version: 66.04
glider: 113
mission: 4
dive: 40
start: 9 10 108 16 35 4
data:
$ID,113
$MISSION,4
$DIVE,40
$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,-22789.551
$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,34
$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
$GPS1,162932,6646.099,-5954.425,40,1.1,40,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.1
$GPS2,163439,6646.092,-5954.395,12,1.1,12,-38.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,94.2,33577,-14.7,-8.010
$D_GRID,735
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.20,-146.0,0.0,0.0,0,134,0.00,0.00,-115.68,0.000,2,0.000,0.000,164,2322,2796
$GC,136,-1.20,-146.0,3.2,-3.7,18,164,8.50,2.45,-11.80,0.000,4,0.272,0.082,2165,3735,3209
$GC,187,-0.27,-146.0,18.6,-27.9,26,194,0.77,2.28,0.00,0.000,6,0.191,0.047,2378,2323,3212
$GC,531,-0.68,-146.0,42.4,-5.8,87,538,0.28,2.38,0.00,0.000,4,0.083,0.073,2275,3739,3215
$GC,555,-0.97,-146.0,44.4,-7.5,91,562,0.17,2.22,0.00,0.000,6,0.108,0.041,2216,2323,3214
$GC,899,-0.88,-146.0,86.3,-11.6,152,906,0.12,2.22,0.00,0.000,4,0.181,0.057,2247,924,3217
$GC,939,-0.88,-146.0,90.8,-11.1,159,946,0.00,2.25,0.00,0.000,6,0.000,0.053,2247,2331,3217
$GC,1270,-0.94,-146.0,122.3,-9.4,198,1273,0.00,2.25,0.00,0.000,4,0.000,0.058,2246,924,3217
$GC,1363,-0.94,-146.0,131.7,-9.8,206,1370,0.00,2.28,0.00,0.000,6,0.000,0.054,2247,2330,3217
$GC,1691,-1.02,-146.0,159.3,-8.3,237,1695,0.12,2.28,0.00,0.000,4,0.124,0.071,2205,3736,3216
$GC,1722,-1.02,-146.0,162.6,-9.7,239,1729,0.00,2.22,0.00,0.000,6,0.000,0.044,2205,2329,3216
$GC,2048,-1.02,-146.0,194.9,-10.2,270,2052,0.00,2.33,0.00,0.000,4,0.000,0.075,2205,3735,3216
$GC,2074,-1.02,-146.0,197.8,-10.7,272,2081,0.00,2.22,0.00,0.000,6,0.000,0.044,2205,2323,3216
$GC,2399,-1.02,-146.0,231.5,-10.5,303,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2323,3216
$GC,2717,-1.02,-146.0,264.1,-10.0,333,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2323,3215
$GC,3036,-1.02,-146.0,295.3,-9.5,363,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2323,3214
$GC,3355,-1.02,-146.0,325.1,-9.0,393,3358,0.00,2.33,0.00,0.000,4,0.000,0.076,2205,3736,3213
$GC,3381,-1.09,-146.0,327.9,-10.2,395,3388,0.00,2.20,0.00,0.000,6,0.000,0.044,2205,2333,3213
$GC,3708,-1.13,-146.0,355.3,-8.0,426,3712,0.00,2.33,0.00,0.000,4,0.000,0.076,2205,3746,3213
$GC,3764,-1.22,-146.0,360.3,-8.4,431,3768,0.12,2.20,0.00,0.000,6,0.120,0.044,2163,2323,3213
$GC,4093,-1.13,-146.0,394.0,-9.9,462,4095,0.12,0.00,0.00,0.000,6,0.179,0.000,2193,2323,3213
$GC,4410,-1.13,-146.0,421.8,-8.6,475,4414,0.00,2.33,0.00,0.000,4,0.000,0.075,2193,3742,3213
$GC,4436,-1.13,-146.0,424.2,-9.3,475,4441,0.00,2.20,0.00,0.000,6,0.000,0.043,2193,2333,3213
$GC,4779,-1.13,-146.0,452.9,-8.4,484,4783,0.00,2.30,0.00,0.000,4,0.000,0.074,2193,3739,3214
$GC,4812,-1.19,-146.0,455.8,-9.2,484,4816,0.00,2.17,0.00,0.000,6,0.000,0.043,2193,2322,3213
$GC,5148,-1.19,-146.0,484.1,-8.4,493,5152,0.00,2.33,0.00,0.000,4,0.000,0.074,2193,3741,3213
$GC,5197,-1.27,-146.0,488.6,-9.1,494,5202,0.10,2.20,0.00,0.000,6,0.104,0.043,2151,2333,3213
$GC,5522,-1.17,-146.0,521.3,-10.2,502,5523,0.12,0.00,0.00,0.000,6,0.183,0.000,2182,2334,3213
$GC,5846,-1.17,-146.0,549.9,-9.0,510,5850,0.00,2.30,0.00,0.000,4,0.000,0.075,2182,3739,3214
$GC,5934,-1.17,-146.0,558.1,-9.2,512,5938,0.00,2.17,0.00,0.000,6,0.000,0.043,2182,2324,3214
$GC,6264,-1.17,-146.0,587.5,-8.8,520,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2323,3214
$GC,6588,-1.17,-146.0,615.3,-8.4,528,6592,0.00,2.33,0.00,0.000,4,0.000,0.074,2182,3747,3214
$GC,6615,-1.17,-146.0,617.5,-8.6,528,6619,0.00,2.20,0.00,0.000,6,0.000,0.042,2182,2334,3214
$GC,6957,-1.17,-146.0,645.6,-8.2,537,6961,0.00,2.28,0.00,0.000,4,0.000,0.071,2182,3736,3214
$GC,6990,-1.22,-146.0,648.5,-8.4,537,6994,0.00,2.20,0.00,0.000,6,0.000,0.042,2182,2322,3214
$GC,7326,-1.22,-146.0,676.3,-8.3,546,7330,0.00,2.30,0.00,0.000,4,0.000,0.071,2182,3736,3215
$GC,7347,-1.22,-146.0,678.3,-8.9,546,7352,0.00,2.20,0.00,0.000,6,0.000,0.042,2182,2322,3215
$GC,7695,-1.22,-146.0,706.9,-8.2,555,7699,0.00,2.30,0.00,0.000,4,0.000,0.071,2182,3740,3215
$GC,7728,-1.27,-146.0,709.7,-8.1,555,7732,0.00,2.20,0.00,0.000,6,0.000,0.042,2182,2328,3215
$STATE,8063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8063,begin apogee
$GC,8067,-0.34,0.0,737.6,8.4,564,8199,0.60,0.00,128.85,1.425,6,0.160,0.000,2367,2588,2610
$STATE,8200,end apogee,CONTROL_FINISHED_OK
$STATE,8200,begin climb
$GC,8201,1.20,146.0,740.8,0.0,567,8342,1.12,2.60,133.15,1.330,4,0.107,0.070,2700,3942,2014
$GC,8380,0.79,146.0,726.5,13.0,571,8385,0.32,2.40,0.00,0.000,6,0.162,0.041,2604,2581,2013
$GC,8716,0.82,169.7,701.9,7.1,580,8739,0.00,0.00,21.00,1.300,6,0.000,0.000,2604,2581,1918
$GC,9042,0.84,179.9,677.4,7.6,588,9057,0.00,2.40,10.57,1.218,4,0.000,0.071,2604,3947,1876
$GC,9090,0.76,179.9,673.2,9.4,589,9094,0.00,2.28,0.00,0.000,6,0.000,0.042,2604,2578,1876
$GC,9408,0.76,179.9,648.2,8.0,597,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2578,1875
$GC,9733,0.78,190.3,622.8,7.6,605,9745,0.00,0.00,9.85,1.217,6,0.000,0.000,2605,2578,1834
$GC,10059,0.84,201.3,598.4,7.6,613,10074,0.00,2.35,10.95,1.227,4,0.000,0.074,2605,3944,1789
$GC,10107,0.79,201.3,594.3,8.9,614,10111,0.00,2.22,0.00,0.000,6,0.000,0.042,2605,2578,1788
$GC,10426,0.87,216.2,570.4,7.4,622,10442,0.00,0.00,13.90,1.252,6,0.000,0.000,2605,2576,1728
$GC,10751,0.97,235.4,546.3,7.3,630,10771,0.15,0.00,17.48,1.262,6,0.097,0.000,2658,2576,1650
$GC,11075,0.90,235.4,515.1,9.7,638,11077,0.12,0.00,0.00,0.000,6,0.163,0.000,2627,2576,1648
$GC,11400,0.90,235.4,488.2,8.4,646,11404,0.00,2.25,0.00,0.000,4,0.000,0.057,2627,1162,1647
$GC,11449,0.98,235.4,484.2,8.4,647,11454,0.00,2.30,0.00,0.000,6,0.000,0.051,2627,2578,1647
$GC,11774,1.02,236.1,458.4,8.0,655,11776,0.12,0.00,0.00,0.000,6,0.097,0.000,2670,2578,1647
$GC,12099,0.93,236.1,425.5,10.3,663,12101,0.12,0.00,0.00,0.000,6,0.160,0.000,2637,2578,1647
$GC,12424,0.93,236.1,396.7,8.9,671,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2578,1647
$GC,12742,0.93,236.1,369.1,8.8,701,12746,0.00,2.22,0.00,0.000,4,0.000,0.056,2638,1175,1647
$GC,12775,1.00,236.1,366.3,8.7,704,12779,0.00,2.22,0.00,0.000,6,0.000,0.051,2637,2582,1647
$GC,13105,1.01,242.3,339.1,7.8,735,13117,0.00,2.28,6.85,1.030,4,0.000,0.071,2637,3944,1622
$GC,13140,1.01,242.3,336.1,9.2,738,13144,0.00,2.12,0.00,0.000,6,0.000,0.041,2637,2569,1621
$GC,13470,1.02,248.0,310.1,7.8,769,13482,0.00,2.22,6.12,0.981,4,0.000,0.055,2637,1166,1599
$GC,13507,1.13,269.2,307.5,7.2,772,13532,0.15,2.28,18.70,1.150,6,0.098,0.053,2691,2586,1512
$GC,13857,1.04,269.2,271.5,10.2,805,13859,0.12,0.00,0.00,0.000,6,0.157,0.000,2658,2586,1511
$GC,14176,1.04,269.2,243.7,8.7,835,14179,0.00,2.28,0.00,0.000,4,0.000,0.057,2661,1174,1511
$GC,14214,1.10,269.2,240.4,8.3,838,14220,0.00,2.25,0.00,0.000,6,0.000,0.052,2661,2583,1510
$GC,14539,1.10,269.2,211.7,8.5,869,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2583,1511
$GC,14857,1.10,270.3,185.1,8.0,899,14861,0.00,2.25,0.00,0.000,4,0.000,0.057,2661,1170,1511
$GC,14884,1.19,285.5,182.8,7.4,901,14906,0.12,2.25,14.45,1.095,6,0.100,0.052,2707,2589,1445
$GC,15230,1.11,285.5,146.6,10.6,934,15235,0.12,2.20,0.00,0.000,4,0.156,0.068,2673,3943,1443
$GC,15262,1.06,285.5,143.2,11.0,936,15269,0.00,2.17,0.00,0.000,6,0.000,0.042,2674,2572,1443
$GC,15586,1.11,285.5,113.8,8.7,967,15590,0.00,2.22,0.00,0.000,4,0.000,0.058,2675,1165,1443
$GC,15631,1.20,285.5,109.8,9.1,971,15636,0.08,2.28,0.00,0.000,6,0.117,0.053,2705,2590,1443
$GC,15967,1.20,285.5,78.1,8.4,1022,15974,0.00,2.17,0.00,0.000,4,0.000,0.071,2705,3937,1443
$GC,16019,1.06,285.5,73.0,10.3,1031,16027,0.15,2.12,0.00,0.000,6,0.163,0.044,2665,2568,1442
$GC,16365,1.22,328.4,49.5,6.4,1092,16403,0.12,0.00,34.85,1.092,6,0.100,0.000,2710,2566,1271
$GC,16742,1.49,385.0,20.3,5.8,1158,16797,0.17,2.40,47.08,1.048,4,0.086,0.059,2775,1178,1038
$GC,16932,1.49,385.0,4.2,8.8,1191,16939,0.00,2.33,0.00,0.000,6,0.000,0.055,2775,2582,1031
$STATE,16960,end climb,SURFACE_DEPTH_REACHED
$STATE,16960,begin surface coast
$FINISH,0.4,1.002829
$STATE,16984,end surface coast,CONTROL_FINISHED_OK
$STATE,16984,begin surface
$SM_CCo,17059,0.00,0.000,0,0,1026,388.56
$SM_GC,1.44,7.68,0.00,0.00,0.089,0.000,0.000,163,2321,1026,-10.40,-0.25,388.56
$RAFOS_CLK,959
$RAFOS,4,1221079446,20.750000,20.735001,65,58,56,56,54,52,192,204,149,226,134,114
$RAFOS,3,1221078849,20.583334,20.569166,62,61,60,57,55,50,168,193,151,122,212,180
$RAFOS,2,1221078243,20.416666,20.400833,73,58,56,55,55,51,159,213,246,232,198,144
$RAFOS,1,1221077641,20.250000,20.233612,62,59,57,55,55,50,195,166,148,133,215,112
$RAFOS,0,1221077042,20.083334,20.067223,61,60,59,56,54,52,171,218,205,181,148,233
$RAFOS,4,1221065046,16.750000,16.735001,62,59,57,56,54,53,207,140,191,170,225,158
$RAFOS,2,1221063845,16.416666,16.401388,64,62,60,57,55,54,132,199,187,210,151,221
$RAFOS_FIX,6748.441406,-5824.656250,100908,202006,5,65,9.55
$IRIDIUM_FIX,6620.33,-5956.38,051297,121201
$TT8_MAMPS,0.027612
$HUMID,1921
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.6,14.323
$10V_AH,10.6,4.546
$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,21.750,132.350,473.800,0.000,0.000,27.916,28.463,143.718,0.000,0.000,0.000,14.164,2309.230,12112.229,643.719,2053.337,357.726,0.000,1740.995,0.000,2035.148,2160.000,0.528,0.000
$DEVICE_MAMPS,271.518,82.069,1425.086,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.925,820.617,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44109,1200
$CAP_FILE_SIZE,140751,0
$CFSIZE,260165632,249303040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$CURRENT,0.068,337.0,1
$GPS,100908,212232,6647.913,-5949.826,38,1.1,38,-38.1