version: 66.04
glider: 113
mission: 4
dive: 41
start: 9 10 108 21 28 9
data:
$ID,113
$MISSION,4
$DIVE,41
$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,-22804.113
$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,23
$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
$GPS1,212232,6647.913,-5949.826,38,1.1,38,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.4
$GPS2,212744,6647.919,-5949.885,12,1.1,12,-38.1
$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,133.3,29595,-14.7,-8.010
$D_GRID,811
$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,16,-1.20,-146.0,0.0,0.0,0,138,0.00,0.00,-119.38,0.000,2,0.000,0.000,163,2321,2819
$GC,140,-1.20,-146.0,3.7,-4.8,19,167,8.48,2.40,-10.90,0.000,4,0.268,0.084,2165,3736,3209
$GC,241,-0.85,-146.0,31.2,-21.4,36,248,0.32,2.25,0.00,0.000,6,0.178,0.044,2254,2325,3213
$GC,585,-0.85,-146.0,68.0,-9.6,97,591,0.00,2.38,0.00,0.000,4,0.000,0.074,2254,3743,3216
$GC,618,-0.85,-146.0,71.4,-9.9,103,626,0.00,2.22,0.00,0.000,6,0.000,0.042,2254,2326,3216
$GC,966,-0.91,-146.0,105.0,-9.4,160,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2326,3216
$GC,1285,-1.00,-146.0,134.9,-8.7,190,1287,0.15,0.00,0.00,0.000,6,0.106,0.000,2203,2326,3216
$GC,1604,-0.95,-146.0,169.7,-10.7,220,1606,0.10,0.00,0.00,0.000,6,0.177,0.000,2228,2326,3215
$GC,1922,-0.95,-146.0,199.1,-9.2,250,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2326,3215
$GC,2241,-1.01,-146.0,227.3,-8.5,280,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2326,3215
$GC,2559,-1.08,-146.0,253.4,-8.1,310,2561,0.12,0.00,0.00,0.000,6,0.107,0.000,2186,2326,3214
$GC,2880,-1.03,-146.0,285.9,-10.2,340,2885,0.10,2.35,0.00,0.000,4,0.181,0.076,2210,3746,3213
$GC,2889,-1.03,-146.0,287.1,-9.7,340,2896,0.00,2.22,0.00,0.000,6,0.000,0.044,2210,2332,3213
$GC,3215,-1.08,-146.0,315.6,-8.7,371,3219,0.00,2.33,0.00,0.000,4,0.000,0.075,2210,3747,3212
$GC,3226,-1.13,-146.0,316.6,-8.9,372,3230,0.00,2.20,0.00,0.000,6,0.000,0.044,2210,2323,3212
$GC,3557,-1.18,-146.0,343.9,-7.9,403,3559,0.12,0.00,0.00,0.000,6,0.114,0.000,2168,2323,3212
$GC,3875,-1.09,-146.0,375.1,-10.3,433,3880,0.12,2.33,0.00,0.000,4,0.171,0.075,2199,3746,3212
$GC,3889,-1.09,-146.0,376.7,-10.0,434,3897,0.00,2.22,0.00,0.000,6,0.000,0.044,2199,2327,3212
$GC,4243,-1.09,-146.0,407.8,-8.7,462,4247,0.00,2.33,0.00,0.000,4,0.000,0.074,2199,3745,3212
$GC,4252,-1.14,-146.0,408.7,-8.7,462,4257,0.00,2.20,0.00,0.000,6,0.000,0.042,2199,2337,3212
$GC,4571,-1.14,-146.0,435.0,-8.1,470,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2337,3212
$GC,4896,-1.19,-146.0,459.9,-7.5,478,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2337,3212
$GC,5221,-1.24,-146.0,485.1,-7.9,486,5226,0.12,2.30,0.00,0.000,4,0.106,0.074,2157,3740,3212
$GC,5231,-1.24,-146.0,486.0,-7.7,486,5235,0.00,2.20,0.00,0.000,6,0.000,0.042,2157,2331,3212
$GC,5544,-1.15,-146.0,515.3,-9.7,494,5548,0.12,2.20,0.00,0.000,4,0.180,0.056,2187,917,3212
$GC,5553,-1.06,-146.0,516.3,-9.6,494,5558,0.00,2.22,0.00,0.000,6,0.000,0.054,2188,2334,3212
$GC,5871,-1.06,-146.0,541.9,-8.0,502,5875,0.00,2.25,0.00,0.000,4,0.000,0.071,2188,3735,3212
$GC,5881,-1.06,-146.0,542.6,-8.0,502,5886,0.00,2.17,0.00,0.000,6,0.000,0.041,2188,2334,3212
$GC,6200,-1.06,-146.0,568.4,-8.1,510,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2333,3213
$GC,6524,-1.06,-146.0,595.2,-8.2,518,6528,0.00,2.28,0.00,0.000,4,0.000,0.071,2188,3735,3213
$GC,6535,-1.06,-146.0,596.2,-8.1,518,6539,0.00,2.17,0.00,0.000,6,0.000,0.042,2188,2317,3213
$GC,6853,-1.06,-146.0,623.1,-8.6,526,6857,0.00,2.33,0.00,0.000,4,0.000,0.073,2188,3744,3213
$GC,6862,-1.06,-146.0,623.9,-8.5,526,6867,0.00,2.20,0.00,0.000,6,0.000,0.041,2188,2330,3213
$GC,7181,-1.06,-146.0,649.8,-8.1,534,7185,0.00,2.28,0.00,0.000,4,0.000,0.074,2187,3733,3213
$GC,7207,-1.13,-146.0,652.0,-8.7,534,7211,0.00,2.17,0.00,0.000,6,0.000,0.042,2188,2332,3213
$GC,7550,-1.13,-146.0,679.4,-8.0,543,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2332,3214
$GC,7874,-1.18,-146.0,705.6,-8.0,551,7878,0.00,2.30,0.00,0.000,4,0.000,0.074,2188,3742,3213
$GC,7890,-1.23,-146.0,706.9,-7.7,551,7894,0.00,2.17,0.00,0.000,6,0.000,0.042,2188,2322,3213
$GC,8203,-1.28,-146.0,731.5,-7.8,559,8208,0.12,2.33,0.00,0.000,4,0.102,0.073,2145,3746,3213
$GC,8218,-1.28,-146.0,732.9,-8.0,559,8222,0.00,2.20,0.00,0.000,6,0.000,0.041,2145,2330,3213
$GC,8567,-1.18,-146.0,767.3,-10.1,568,8571,0.15,2.28,0.00,0.000,4,0.183,0.070,2179,3739,3214
$GC,8604,-1.23,-146.0,771.0,-9.2,568,8611,0.00,2.20,0.00,0.000,6,0.000,0.042,2179,2323,3214
$GC,8935,-1.23,-146.0,799.3,-8.6,577,8938,0.00,2.30,0.00,0.000,4,0.000,0.073,2180,3738,3214
$GC,8946,-1.23,-146.0,800.1,-8.4,577,8949,0.00,2.17,0.00,0.000,6,0.000,0.041,2179,2318,3214
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9103,-0.34,0.0,813.1,8.3,581,9237,0.60,0.00,130.12,1.465,6,0.158,0.000,2364,2579,2610
$STATE,9237,end apogee,CONTROL_FINISHED_OK
$STATE,9237,begin climb
$GC,9239,1.20,146.0,816.2,0.0,584,9390,1.15,2.65,136.93,1.352,4,0.109,0.070,2703,3937,2014
$GC,9479,0.79,146.0,793.9,13.6,590,9484,0.32,2.33,0.00,0.000,6,0.159,0.041,2602,2585,2012
$GC,9803,0.81,163.7,769.2,7.3,598,9821,0.00,0.00,16.15,1.310,6,0.000,0.000,2602,2584,1942
$GC,10127,0.84,184.9,746.0,7.2,606,10152,0.00,2.40,19.38,1.338,4,0.000,0.071,2602,3940,1856
$GC,10202,0.78,184.9,740.0,8.6,607,10207,0.00,2.28,0.00,0.000,6,0.000,0.041,2602,2574,1856
$GC,10539,0.80,200.5,715.4,7.4,616,10556,0.00,0.00,14.80,1.309,6,0.000,0.000,2602,2574,1792
$GC,10864,0.88,220.0,691.7,7.3,624,10884,0.10,0.00,17.75,1.325,6,0.102,0.000,2638,2574,1713
$GC,11192,0.83,220.0,663.5,8.6,632,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2574,1711
$GC,11513,0.83,220.0,635.7,8.6,640,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2574,1711
$GC,11838,0.83,220.0,608.1,8.5,648,11842,0.00,2.22,0.00,0.000,4,0.000,0.056,2638,1171,1711
$GC,11898,0.84,226.8,603.3,7.7,649,11910,0.00,2.30,7.18,1.144,6,0.000,0.052,2638,2584,1685
$GC,12246,0.84,226.8,575.2,8.3,658,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2585,1684
$GC,12571,0.84,226.8,545.7,9.2,666,12575,0.00,2.28,0.00,0.000,4,0.000,0.056,2638,1162,1685
$GC,12615,0.84,226.8,541.6,8.5,667,12620,0.00,2.28,0.00,0.000,6,0.000,0.052,2638,2592,1684
$GC,12944,0.84,226.8,510.5,9.5,675,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2592,1684
$GC,13269,0.84,226.8,479.5,9.5,683,13273,0.00,2.28,0.00,0.000,4,0.000,0.056,2638,1160,1684
$GC,13318,0.84,226.8,475.1,8.4,684,13323,0.00,2.28,0.00,0.000,6,0.000,0.051,2638,2578,1684
$GC,13643,0.84,226.8,445.7,9.0,692,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2578,1684
$GC,13968,0.84,226.8,417.1,8.8,700,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2578,1684
$GC,14276,0.84,226.8,389.7,8.3,715,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2578,1684
$GC,14595,0.84,226.8,362.2,8.4,745,14599,0.00,2.22,0.00,0.000,4,0.000,0.055,2638,1169,1684
$GC,14640,0.91,236.8,358.5,7.6,749,14656,0.00,2.22,9.82,1.126,6,0.000,0.052,2638,2581,1643
$GC,14981,0.93,247.7,331.1,7.6,781,14996,0.00,2.25,10.15,1.110,4,0.000,0.070,2638,3945,1599
$GC,15041,0.86,247.7,325.9,9.5,786,15048,0.00,2.17,0.00,0.000,6,0.000,0.041,2638,2579,1598
$GC,15366,0.92,264.1,301.1,7.4,817,15389,0.00,2.30,14.52,1.134,4,0.000,0.055,2638,1184,1533
$GC,15439,1.05,284.2,296.0,7.2,823,15462,0.10,2.28,17.77,1.124,6,0.104,0.051,2676,2587,1450
$GC,15787,1.05,284.2,265.1,9.2,856,15788,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2587,1449
$GC,16105,1.05,284.2,234.5,10.0,886,16109,0.00,2.28,0.00,0.000,4,0.000,0.056,2676,1171,1448
$GC,16172,1.05,284.2,228.2,9.2,892,16176,0.00,2.25,0.00,0.000,6,0.000,0.051,2676,2580,1449
$GC,16504,1.05,284.2,195.7,9.9,923,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2580,1449
$GC,16819,1.05,284.2,165.9,8.7,953,16820,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2580,1448
$GC,17138,1.05,284.2,138.6,8.7,983,17139,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2580,1448
$GC,17456,1.05,284.2,112.0,8.2,1013,17458,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2580,1448
$GC,17785,1.11,291.4,86.5,7.7,1058,17799,0.00,2.20,7.12,0.985,4,0.000,0.071,2676,3939,1421
$GC,17805,1.13,302.0,84.9,7.6,1061,17825,0.00,2.12,10.43,1.025,6,0.000,0.043,2676,2574,1377
$GC,18162,1.22,302.0,57.3,8.3,1124,18168,0.10,2.28,0.00,0.000,4,0.104,0.073,2715,3944,1375
$GC,18202,1.12,302.0,53.0,10.7,1131,18211,0.15,2.15,0.00,0.000,6,0.160,0.044,2675,2575,1375
$GC,18549,1.24,331.7,28.0,6.9,1192,18582,0.12,2.33,24.73,1.081,4,0.100,0.058,2719,1166,1256
$GC,18695,1.50,397.9,18.1,5.5,1217,18759,0.15,2.33,55.75,1.035,6,0.091,0.057,2774,2580,986
$STATE,18880,end climb,SURFACE_DEPTH_REACHED
$STATE,18881,begin surface coast
$FINISH,0.5,1.010846
$STATE,18904,end surface coast,CONTROL_FINISHED_OK
$STATE,18904,begin surface
$SM_CCo,18979,0.00,0.000,0,0,973,401.56
$SM_GC,1.51,7.62,0.00,0.00,0.082,0.000,0.000,164,2319,973,-10.39,-0.31,401.56
$RAFOS_CLK,1065
$RAFOS,4,1221093844,0.750000,0.734444,63,58,56,56,55,55,186,222,208,148,124,199
$RAFOS,3,1221093275,0.583333,0.576389,85,63,55,53,52,50,567,214,177,152,196,227
$RAFOS,2,1221092666,0.416667,0.407222,61,60,57,56,54,51,155,204,250,185,116,225
$RAFOS,1,1221092052,0.250000,0.236667,62,61,60,53,51,50,199,212,173,130,156,119
$RAFOS,0,1221091446,0.083333,0.068333,66,59,57,54,54,51,133,189,148,201,214,167
$RAFOS_FIX,6629.279785,-5927.194336,110908,000044,5,67,3.61
$IRIDIUM_FIX,6614.97,-5956.38,051297,161651
$TT8_MAMPS,0.027612
$HUMID,1921
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.6,14.513
$10V_AH,10.6,4.624
$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,20.475,127.650,492.600,0.000,0.000,24.308,32.812,147.732,0.000,0.000,0.000,13.936,2374.551,13815.108,668.643,2128.267,366.412,0.000,1802.880,0.000,2108.701,1800.000,0.528,0.000
$DEVICE_MAMPS,268.450,83.603,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.530,857.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44155,1253
$CAP_FILE_SIZE,146849,0
$CFSIZE,260165632,249229312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.9
$CURRENT,0.023,186.3,1
$GPS,110908,024638,6647.325,-5943.474,28,1.1,28,-38.0