version: 66.04
glider: 113
mission: 4
dive: 108
start: 9 28 108 10 4 5
data:
$ID,113
$MISSION,4
$DIVE,108
$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,-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,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,275
$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,-24003.738
$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,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,25
$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
$GPS1,095801,6642.861,-6002.490,38,1.3,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.0
$GPS2,100309,6642.843,-6002.478,11,1.3,11,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.133,-0.180
$KALMAN_X,14538.9,-24.6,49.4,-93672.4,549.7
$KALMAN_Y,-2672.9,-960.7,-1587.6,-16896.9,3045.3
$MHEAD_RNG_PITCHd_Wd,254.5,29726,-12.9,-7.021
$D_GRID,611
$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,-1.08,-146.0,0.0,0.0,0,133,0.00,0.00,-114.68,0.000,2,0.000,0.000,162,2339,2758
$GC,135,-1.08,-146.0,3.5,-3.5,20,160,8.80,2.40,-8.65,0.000,4,0.271,0.085,2192,3746,3019
$GC,408,-0.74,-146.0,48.4,-12.2,68,415,0.30,2.25,0.00,0.000,6,0.166,0.044,2275,2325,3024
$GC,752,-0.69,-146.0,78.7,-9.2,129,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2325,3026
$GC,1096,-0.69,-146.0,108.7,-8.1,177,1100,0.00,2.20,0.00,0.000,4,0.000,0.057,2275,938,3026
$GC,1163,-0.69,-146.0,114.4,-8.8,180,1167,0.00,2.25,0.00,0.000,6,0.000,0.054,2275,2341,3026
$GC,1494,-0.69,-146.0,141.4,-8.1,196,1498,0.00,2.33,0.00,0.000,4,0.000,0.073,2276,3752,3026
$GC,1522,-0.75,-146.0,143.7,-8.6,197,1526,0.00,2.20,0.00,0.000,6,0.000,0.042,2275,2338,3026
$GC,1848,-0.79,-146.0,167.1,-6.5,213,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2338,3026
$GC,2158,-0.86,-146.0,185.9,-6.2,228,2163,0.10,2.35,0.00,0.000,4,0.117,0.072,2242,3749,3025
$GC,2196,-0.86,-146.0,188.6,-7.0,230,2200,0.00,2.20,0.00,0.000,6,0.000,0.044,2242,2341,3025
$GC,2528,-0.86,-146.0,213.9,-7.6,246,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2340,3025
$GC,2838,-0.86,-146.0,236.7,-7.0,261,2842,0.00,2.35,0.00,0.000,4,0.000,0.074,2242,3754,3024
$GC,2949,-0.86,-146.0,245.0,-7.4,266,2954,0.00,2.22,0.00,0.000,6,0.000,0.044,2242,2323,3024
$GC,3281,-0.86,-146.0,267.4,-6.8,282,3285,0.00,2.38,0.00,0.000,4,0.000,0.075,2242,3749,3024
$GC,3319,-0.86,-146.0,270.1,-7.2,283,3326,0.00,2.22,0.00,0.000,6,0.000,0.044,2242,2342,3024
$GC,3634,-0.86,-146.0,292.4,-7.3,299,3638,0.00,2.35,0.00,0.000,4,0.000,0.074,2242,3754,3023
$GC,3706,-0.86,-146.0,298.2,-8.2,302,3710,0.00,2.22,0.00,0.000,6,0.000,0.043,2242,2344,3023
$GC,4033,-0.86,-146.0,323.7,-7.8,318,4037,0.00,2.22,0.00,0.000,4,0.000,0.058,2242,937,3023
$GC,4065,-0.86,-146.0,326.6,-8.4,319,4069,0.00,2.28,0.00,0.000,6,0.000,0.055,2242,2340,3023
$GC,4386,-0.86,-146.0,351.4,-7.6,335,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2340,3023
$GC,4696,-0.86,-146.0,373.0,-6.7,350,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2340,3023
$GC,5005,-0.86,-146.0,392.7,-6.2,365,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2340,3023
$GC,5332,-0.86,-146.0,412.1,-5.9,376,5336,0.00,2.30,0.00,0.000,4,0.000,0.071,2242,3744,3023
$GC,5422,-0.93,-146.0,417.4,-6.2,378,5426,0.00,2.20,0.00,0.000,6,0.000,0.042,2242,2324,3023
$GC,5751,-0.99,-146.0,436.2,-5.7,386,5755,0.00,2.38,0.00,0.000,4,0.000,0.072,2242,3756,3024
$GC,5778,-1.06,-146.0,437.8,-5.6,386,5783,0.10,2.22,0.00,0.000,6,0.086,0.042,2178,2340,3024
$GC,6120,-0.91,-146.0,465.8,-8.3,395,6124,0.20,2.35,0.00,0.000,4,0.154,0.072,2240,3752,3024
$GC,6145,-0.91,-146.0,467.8,-7.7,395,6150,0.00,2.22,0.00,0.000,6,0.000,0.041,2240,2338,3024
$GC,6483,-0.97,-146.0,488.7,-6.3,404,6487,0.00,2.33,0.00,0.000,4,0.000,0.071,2240,3756,3024
$GC,6538,-1.07,-146.0,492.0,-5.9,405,6543,0.15,2.20,0.00,0.000,6,0.095,0.041,2189,2334,3024
$GC,6857,-0.97,-146.0,514.0,-7.0,413,6859,0.15,0.00,0.00,0.000,6,0.156,0.000,2229,2334,3024
$GC,7181,-0.97,-146.0,532.1,-5.9,421,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2334,3024
$GC,7507,-0.97,-146.0,550.0,-5.7,429,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2333,3024
$GC,7832,-0.97,-146.0,572.2,-7.0,437,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2333,3024
$GC,8156,-0.97,-146.0,591.9,-5.8,445,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2333,3024
$GC,8481,-0.97,-146.0,609.6,-5.2,453,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2333,3025
$STATE,8520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8520,begin apogee
$GC,8525,-0.34,0.0,612.3,5.6,454,8655,0.43,0.00,127.47,1.299,6,0.142,0.000,2361,2518,2420
$STATE,8656,end apogee,CONTROL_FINISHED_OK
$STATE,8656,begin climb
$GC,8657,1.08,146.0,613.9,0.0,457,8791,1.05,0.00,130.55,1.208,6,0.108,0.000,2668,2518,1824
$GC,9087,0.86,146.0,574.3,10.0,468,9092,0.17,2.45,0.00,0.000,4,0.146,0.068,2622,3929,1821
$GC,9181,0.70,146.0,565.2,9.3,470,9186,0.15,2.30,0.00,0.000,6,0.146,0.041,2582,2515,1821
$GC,9494,0.80,164.7,545.1,6.4,478,9513,0.10,0.00,16.67,1.182,6,0.088,0.000,2622,2515,1747
$GC,9819,0.81,168.9,522.6,6.9,486,9828,0.00,2.28,4.90,0.898,4,0.000,0.055,2622,1111,1731
$GC,9844,0.82,173.8,520.8,6.9,486,9855,0.00,2.33,5.80,0.956,6,0.000,0.050,2622,2524,1711
$GC,10180,0.82,173.8,495.6,7.9,494,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2524,1711
$GC,10505,0.82,173.8,470.4,7.6,502,10509,0.00,2.30,0.00,0.000,4,0.000,0.067,2622,3936,1711
$GC,10538,0.70,173.8,467.7,8.5,502,10543,0.15,2.22,0.00,0.000,6,0.147,0.041,2581,2513,1711
$GC,10875,0.88,212.9,448.0,5.7,511,10917,0.15,2.35,32.75,1.207,4,0.077,0.054,2638,1120,1551
$GC,10939,0.88,212.9,443.3,7.5,512,10943,0.00,2.33,0.00,0.000,6,0.000,0.049,2638,2516,1550
$GC,11286,0.88,212.9,415.1,8.1,521,11290,0.00,2.33,0.00,0.000,4,0.000,0.067,2638,3929,1549
$GC,11308,0.81,212.9,413.4,8.3,521,11312,0.05,2.25,0.00,0.000,6,0.148,0.041,2610,2521,1549
$GC,11638,0.89,218.6,391.6,6.8,532,11648,0.00,2.25,6.15,0.965,4,0.000,0.054,2610,1110,1528
$GC,11693,1.02,224.4,387.7,6.8,534,11705,0.17,2.25,6.55,0.972,6,0.074,0.048,2678,2522,1505
$GC,12027,0.91,224.4,354.7,9.9,551,12032,0.17,2.30,0.00,0.000,4,0.129,0.064,2626,3938,1503
$GC,12081,0.86,224.4,349.5,8.7,553,12088,0.00,2.25,0.00,0.000,6,0.000,0.041,2626,2520,1503
$GC,12397,0.92,226.5,327.5,6.9,569,12401,0.00,2.22,0.00,0.000,4,0.000,0.054,2626,1115,1503
$GC,12447,1.00,227.8,323.9,7.0,571,12457,0.10,2.25,4.45,0.821,6,0.092,0.048,2666,2534,1491
$GC,12773,0.93,227.8,296.0,9.0,587,12777,0.12,2.28,0.00,0.000,4,0.132,0.065,2629,3937,1491
$GC,12811,0.93,227.8,292.6,8.8,589,12815,0.00,2.22,0.00,0.000,6,0.000,0.041,2629,2506,1490
$GC,13143,1.01,236.6,270.0,6.7,605,13158,0.10,2.25,8.68,1.016,4,0.091,0.056,2669,1121,1455
$GC,13179,1.01,236.6,267.1,8.5,606,13186,0.00,2.28,0.00,0.000,6,0.000,0.051,2669,2520,1454
$GC,13495,0.96,236.6,239.4,8.9,622,13497,0.10,0.00,0.00,0.000,6,0.150,0.000,2641,2520,1453
$GC,13804,1.01,236.6,216.5,7.4,637,13808,0.00,2.25,0.00,0.000,4,0.000,0.056,2641,1106,1454
$GC,13826,1.10,244.1,215.0,6.8,638,13841,0.12,2.25,7.85,0.981,6,0.088,0.050,2690,2520,1425
$GC,14158,1.01,244.1,182.6,10.0,654,14162,0.15,2.33,0.00,0.000,4,0.137,0.068,2646,3940,1423
$GC,14196,1.01,244.1,178.8,9.5,656,14200,0.00,2.22,0.00,0.000,6,0.000,0.042,2646,2515,1423
$GC,14528,1.09,244.1,155.0,7.0,672,14532,0.10,2.22,0.00,0.000,4,0.098,0.056,2689,1114,1423
$GC,14588,1.09,244.1,150.2,7.9,674,14595,0.00,2.28,0.00,0.000,6,0.000,0.051,2689,2522,1423
$GC,14904,1.04,244.1,125.8,7.5,690,14908,0.12,2.30,0.00,0.000,4,0.142,0.068,2653,3931,1423
$GC,14930,1.04,244.1,123.7,7.3,691,14934,0.00,2.22,0.00,0.000,6,0.000,0.043,2653,2522,1422
$GC,15251,1.16,265.6,103.4,6.3,707,15277,0.12,2.33,18.60,1.065,4,0.084,0.058,2705,1113,1336
$GC,15300,1.16,265.6,99.5,8.3,710,15306,0.00,2.28,0.00,0.000,6,0.000,0.052,2705,2520,1335
$GC,15643,1.16,265.6,69.3,8.4,771,15649,0.00,2.33,0.00,0.000,4,0.000,0.071,2705,3931,1333
$GC,15672,1.06,265.6,66.6,8.7,776,15679,0.15,2.22,0.00,0.000,6,0.151,0.044,2663,2521,1334
$GC,16017,1.17,268.5,43.5,6.9,837,16030,0.10,2.30,3.45,0.655,4,0.092,0.058,2704,1113,1325
$GC,16058,1.17,268.5,40.2,7.8,844,16064,0.00,2.28,0.00,0.000,6,0.000,0.053,2704,2531,1325
$GC,16402,1.34,326.4,17.3,5.1,905,16457,0.00,2.47,48.58,1.033,4,0.000,0.058,2704,1109,1088
$GC,16502,1.58,355.2,10.9,6.0,922,16533,0.25,2.35,25.05,0.961,6,0.071,0.052,2798,2524,971
$STATE,16605,end climb,SURFACE_DEPTH_REACHED
$STATE,16605,begin surface coast
$FINISH,0.8,1.000810
$STATE,16623,end surface coast,CONTROL_FINISHED_OK
$STATE,16623,begin surface
$SM_CCo,16698,0.00,0.000,0,0,960,358.14
$SM_GC,1.86,7.70,0.00,0.00,0.077,0.000,0.000,160,2339,960,-10.40,0.00,358.14
$RAFOS_CLK,953
$RAFOS,4,1222605858,12.750000,12.738334,67,67,60,59,55,51,197,206,121,743,159,187
$RAFOS,3,1222605249,12.583333,12.569167,83,67,56,55,50,50,721,171,215,129,183,200
$RAFOS,2,1222604643,12.416667,12.400833,62,60,57,53,51,49,188,219,170,155,121,142
$RAFOS,1,1222604074,12.250000,12.242778,83,59,57,52,51,51,527,179,157,223,131,211
$RAFOS,0,1222603465,12.083333,12.073611,91,57,56,53,51,51,415,160,170,197,220,120
$RAFOS_FIX,6624.414062,-5744.850586,280908,121248,5,77,12.57
$IRIDIUM_FIX,6614.97,-5951.67,231297,040436
$TT8_MAMPS,0.027612
$HUMID,1900
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,25.882
$10V_AH,10.6,9.969
$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,21.650,137.525,447.500,0.000,0.000,24.800,31.529,142.926,0.000,0.000,0.000,12.792,1776.998,12545.708,621.731,1745.938,375.255,33.370,1586.655,0.000,1729.656,1800.000,0.528,0.000
$DEVICE_MAMPS,270.751,85.137,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.985,643.352,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34757,943
$CAP_FILE_SIZE,134142,0
$CFSIZE,260165632,243322880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.7
$GPS,280908,144458,6643.271,-6006.543,32,2.1,51,-38.0