version: 66.04
glider: 113
mission: 4
dive: 438
start: 12 16 108 16 12 16
data:
$ID,113
$MISSION,4
$DIVE,438
$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,-40740.891
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,160502,6701.462,-5702.360,37,1.7,43,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.2
$GPS2,161121,6701.507,-5702.438,11,1.5,11,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.199,0.103
$KALMAN_X,-130049.5,-977.8,357.5,146709.5,610.9
$KALMAN_Y,-6661.0,462.5,191.9,18316.7,-845.9
$MHEAD_RNG_PITCHd_Wd,100.3,10787,-12.9,-7.021
$D_GRID,693
$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,-113.47,0.000,6,0.000,0.000,162,2323,3016
$GC,140,-1.08,-146.0,3.5,-3.1,21,154,8.73,2.25,0.00,0.000,4,0.261,0.054,2198,936,3019
$GC,273,-0.54,-146.0,27.5,-15.2,44,280,0.43,2.25,0.00,0.000,6,0.170,0.048,2318,2350,3022
$GC,619,-0.54,-146.0,56.3,-8.7,105,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2350,3022
$GC,963,-0.64,-146.0,85.3,-6.8,166,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2349,3021
$GC,1326,-0.78,-146.0,101.3,-4.8,227,1328,0.17,0.00,0.00,0.000,6,0.086,0.000,2250,2350,3021
$GC,1631,-0.71,-146.0,129.2,-9.1,242,1633,0.12,0.00,0.00,0.000,6,0.163,0.000,2283,2351,3021
$GC,1940,-0.76,-146.0,155.2,-7.9,257,1944,0.00,2.33,0.00,0.000,4,0.000,0.065,2283,3750,3021
$GC,1996,-0.87,-146.0,159.8,-8.3,259,2001,0.15,2.20,0.00,0.000,6,0.079,0.037,2229,2333,3021
$GC,2313,-0.77,-146.0,188.9,-8.7,274,2317,0.15,2.40,0.00,0.000,4,0.156,0.063,2270,3752,3021
$GC,2347,-0.85,-146.0,191.3,-6.7,275,2353,0.00,2.20,0.00,0.000,6,0.000,0.038,2270,2340,3021
$GC,2664,-0.91,-146.0,209.8,-5.8,291,2666,0.12,0.00,0.00,0.000,6,0.089,0.000,2223,2340,3020
$GC,2973,-0.83,-146.0,232.8,-7.0,306,2977,0.12,2.38,0.00,0.000,4,0.158,0.063,2256,3743,3019
$GC,3081,-0.91,-146.0,239.7,-6.5,311,3085,0.00,2.20,0.00,0.000,6,0.000,0.037,2256,2329,3019
$GC,3414,-0.96,-146.0,262.7,-7.2,327,3418,0.12,2.38,0.00,0.000,4,0.091,0.061,2208,3745,3019
$GC,3487,-0.88,-146.0,269.2,-8.8,330,3491,0.15,2.20,0.00,0.000,6,0.152,0.036,2247,2327,3019
$GC,3808,-0.88,-146.0,293.8,-7.2,346,3811,0.00,2.38,0.00,0.000,4,0.000,0.061,2248,3750,3020
$GC,3836,-0.94,-146.0,296.0,-7.8,347,3840,0.00,2.20,0.00,0.000,6,0.000,0.036,2248,2333,3020
$GC,4164,-0.94,-146.0,319.3,-6.9,363,4168,0.00,2.35,0.00,0.000,4,0.000,0.060,2248,3750,3021
$GC,4216,-1.01,-146.0,323.0,-7.0,365,4220,0.12,2.20,0.00,0.000,6,0.100,0.036,2204,2328,3021
$GC,4543,-0.89,-146.0,349.1,-7.9,381,4548,0.15,2.38,0.00,0.000,4,0.146,0.059,2245,3747,3021
$GC,4565,-0.89,-146.0,350.8,-6.8,382,4570,0.00,2.17,0.00,0.000,6,0.000,0.035,2246,2335,3021
$GC,4893,-0.89,-146.0,372.2,-6.6,398,4897,0.00,2.35,0.00,0.000,4,0.000,0.060,2246,3756,3023
$GC,4932,-0.95,-146.0,375.0,-7.1,399,4938,0.00,2.20,0.00,0.000,6,0.000,0.035,2246,2330,3023
$GC,5248,-0.95,-146.0,396.7,-6.7,415,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2330,3024
$GC,5553,-0.95,-146.0,415.7,-6.0,424,5557,0.00,2.38,0.00,0.000,4,0.000,0.061,2246,3756,3024
$GC,5582,-1.02,-146.0,417.7,-6.9,424,5586,0.12,2.20,0.00,0.000,6,0.100,0.036,2203,2333,3024
$GC,5925,-0.92,-146.0,444.0,-7.7,433,5927,0.12,0.00,0.00,0.000,6,0.153,0.000,2237,2331,3024
$GC,6249,-0.92,-146.0,465.4,-6.7,441,6253,0.00,2.38,0.00,0.000,4,0.000,0.062,2236,3756,3024
$GC,6300,-0.97,-146.0,469.1,-6.8,442,6304,0.00,2.20,0.00,0.000,6,0.000,0.036,2236,2335,3024
$GC,6626,-0.97,-146.0,491.1,-6.6,450,6629,0.00,2.35,0.00,0.000,4,0.000,0.062,2236,3744,3024
$GC,6648,-0.97,-146.0,492.7,-6.9,450,6652,0.00,2.17,0.00,0.000,6,0.000,0.036,2236,2340,3024
$GC,6997,-0.97,-146.0,516.8,-7.0,459,7001,0.00,2.35,0.00,0.000,4,0.000,0.062,2236,3745,3024
$GC,7036,-1.02,-146.0,519.9,-7.8,459,7043,0.00,2.17,0.00,0.000,6,0.000,0.036,2236,2339,3024
$GC,7369,-1.02,-146.0,542.2,-6.6,468,7373,0.00,2.35,0.00,0.000,4,0.000,0.062,2236,3743,3024
$GC,7403,-1.06,-146.0,544.5,-6.6,468,7408,0.12,2.17,0.00,0.000,6,0.097,0.036,2191,2338,3024
$GC,7740,-0.93,-146.0,571.9,-8.2,477,7742,0.15,0.00,0.00,0.000,6,0.146,0.000,2232,2336,3024
$GC,8065,-0.93,-146.0,592.9,-6.1,485,8069,0.00,2.38,0.00,0.000,4,0.000,0.063,2232,3754,3024
$GC,8112,-0.99,-146.0,595.8,-6.1,486,8116,0.00,2.20,0.00,0.000,6,0.000,0.036,2232,2336,3024
$GC,8442,-0.99,-146.0,616.5,-6.3,494,8447,0.00,2.35,0.00,0.000,4,0.000,0.062,2232,3745,3024
$GC,8483,-1.04,-146.0,619.5,-7.8,494,8490,0.10,2.17,0.00,0.000,6,0.107,0.036,2199,2333,3024
$GC,8816,-0.95,-146.0,645.7,-7.8,503,8818,0.12,0.00,0.00,0.000,6,0.155,0.000,2231,2330,3024
$GC,9139,-0.95,-146.0,667.4,-6.7,511,9143,0.00,2.38,0.00,0.000,4,0.000,0.063,2231,3753,3024
$GC,9247,-1.02,-146.0,674.9,-7.3,513,9251,0.00,2.20,0.00,0.000,6,0.000,0.037,2231,2330,3024
$GC,9561,-1.33,-146.0,687.1,-1.1,521,9565,0.22,2.22,0.00,0.000,4,0.071,0.049,2137,937,3024
$STATE,9686,end dive,NO_VERTICAL_VELOCITY
$STATE,9686,begin apogee
$GC,9697,-0.34,0.0,687.1,0.0,523,9832,0.68,0.00,132.27,1.288,6,0.104,0.000,2363,2528,2420
$STATE,9833,end apogee,CONTROL_FINISHED_OK
$STATE,9833,begin climb
$GC,9836,1.08,146.0,687.0,0.0,527,10032,1.05,2.75,154.73,1.115,4,0.100,0.061,2667,3927,1825
$GC,10209,0.82,146.0,658.8,9.0,535,10214,0.22,2.35,0.00,0.000,6,0.140,0.038,2608,2515,1824
$GC,10552,0.90,168.5,638.1,6.3,544,10577,0.10,2.25,19.55,1.193,4,0.086,0.051,2653,1110,1734
$GC,10606,0.90,168.5,634.0,7.8,545,10611,0.10,2.25,0.00,0.000,6,0.143,0.046,2625,2532,1734
$GC,10925,0.91,174.5,612.2,6.8,553,10934,0.00,0.00,6.47,0.993,6,0.000,0.000,2625,2533,1708
$GC,11251,0.93,190.2,591.2,6.5,561,11268,0.00,0.00,14.60,1.168,6,0.000,0.000,2626,2533,1644
$GC,11575,0.94,202.4,569.8,6.6,569,11594,0.00,2.28,11.70,1.128,4,0.000,0.050,2625,1113,1594
$GC,11624,1.09,229.0,566.6,6.1,570,11653,0.17,2.22,23.65,1.185,6,0.071,0.046,2694,2522,1486
$GC,11986,0.96,229.0,533.2,9.2,579,11991,0.17,2.28,0.00,0.000,4,0.130,0.061,2641,3929,1485
$GC,12036,0.92,229.0,529.1,7.9,580,12040,0.00,2.20,0.00,0.000,6,0.000,0.039,2641,2503,1485
$GC,12355,0.93,235.1,507.6,6.8,588,12365,0.00,2.20,6.20,0.961,4,0.000,0.051,2641,1115,1461
$GC,12423,1.02,235.1,502.9,7.0,589,12427,0.00,2.22,0.00,0.000,6,0.000,0.047,2641,2532,1462
$GC,12765,1.02,235.1,476.3,8.0,598,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2532,1462
$GC,13090,1.02,235.1,450.7,7.8,606,13094,0.00,2.25,0.00,0.000,4,0.000,0.049,2641,1111,1461
$GC,13137,1.11,242.2,447.3,6.8,607,13152,0.12,2.22,7.45,0.990,6,0.079,0.046,2692,2521,1432
$GC,13466,0.99,242.2,414.7,10.0,615,13471,0.15,2.30,0.00,0.000,4,0.127,0.061,2647,3937,1433
$GC,13511,0.99,242.2,410.3,9.5,616,13515,0.00,2.17,0.00,0.000,6,0.000,0.038,2647,2515,1434
$GC,13844,1.04,242.2,383.6,8.0,628,13848,0.00,2.20,0.00,0.000,4,0.000,0.050,2647,1117,1434
$GC,13917,1.13,242.2,377.6,8.2,631,13921,0.12,2.22,0.00,0.000,6,0.079,0.044,2697,2528,1434
$GC,14244,1.01,242.2,343.4,11.0,647,14249,0.15,2.28,0.00,0.000,4,0.128,0.061,2653,3928,1434
$GC,14300,0.94,242.2,337.2,10.6,649,14304,0.00,2.17,0.00,0.000,6,0.000,0.038,2653,2520,1434
$GC,14621,0.94,242.2,308.3,8.4,665,14625,0.00,2.22,0.00,0.000,4,0.000,0.049,2653,1108,1434
$GC,14673,1.02,242.2,304.0,8.5,667,14677,0.00,2.25,0.00,0.000,6,0.000,0.044,2653,2534,1434
$GC,15000,1.02,242.2,277.4,8.1,683,15001,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2534,1434
$GC,15309,1.02,242.2,251.2,8.4,698,15313,0.00,2.25,0.00,0.000,4,0.000,0.048,2653,1118,1435
$GC,15366,1.09,242.2,246.9,7.6,700,15370,0.00,2.22,0.00,0.000,6,0.000,0.043,2653,2529,1434
$GC,15688,1.17,263.6,227.2,6.3,716,15710,0.12,0.00,19.25,0.958,6,0.073,0.000,2708,2529,1345
$GC,16018,1.09,263.6,195.4,8.8,732,16020,0.12,0.00,0.00,0.000,6,0.133,0.000,2670,2529,1347
$GC,16328,1.15,263.6,174.7,7.5,747,16329,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2529,1347
$GC,16636,1.22,263.6,150.3,7.4,762,16640,0.12,2.28,0.00,0.000,4,0.074,0.048,2721,1109,1348
$GC,16693,1.17,263.6,145.2,9.8,764,16700,0.12,2.25,0.00,0.000,6,0.130,0.045,2686,2528,1348
$GC,17009,1.17,263.6,115.2,9.6,780,17010,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2528,1347
$GC,17325,1.22,300.3,95.5,5.8,804,17361,0.00,2.40,30.83,0.956,4,0.000,0.064,2686,3934,1195
$GC,17407,1.22,300.3,89.7,7.8,818,17413,0.00,2.20,0.00,0.000,6,0.000,0.038,2686,2520,1194
$GC,17752,1.31,304.0,65.3,6.9,879,17765,0.12,2.25,3.90,0.622,4,0.077,0.051,2736,1120,1180
$GC,17812,1.27,304.0,60.2,8.8,889,17819,0.10,2.22,0.00,0.000,6,0.140,0.047,2709,2529,1181
$GC,18158,1.27,304.0,34.8,7.3,950,18163,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2529,1181
$GC,18501,1.27,304.0,8.1,7.4,1011,18507,0.00,2.28,0.00,0.000,4,0.000,0.050,2709,1109,1181
$GC,18543,1.32,304.0,5.0,7.8,1018,18549,0.00,2.25,0.00,0.000,6,0.000,0.046,2709,2524,1180
$STATE,18581,end climb,SURFACE_DEPTH_REACHED
$STATE,18581,begin surface coast
$FINISH,0.8,1.013240
$STATE,18610,end surface coast,CONTROL_FINISHED_OK
$STATE,18610,begin surface
$SM_CCo,18690,0.00,0.000,0,0,1180,304.17
$SM_GC,1.62,7.15,0.00,0.00,0.064,0.000,0.000,158,2337,1180,-10.38,-0.08,304.17
$RAFOS_CLK,996
$RAFOS,4,1229460259,20.750000,20.738611,91,66,61,60,51,50,748,218,178,201,95,117
$RAFOS,3,1229459641,20.583334,20.566944,55,51,49,48,48,47,215,204,138,159,175,193
$RAFOS,2,1229459056,20.416666,20.404444,129,65,62,57,54,54,574,222,208,234,137,185
$RAFOS,1,1229458451,20.250000,20.236389,76,59,59,58,55,55,198,210,827,155,166,138
$RAFOS,0,1229457846,20.083334,20.068333,60,57,54,53,51,51,219,199,116,134,159,173
$RAFOS,4,1229445852,16.750000,16.736666,129,64,59,54,52,51,766,207,198,170,156,121
$RAFOS,3,1229445254,16.583334,16.570555,63,58,58,57,51,48,173,187,208,219,142,118
$RAFOS,2,1229444642,16.416666,16.400555,146,66,62,59,57,51,636,213,195,138,179,162
$RAFOS,1,1229444041,16.250000,16.233612,67,62,57,55,52,52,874,210,221,155,171,136
$RAFOS_FIX,6707.435547,-5935.538086,161208,202048,3,99,7.17
$IRIDIUM_FIX,6631.12,-5653.72,120398,111112
$TT8_MAMPS,0.027612
$HUMID,1919
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,20.1,80.476
$10V_AH,10.5,36.180
$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,22.450,150.400,430.600,0.000,0.000,22.718,31.797,180.064,0.250,0.000,0.000,12.528,1944.352,13909.043,588.199,2067.128,600.130,33.372,1722.387,0.000,2026.427,3240.000,0.529,0.000
$DEVICE_MAMPS,260.780,65.195,1287.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.040,702.230,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37856,1030
$CAP_FILE_SIZE,150114,0
$CFSIZE,260165632,218488832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1461.5
$GPS,161208,212601,6702.043,-5656.464,36,1.4,42,-37.5