version: 66.04
glider: 113
mission: 4
dive: 11
start: 9 6 108 16 53 14
data:
$ID,113
$MISSION,4
$DIVE,11
$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,330
$T_MISSION,396
$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,100
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$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,375
$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,-22274.098
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,15
$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,2250
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2708
$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,91.800003
$AH0_10V,61.200001
$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
$GPS1,164808,6638.435,-6012.281,25,1.0,25,-37.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-61.7
$GPS2,165251,6638.410,-6012.184,14,1.5,14,-37.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,294.4,23533,-18.0,-10.000
$D_GRID,541
$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,-1.39,-146.0,0.0,0.0,0,151,0.00,0.00,-132.65,0.000,2,0.000,0.000,162,2230,2862
$GC,153,-1.39,-146.0,3.8,-8.0,21,180,8.80,2.50,-12.02,0.000,4,0.288,0.087,2122,3660,3306
$GC,411,-1.16,-146.0,60.8,-17.0,66,417,0.22,2.25,0.00,0.000,6,0.193,0.047,2179,2250,3312
$GC,756,-1.16,-146.0,109.4,-14.1,122,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2250,3314
$GC,1075,-1.16,-146.0,152.5,-13.4,152,1078,0.00,2.35,0.00,0.000,4,0.000,0.074,2179,3667,3314
$GC,1158,-1.25,-146.0,163.4,-12.9,159,1164,0.00,2.25,0.00,0.000,6,0.000,0.047,2179,2238,3314
$GC,1483,-1.25,-146.0,205.3,-12.8,190,1487,0.00,2.38,0.00,0.000,4,0.000,0.075,2179,3671,3314
$GC,1533,-1.37,-146.0,211.9,-12.4,194,1538,0.15,2.25,0.00,0.000,6,0.118,0.048,2134,2238,3314
$GC,1857,-1.27,-146.0,259.3,-14.5,224,1862,0.12,2.38,0.00,0.000,4,0.206,0.077,2161,3665,3313
$GC,1900,-1.34,-146.0,265.0,-12.6,227,1907,0.00,2.25,0.00,0.000,6,0.000,0.048,2161,2250,3313
$GC,2226,-1.34,-146.0,304.9,-12.2,258,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2250,3313
$GC,2543,-1.34,-146.0,342.3,-11.3,288,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2250,3312
$GC,2864,-1.34,-146.0,376.7,-10.8,318,2867,0.00,2.33,0.00,0.000,4,0.000,0.078,2161,3657,3312
$GC,2942,-1.44,-146.0,385.1,-10.5,325,2946,0.15,2.20,0.00,0.000,6,0.113,0.048,2114,2245,3311
$GC,3271,-1.35,-146.0,427.6,-13.2,356,3275,0.12,2.33,0.00,0.000,4,0.210,0.077,2139,3661,3311
$GC,3370,-1.35,-146.0,439.9,-12.1,364,3377,0.00,2.22,0.00,0.000,6,0.000,0.048,2139,2252,3311
$GC,3695,-1.35,-146.0,479.4,-12.6,395,3698,0.00,2.22,0.00,0.000,4,0.000,0.061,2139,834,3311
$GC,3732,-1.35,-146.0,484.5,-13.1,398,3739,0.00,2.28,0.00,0.000,6,0.000,0.057,2139,2249,3311
$GC,4059,-1.35,-146.0,524.3,-11.7,429,4063,0.00,2.28,0.00,0.000,4,0.000,0.075,2139,3658,3311
$GC,4130,-1.41,-146.0,532.8,-11.2,435,4137,0.00,2.22,0.00,0.000,6,0.000,0.047,2139,2244,3311
$STATE,4210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4210,begin apogee
$GC,4215,-0.33,0.0,541.7,10.2,443,4344,0.77,0.00,126.20,1.316,6,0.182,0.000,2366,2413,2708
$STATE,4345,end apogee,CONTROL_FINISHED_OK
$STATE,4345,begin climb
$GC,4347,1.39,146.0,544.7,0.0,456,4487,1.23,2.72,130.50,1.225,4,0.117,0.073,2735,3797,2112
$GC,4722,1.03,146.0,508.0,12.6,489,4729,0.30,2.35,0.00,0.000,6,0.176,0.047,2658,2398,2110
$GC,5046,1.06,168.5,479.5,8.9,520,5071,0.00,2.58,19.60,1.199,4,0.000,0.075,2658,3805,2021
$GC,5244,0.94,168.5,458.1,10.9,537,5251,0.00,2.35,0.00,0.000,6,0.000,0.046,2660,2397,2020
$GC,5570,0.98,191.7,428.3,8.9,568,5597,0.00,2.58,20.55,1.198,4,0.000,0.076,2660,3823,1926
$GC,5742,0.87,191.7,410.1,10.2,583,5750,0.10,2.35,0.00,0.000,6,0.168,0.046,2631,2403,1925
$GC,6068,1.00,209.6,381.6,9.2,614,6091,0.10,2.47,16.27,1.167,4,0.106,0.076,2665,3815,1852
$GC,6219,0.92,209.6,364.4,11.8,627,6226,0.10,2.35,0.00,0.000,6,0.164,0.046,2635,2395,1852
$GC,6544,1.12,259.4,337.3,7.7,658,6592,0.15,2.60,41.72,1.180,4,0.097,0.075,2687,3806,1649
$GC,6727,1.04,259.4,317.0,11.6,674,6731,0.12,2.33,0.00,0.000,6,0.171,0.046,2658,2389,1647
$GC,7051,1.24,315.7,292.1,7.4,704,7109,0.17,2.60,46.85,1.151,4,0.094,0.073,2718,3803,1418
$GC,7211,1.14,315.7,273.4,13.0,718,7216,0.15,2.33,0.00,0.000,6,0.167,0.046,2681,2398,1416
$GC,7535,1.29,336.0,243.6,9.0,748,7560,0.12,2.47,17.48,1.102,4,0.101,0.074,2723,3809,1338
$GC,7595,1.20,336.0,236.8,13.4,753,7600,0.12,2.33,0.00,0.000,6,0.174,0.047,2693,2400,1336
$GC,7919,1.35,360.7,206.4,8.8,783,7947,0.12,2.50,21.23,1.105,4,0.100,0.072,2736,3804,1236
$GC,8009,1.25,360.7,195.2,13.8,791,8014,0.12,2.33,0.00,0.000,6,0.176,0.048,2708,2394,1235
$GC,8333,1.35,360.7,160.7,10.4,821,8338,0.10,2.40,0.00,0.000,4,0.106,0.073,2742,3809,1233
$GC,8387,1.25,360.7,153.4,14.1,825,8395,0.12,2.30,0.00,0.000,6,0.166,0.048,2706,2404,1234
$GC,8712,1.37,360.7,119.4,10.3,856,8717,0.10,2.38,0.00,0.000,4,0.106,0.074,2742,3817,1234
$GC,8729,1.43,360.7,117.5,10.7,857,8732,0.00,2.28,0.00,0.000,6,0.000,0.048,2744,2392,1234
$GC,9063,1.43,360.7,76.5,13.1,904,9070,0.00,2.38,0.00,0.000,4,0.000,0.074,2744,3817,1234
$GC,9138,1.37,360.7,65.4,15.3,917,9144,0.00,2.28,0.00,0.000,6,0.000,0.049,2744,2387,1234
$GC,9483,1.62,452.4,31.7,5.7,978,9566,0.15,2.47,76.10,1.064,4,0.100,0.062,2799,992,862
$GC,9571,1.75,491.7,24.8,8.2,992,9611,0.00,2.42,34.08,0.975,6,0.000,0.054,2798,2407,703
$STATE,9784,end climb,SURFACE_DEPTH_REACHED
$STATE,9784,begin surface coast
$FINISH,0.4,1.014358
$STATE,9801,end surface coast,CONTROL_FINISHED_OK
$STATE,9801,begin surface
$SM_CCo,9876,0.00,0.000,0,0,687,495.75
$SM_GC,1.17,7.82,0.00,0.00,0.087,0.000,0.000,161,2233,687,-10.40,-0.48,495.75
$RAFOS_CLK,542
$RAFOS,4,1220719441,16.750000,16.733612,67,58,53,52,51,51,212,188,148,135,202,76
$RAFOS_FIX,6545.989746,-5939.696289,060908,161644,3,64,0.00
$IRIDIUM_FIX,6609.62,-6011.94,011297,141441
$TT8_MAMPS,0.027612
$HUMID,1961
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.6,9.411
$10V_AH,10.6,2.572
$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,21.575,95.350,550.575,0.000,0.000,23.487,29.743,130.847,0.000,0.000,0.000,16.174,1816.458,5636.957,655.753,1798.283,293.433,0.000,1619.869,0.000,1772.699,0.000,0.528,0.000
$DEVICE_MAMPS,288.392,86.671,1316.172,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.733,700.350,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37879,1032
$CAP_FILE_SIZE,106130,0
$CFSIZE,260165632,251203584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.1
$CURRENT,0.158,  5.2,1
$GPS,060908,193937,6638.736,-6014.995,29,1.3,29,-37.9