000,2663,2536,1282
$GC,16701,1.07,279.3,157.0,8.6,778,16705,0.00,2.22,0.00,0.000,4,0.000,0.045,2663,1113,1281
$GC,16786,1.14,279.3,149.7,8.6,781,16792,0.00,2.20,0.00,0.000,6,0.000,0.042,2663,2532,1282
$GC,17102,1.19,279.3,125.6,7.9,797,17106,0.12,2.22,0.00,0.000,4,0.074,0.044,2718,1110,1282
$GC,17164,1.12,279.3,119.6,10.7,799,17170,0.15,2.20,0.00,0.000,6,0.126,0.042,2673,2529,1282
$GC,17485,1.12,279.3,94.0,7.3,824,17490,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2529,1282
$GC,17829,1.19,279.3,66.8,7.2,885,17836,0.00,2.20,0.00,0.000,4,0.000,0.045,2673,1118,1283
$GC,17876,1.30,279.3,63.6,7.2,893,17883,0.15,2.17,0.00,0.000,6,0.069,0.042,2733,2518,1283
$GC,18222,1.20,279.3,28.0,8.8,954,18229,0.15,2.25,0.00,0.000,4,0.123,0.057,2686,3926,1283
$GC,18289,1.20,279.3,21.9,9.1,965,18295,0.00,2.15,0.00,0.000,6,0.000,0.035,2686,2510,1283
$STATE,18607,end climb,SURFACE_DEPTH_REACHED
$STATE,18607,begin surface coast
$FINISH,0.8,1.026446
$STATE,18631,end surface coast,CONTROL_FINISHED_OK
$STATE,18631,begin surface
$SM_CCo,18710,0.00,0.000,0,0,1281,279.64
$SM_GC,1.61,7.15,0.00,0.00,0.074,0.000,0.000,168,2337,1281,-10.37,-0.11,279.64
$RAFOS_CLK,949
$RAFOS,4,1228207457,8.750000,8.738055,62,58,53,53,51,50,175,150,193,228,206,219
$RAFOS,3,1228206847,8.583333,8.568611,62,59,58,54,53,52,199,216,161,185,126,176
$RAFOS,2,1228206268,8.416667,8.407778,59,57,56,53,52,51,209,197,166,127,137,228
$RAFOS,1,1228205653,8.250000,8.236944,67,64,61,60,50,48,207,220,183,232,125,170
$RAFOS,0,1228205079,8.083333,8.077500,59,58,57,56,55,51,220,133,145,210,176,116
$RAFOS_FIX,6610.283691,-5944.430664,011208,161653,3,83,18.89
$IRIDIUM_FIX,6641.98,-5716.88,260298,060627
$TT8_MAMPS,0.028379
$HUMID,1885
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,20.5,70.377
$10V_AH,10.6,31.281
$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,24.275,168.550,387.375,0.000,0.000,54.174,75.874,319.236,0.000,0.000,0.000,13.110,1934.617,14049.438,549.770,2007.151,818.048,33.378,1651.102,0.000,1974.787,1800.000,0.529,0.000
$DEVICE_MAMPS,256.945,75.166,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.802,695.485,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37795,1026
$CAP_FILE_SIZE,157669,0
$CFSIZE,260165632,222699520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.9
$GPS,021208,113952,6708.689,-5717.661,40,3.1,59,-37.8