version: 66.04
glider: 113
mission: 4
dive: 35
start: 9 9 108 19 59 4
data:
$ID,113
$MISSION,4
$DIVE,35
$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,412
$T_MISSION,470
$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,-22697.236
$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,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,2330
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2610
$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
$GPS1,195305,6645.808,-6013.589,36,1.5,46,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.0
$GPS2,195839,6645.805,-6013.629,11,1.1,11,-38.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$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,133.5,13059,-14.7,-8.010
$D_GRID,562
$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,-1.20,-146.0,0.0,0.0,0,136,0.00,0.00,-118.12,0.000,2,0.000,0.000,164,2326,2860
$GC,138,-1.20,-146.0,4.0,-5.3,19,165,8.62,2.33,-9.38,0.000,4,0.275,0.072,2172,925,3209
$GC,176,0.32,-146.0,16.9,-30.6,25,185,1.23,2.30,0.00,0.000,6,0.199,0.052,2506,2335,3212
$GC,523,-0.59,-146.0,42.5,-6.9,86,530,0.60,2.28,0.00,0.000,4,0.111,0.054,2304,921,3215
$GC,631,-0.96,-146.0,49.9,-6.7,105,638,0.25,2.28,0.00,0.000,6,0.093,0.051,2216,2344,3215
$GC,974,-0.96,-146.0,85.1,-9.9,166,982,0.00,2.28,0.00,0.000,4,0.000,0.069,2216,3739,3217
$GC,1005,-0.96,-146.0,87.9,-9.7,171,1011,0.00,2.22,0.00,0.000,6,0.000,0.041,2217,2312,3217
$GC,1341,-0.96,-146.0,122.3,-10.3,213,1345,0.00,2.20,0.00,0.000,4,0.000,0.058,2216,918,3217
$GC,1352,-0.96,-146.0,123.3,-10.3,214,1356,0.00,2.25,0.00,0.000,6,0.000,0.053,2216,2339,3217
$GC,1682,-0.96,-146.0,157.7,-10.6,245,1685,0.00,2.25,0.00,0.000,4,0.000,0.058,2215,925,3217
$GC,1719,-0.96,-146.0,162.0,-11.1,248,1727,0.00,2.25,0.00,0.000,6,0.000,0.052,2216,2326,3217
$GC,2044,-0.96,-146.0,195.2,-10.2,279,2048,0.00,2.22,0.00,0.000,4,0.000,0.059,2216,926,3217
$GC,2059,-0.96,-146.0,196.9,-10.5,280,2067,0.00,2.25,0.00,0.000,6,0.000,0.052,2216,2332,3217
$GC,2386,-1.01,-146.0,228.1,-8.8,311,2389,0.00,2.28,0.00,0.000,4,0.000,0.072,2216,3737,3216
$GC,2424,-1.10,-146.0,231.8,-8.7,314,2432,0.00,2.20,0.00,0.000,6,0.000,0.044,2216,2317,3216
$GC,2748,-1.17,-146.0,260.1,-8.2,345,2750,0.12,0.00,0.00,0.000,6,0.110,0.000,2173,2317,3215
$GC,3070,-1.12,-146.0,292.1,-10.6,375,3074,0.00,2.17,0.00,0.000,4,0.000,0.060,2173,928,3214
$GC,3170,-1.03,-146.0,304.1,-11.9,384,3175,0.15,2.22,0.00,0.000,6,0.189,0.057,2211,2331,3214
$GC,3495,-1.11,-146.0,333.0,-8.4,414,3499,0.00,2.30,0.00,0.000,4,0.000,0.076,2211,3746,3214
$GC,3517,-1.21,-146.0,335.1,-8.6,416,3522,0.15,2.20,0.00,0.000,6,0.109,0.044,2161,2321,3214
$GC,3841,-1.13,-146.0,368.0,-9.9,446,3846,0.12,2.33,0.00,0.000,4,0.180,0.075,2192,3735,3213
$GC,3903,-1.20,-146.0,373.6,-8.6,451,3907,0.00,2.17,0.00,0.000,6,0.000,0.044,2192,2326,3213
$GC,4233,-1.20,-146.0,401.6,-8.4,482,4237,0.00,2.33,0.00,0.000,4,0.000,0.077,2191,3740,3213
$GC,4244,-1.20,-146.0,402.6,-8.4,483,4248,0.00,2.17,0.00,0.000,6,0.000,0.044,2191,2330,3213
$GC,4573,-1.20,-146.0,429.2,-7.5,514,4577,0.00,2.33,0.00,0.000,4,0.000,0.076,2192,3747,3213
$GC,4584,-1.20,-146.0,430.0,-7.6,515,4588,0.00,2.20,0.00,0.000,6,0.000,0.044,2191,2320,3213
$GC,4914,-1.20,-146.0,455.5,-7.9,546,4917,0.00,2.33,0.00,0.000,4,0.000,0.071,2192,3746,3213
$GC,4936,-1.26,-146.0,457.4,-8.4,548,4940,0.12,2.20,0.00,0.000,6,0.117,0.044,2150,2318,3213
$GC,5261,-1.16,-146.0,488.6,-9.8,578,5266,0.15,2.30,0.00,0.000,4,0.179,0.071,2187,3742,3213
$GC,5270,-1.08,-146.0,489.8,-9.6,578,5278,0.00,2.20,0.00,0.000,6,0.000,0.043,2188,2332,3213
$GC,5596,-1.13,-146.0,517.2,-8.4,609,5600,0.00,2.20,0.00,0.000,4,0.000,0.058,2188,918,3213
$GC,5620,-1.13,-146.0,519.4,-9.3,611,5623,0.00,2.22,0.00,0.000,6,0.000,0.054,2188,2333,3213
$GC,5950,-1.13,-146.0,547.2,-8.4,642,5954,0.00,2.25,0.00,0.000,4,0.000,0.071,2188,3735,3214
$GC,5976,-1.20,-146.0,549.6,-8.6,644,5983,0.00,2.20,0.00,0.000,6,0.000,0.043,2188,2321,3214
$STATE,6131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6131,begin apogee
$GC,6136,-0.34,0.0,562.3,8.5,659,6266,0.52,0.00,126.30,1.323,6,0.158,0.000,2355,2582,2610
$STATE,6266,end apogee,CONTROL_FINISHED_OK
$STATE,6266,begin climb
$GC,6268,1.20,146.0,566.1,0.0,672,6408,1.12,2.60,131.40,1.228,4,0.114,0.070,2693,3938,2013
$GC,6469,0.83,146.0,550.3,12.0,691,6477,0.28,2.35,0.00,0.000,6,0.156,0.041,2613,2590,2011
$GC,6795,0.88,183.5,528.1,6.6,722,6835,0.00,2.50,32.33,1.226,4,0.000,0.072,2613,3937,1862
$GC,6869,0.79,183.5,522.4,8.6,729,6873,0.00,2.30,0.00,0.000,6,0.000,0.041,2613,2575,1861
$GC,7194,0.82,208.2,499.9,7.1,759,7221,0.00,2.40,21.98,1.212,4,0.000,0.056,2613,1175,1761
$GC,7274,0.94,232.9,494.0,7.1,766,7302,0.10,2.40,22.45,1.188,6,0.100,0.053,2649,2586,1660
$GC,7619,0.94,232.9,462.7,9.0,798,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2586,1658
$GC,7937,0.94,232.9,434.7,8.6,828,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2586,1658
$GC,8256,0.94,232.9,405.9,9.5,858,8260,0.00,2.30,0.00,0.000,4,0.000,0.057,2649,1170,1657
$GC,8300,0.94,232.9,402.0,8.4,862,8304,0.00,2.30,0.00,0.000,6,0.000,0.052,2649,2594,1657
$GC,8632,0.94,232.9,371.7,9.5,893,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2594,1657
$GC,8948,0.94,232.9,343.0,8.8,923,8952,0.00,2.30,0.00,0.000,4,0.000,0.057,2649,1157,1657
$GC,8992,0.94,232.9,339.0,8.7,927,8996,0.00,2.28,0.00,0.000,6,0.000,0.052,2649,2586,1657
$GC,9322,0.94,232.9,309.8,8.8,958,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2585,1657
$GC,9640,0.94,232.9,282.7,8.3,988,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2585,1657
$GC,9959,0.95,235.3,257.1,7.9,1018,9963,0.00,2.25,0.00,0.000,4,0.000,0.057,2649,1170,1657
$GC,10031,0.95,239.1,251.5,7.9,1024,10041,0.00,2.28,6.18,0.973,6,0.000,0.053,2649,2584,1635
$GC,10355,0.95,239.2,225.2,8.0,1055,10359,0.00,2.20,0.00,0.000,4,0.000,0.071,2649,3944,1635
$GC,10426,0.87,239.2,218.7,9.2,1061,10434,0.08,2.15,0.00,0.000,6,0.161,0.043,2624,2575,1635
$GC,10751,1.03,275.3,197.0,6.6,1092,10788,0.12,2.38,30.20,1.138,4,0.100,0.057,2670,1170,1487
$GC,10837,1.07,275.3,189.8,8.6,1099,10844,0.00,2.35,0.00,0.000,6,0.000,0.054,2670,2578,1486
$GC,11162,1.07,275.3,160.3,9.2,1130,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2577,1484
$GC,11480,1.07,275.3,132.9,8.4,1160,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2577,1483
$GC,11800,1.08,282.4,106.7,7.7,1190,11810,0.00,0.00,6.70,0.964,6,0.000,0.000,2670,2578,1458
$GC,12142,1.15,292.0,80.0,7.6,1243,12155,0.00,0.00,9.45,1.028,6,0.000,0.000,2670,2578,1419
$GC,12493,1.22,292.7,50.9,8.0,1305,12500,0.12,2.28,0.00,0.000,4,0.103,0.058,2716,1173,1418
$GC,12544,1.22,292.7,45.9,9.7,1314,12551,0.00,2.28,0.00,0.000,6,0.000,0.056,2716,2584,1418
$GC,12888,1.44,369.7,15.9,5.1,1375,12959,0.12,2.45,63.95,1.060,4,0.096,0.075,2763,3942,1101
$GC,13037,1.35,369.7,3.9,9.7,1400,13046,0.15,2.22,0.00,0.000,6,0.160,0.045,2725,2579,1095
$STATE,13060,end climb,SURFACE_DEPTH_REACHED
$STATE,13061,begin surface coast
$FINISH,0.5,1.011731
$STATE,13084,end surface coast,CONTROL_FINISHED_OK
$STATE,13084,begin surface
$SM_CCo,13099,2.20,0.269,0,0,1081,375.06
$SM_GC,2.09,0.00,0.00,2.20,0.000,0.000,0.269,167,2323,1081,-10.43,-0.20,375.06
$RAFOS_CLK,726
$RAFOS,4,1220993048,20.750000,20.735556,65,61,59,58,56,48,204,118,148,215,182,85
$RAFOS,3,1220992451,20.583334,20.569723,64,63,58,54,54,50,204,136,165,185,147,120
$RAFOS,2,1220991843,20.416666,20.400833,76,69,65,57,55,54,192,143,203,161,176,123
$RAFOS,1,1220991245,20.250000,20.234722,57,55,54,54,53,50,214,156,124,144,179,81
$RAFOS,0,1220990645,20.083334,20.068056,62,61,59,58,54,53,175,152,119,211,137,200
$RAFOS_FIX,6745.686035,-5823.114258,090908,202040,4,67,80.57
$IRIDIUM_FIX,6614.97,-6011.26,041297,161628
$TT8_MAMPS,0.027612
$HUMID,1906
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,21.7,13.454
$10V_AH,10.6,4.155
$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,21.650,119.275,450.925,2.200,0.000,32.982,48.082,148.243,0.000,0.000,0.000,12.774,2458.907,7829.876,610.652,2208.861,381.096,0.000,1754.775,0.000,2190.367,1800.000,0.529,0.000
$DEVICE_MAMPS,274.586,76.700,1323.075,269.217,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.193,961.664,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50406,1408
$CAP_FILE_SIZE,134360,0
$CFSIZE,260165632,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$CURRENT,0.056,265.6,1
$GPS,090908,233938,6645.680,-6010.075,39,1.1,39,-38.1