version: 66.04
glider: 113
mission: 4
dive: 134
start: 10 2 108 20 36 11
data:
$ID,113
$MISSION,4
$DIVE,134
$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,-24407.414
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,202558,6642.460,-6002.980,47,5.8,66,-38.0
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-61.9
$GPS2,203515,6642.420,-6003.109,14,1.1,14,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.197,0.106
$KALMAN_X,13723.5,-133.6,24.6,-93192.2,550.9
$KALMAN_Y,-26742.7,863.8,277.6,2699.6,-4617.1
$MHEAD_RNG_PITCHd_Wd,99.7,41806,-12.9,-7.021
$D_GRID,624
$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,17,-1.08,-146.0,0.0,0.0,0,121,0.00,0.00,-101.70,0.000,2,0.000,0.000,165,2338,2783
$GC,124,-1.08,-146.0,3.5,-3.3,18,148,8.85,2.33,-7.62,0.000,4,0.271,0.071,2196,938,3020
$GC,182,-0.33,-146.0,17.4,-21.0,28,190,0.62,2.28,0.00,0.000,6,0.191,0.052,2362,2338,3022
$GC,527,-0.50,-146.0,42.7,-6.1,89,534,0.15,2.33,0.00,0.000,4,0.094,0.069,2310,3743,3024
$GC,631,-0.56,-146.0,50.5,-7.6,107,638,0.00,2.22,0.00,0.000,6,0.000,0.043,2310,2327,3025
$GC,975,-0.63,-146.0,75.3,-7.8,168,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2327,3026
$GC,1318,-0.72,-146.0,96.7,-5.6,229,1325,0.12,2.35,0.00,0.000,4,0.096,0.071,2262,3745,3026
$GC,1337,-0.79,-146.0,98.0,-6.0,232,1343,0.00,2.20,0.00,0.000,6,0.000,0.043,2262,2340,3026
$GC,1654,-0.79,-146.0,122.5,-7.8,251,1658,0.00,2.22,0.00,0.000,4,0.000,0.058,2262,937,3026
$GC,1676,-0.72,-146.0,124.2,-7.7,252,1680,0.00,2.25,0.00,0.000,6,0.000,0.054,2261,2343,3026
$GC,2008,-0.72,-146.0,148.9,-7.5,268,2012,0.00,2.33,0.00,0.000,4,0.000,0.072,2262,3754,3026
$GC,2101,-0.72,-146.0,156.1,-7.4,272,2106,0.00,2.25,0.00,0.000,6,0.000,0.044,2262,2336,3025
$GC,2429,-0.72,-146.0,178.9,-6.8,288,2432,0.00,2.22,0.00,0.000,4,0.000,0.059,2262,935,3025
$GC,2446,-0.72,-146.0,180.1,-7.0,288,2452,0.00,2.25,0.00,0.000,6,0.000,0.054,2262,2343,3025
$GC,2760,-0.72,-146.0,202.3,-7.3,304,2765,0.00,2.25,0.00,0.000,4,0.000,0.060,2262,932,3025
$GC,2782,-0.72,-146.0,204.1,-8.1,305,2786,0.00,2.25,0.00,0.000,6,0.000,0.052,2261,2345,3025
$GC,3114,-0.72,-146.0,227.7,-7.0,321,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2345,3024
$GC,3424,-0.77,-146.0,248.0,-6.2,336,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2345,3024
$GC,3733,-0.83,-146.0,266.6,-6.1,351,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2345,3024
$GC,4043,-0.90,-146.0,286.2,-6.3,366,4046,0.00,2.30,0.00,0.000,4,0.000,0.073,2262,3743,3024
$GC,4065,-1.00,-146.0,287.5,-5.8,367,4070,0.15,2.20,0.00,0.000,6,0.108,0.044,2209,2331,3024
$GC,4391,-0.91,-146.0,311.5,-7.4,383,4396,0.12,2.38,0.00,0.000,4,0.163,0.073,2241,3755,3023
$GC,4503,-0.96,-146.0,318.8,-6.2,388,4507,0.00,2.22,0.00,0.000,6,0.000,0.044,2241,2331,3023
$GC,4829,-0.96,-146.0,338.5,-6.0,404,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2331,3023
$GC,5139,-0.96,-146.0,356.5,-5.6,419,5142,0.00,2.20,0.00,0.000,4,0.000,0.058,2242,938,3023
$GC,5177,-0.96,-146.0,358.9,-5.8,420,5183,0.00,2.25,0.00,0.000,6,0.000,0.054,2242,2350,3023
$GC,5493,-1.00,-146.0,376.4,-5.4,436,5494,0.10,0.00,0.00,0.000,6,0.106,0.000,2205,2351,3022
$GC,5802,-0.92,-146.0,398.7,-7.5,451,5806,0.12,2.30,0.00,0.000,4,0.158,0.071,2238,3750,3023
$GC,5828,-0.92,-146.0,400.8,-7.6,452,5832,0.00,2.22,0.00,0.000,6,0.000,0.043,2238,2341,3023
$GC,6165,-0.92,-146.0,423.3,-6.8,461,6168,0.00,2.33,0.00,0.000,4,0.000,0.071,2239,3744,3023
$GC,6181,-0.98,-146.0,424.4,-6.9,461,6185,0.00,2.20,0.00,0.000,6,0.000,0.043,2238,2327,3023
$GC,6494,-1.04,-146.0,444.8,-6.4,469,6499,0.12,2.35,0.00,0.000,4,0.104,0.071,2193,3747,3024
$GC,6520,-0.98,-146.0,446.9,-7.9,469,6525,0.12,2.20,0.00,0.000,6,0.160,0.042,2226,2329,3024
$GC,6863,-0.98,-146.0,467.6,-5.9,478,6866,0.00,2.35,0.00,0.000,4,0.000,0.071,2226,3746,3024
$GC,6884,-0.98,-146.0,469.0,-6.4,478,6888,0.00,2.22,0.00,0.000,6,0.000,0.042,2226,2336,3024
$GC,7232,-0.98,-146.0,488.9,-5.8,487,7236,0.00,2.33,0.00,0.000,4,0.000,0.070,2226,3744,3024
$GC,7253,-0.98,-146.0,490.2,-6.5,487,7257,0.00,2.22,0.00,0.000,6,0.000,0.042,2226,2331,3024
$GC,7602,-0.98,-146.0,511.3,-6.1,496,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2331,3024
$GC,7926,-0.98,-146.0,531.9,-6.4,504,7930,0.00,2.35,0.00,0.000,4,0.000,0.071,2226,3750,3024
$GC,7972,-1.04,-146.0,534.8,-6.1,505,7976,0.00,2.20,0.00,0.000,6,0.000,0.041,2226,2332,3024
$GC,8302,-1.04,-146.0,555.9,-6.2,513,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2331,3024
$GC,8626,-1.04,-146.0,574.2,-5.5,521,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2331,3024
$GC,8951,-1.04,-146.0,592.7,-5.7,529,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2332,3025
$GC,9276,-1.04,-146.0,611.2,-5.7,537,9281,0.00,2.35,0.00,0.000,4,0.000,0.071,2226,3755,3025
$GC,9292,-1.04,-146.0,612.2,-5.7,537,9296,0.00,2.20,0.00,0.000,6,0.000,0.041,2226,2337,3024
$STATE,9522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9522,begin apogee
$GC,9527,-0.34,0.0,624.9,5.6,543,9659,0.45,0.00,129.00,1.299,6,0.143,0.000,2365,2522,2420
$STATE,9659,end apogee,CONTROL_FINISHED_OK
$STATE,9659,begin climb
$GC,9661,1.08,146.0,627.7,0.0,546,9800,1.02,2.65,130.70,1.212,4,0.107,0.069,2669,3926,1823
$GC,9857,0.75,146.0,611.8,11.9,550,9862,0.22,2.42,0.00,0.000,6,0.141,0.041,2598,2527,1821
$GC,10193,0.76,158.0,589.0,6.6,559,10206,0.00,0.00,11.27,1.113,6,0.000,0.000,2598,2526,1775
$GC,10519,0.77,166.3,567.2,6.7,567,10529,0.00,0.00,8.45,1.075,6,0.000,0.000,2598,2526,1742
$GC,10843,0.80,183.5,545.6,6.4,575,10861,0.00,0.00,15.95,1.181,6,0.000,0.000,2598,2526,1672
$GC,11169,0.90,207.0,525.3,6.2,583,11195,0.12,2.35,20.62,1.195,4,0.082,0.055,2649,1106,1576
$GC,11239,0.90,207.0,519.4,8.7,584,11243,0.00,2.33,0.00,0.000,6,0.000,0.049,2650,2528,1575
$GC,11576,0.83,207.0,490.0,8.8,593,11581,0.12,2.30,0.00,0.000,4,0.144,0.065,2614,3929,1574
$GC,11614,0.83,207.0,486.8,8.4,594,11618,0.00,2.22,0.00,0.000,6,0.000,0.041,2614,2512,1573
$GC,11944,0.90,216.8,464.2,6.7,602,11958,0.00,2.25,9.50,1.094,4,0.000,0.055,2614,1114,1536
$GC,11998,1.02,229.2,460.5,6.6,603,12018,0.15,2.28,11.93,1.113,6,0.081,0.048,2673,2533,1485
$GC,12355,0.91,229.2,426.7,9.5,612,12356,0.15,0.00,0.00,0.000,6,0.134,0.000,2629,2533,1483
$GC,12679,0.91,229.2,402.9,7.3,620,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2533,1483
$GC,12987,0.91,229.2,379.2,7.8,634,12991,0.00,2.28,0.00,0.000,4,0.000,0.055,2629,1111,1483
$GC,13015,0.99,229.2,377.2,7.1,635,13020,0.08,2.25,0.00,0.000,6,0.104,0.050,2663,2528,1483
$GC,13341,0.93,229.2,348.5,9.2,651,13343,0.10,0.00,0.00,0.000,6,0.136,0.000,2636,2528,1483
$GC,13650,0.93,229.2,323.4,8.1,666,13652,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2528,1483
$GC,13960,0.93,229.2,299.2,7.6,681,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2528,1482
$GC,14269,0.94,241.9,277.4,6.6,696,14290,0.00,2.35,11.43,1.056,4,0.000,0.055,2636,1107,1432
$GC,14323,1.06,244.5,273.7,6.9,698,14335,0.12,2.28,3.88,0.719,6,0.084,0.049,2687,2531,1423
$GC,14645,0.97,244.5,244.4,9.1,714,14647,0.15,0.00,0.00,0.000,6,0.133,0.000,2642,2532,1422
$GC,14952,1.03,244.5,222.5,7.2,729,14953,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2532,1422
$GC,15263,1.11,244.5,200.6,7.1,744,15267,0.12,2.28,0.00,0.000,4,0.081,0.054,2692,1111,1422
$GC,15317,1.06,244.5,195.6,9.2,746,15322,0.10,2.22,0.00,0.000,6,0.147,0.050,2666,2519,1422
$GC,15638,1.06,244.5,169.5,7.8,762,15642,0.00,2.30,0.00,0.000,4,0.000,0.069,2666,3934,1422
$GC,15676,1.00,244.5,166.0,10.0,763,15682,0.00,2.20,0.00,0.000,6,0.000,0.043,2666,2516,1423
$GC,15991,1.01,253.8,143.6,6.7,779,16005,0.00,2.25,9.25,0.996,4,0.000,0.058,2666,1111,1385
$GC,16035,1.10,256.6,140.6,6.9,781,16044,0.00,2.25,4.12,0.739,6,0.000,0.051,2666,2520,1374
$GC,16366,1.15,256.6,115.3,8.2,797,16370,0.00,2.28,0.00,0.000,4,0.000,0.057,2665,1112,1372
$GC,16398,1.26,256.6,112.6,8.2,798,16403,0.15,2.25,0.00,0.000,6,0.084,0.051,2721,2523,1372
$GC,16730,1.15,256.6,79.7,8.8,840,16736,0.15,0.00,0.00,0.000,6,0.135,0.000,2678,2523,1372
$GC,17073,1.21,256.6,55.8,7.2,901,17080,0.00,2.28,0.00,0.000,4,0.000,0.058,2678,1109,1372
$GC,17119,1.32,256.6,52.5,7.0,909,17126,0.15,2.25,0.00,0.000,6,0.081,0.051,2733,2523,1372
$GC,17463,1.32,256.6,21.8,7.1,970,17469,0.00,2.30,0.00,0.000,4,0.000,0.073,2733,3925,1371
$GC,17610,1.18,256.6,8.7,11.1,996,17617,0.15,2.20,0.00,0.000,6,0.150,0.046,2692,2520,1369
$STATE,17801,end climb,SURFACE_DEPTH_REACHED
$STATE,17801,begin surface coast
$FINISH,0.8,1.025060
$STATE,17842,end surface coast,CONTROL_FINISHED_OK
$STATE,17842,begin surface
$SM_CCo,17858,14.88,1.006,0,0,1298,275.23
$SM_GC,1.50,0.00,0.00,14.88,0.000,0.000,1.006,162,2334,1298,-10.46,-0.17,275.23
$RAFOS_CLK,1027
$RAFOS,4,1222994659,0.750000,0.738611,139,63,60,55,53,52,726,148,160,187,202,221
$RAFOS,3,1222994044,0.583333,0.567778,114,60,57,54,52,51,726,211,201,133,151,183
$RAFOS,2,1222993461,0.416667,0.405833,64,61,61,58,52,52,194,158,213,146,123,133
$RAFOS,1,1222992842,0.250000,0.233889,75,67,59,56,55,50,684,179,161,122,215,195
$RAFOS,0,1222992245,0.083333,0.068056,62,61,61,59,59,57,172,143,217,192,155,551
$RAFOS,4,1222980245,20.750000,20.734722,57,56,53,53,52,51,135,149,160,204,194,222
$RAFOS_FIX,6642.138672,-5952.303711,031008,000025,3,109,0.56
$IRIDIUM_FIX,6614.97,-6006.54,271297,202002
$TT8_MAMPS,0.027612
$HUMID,1906
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,22.0,29.662
$10V_AH,10.6,11.579
$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,20.950,132.675,366.100,14.875,0.000,77.658,71.223,174.671,0.250,0.000,0.000,15.692,1882.957,13643.977,535.297,1869.323,514.998,33.374,1554.555,0.000,1843.991,2160.000,0.529,0.000
$DEVICE_MAMPS,270.751,74.399,1298.531,1005.537,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.499,709.364,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37829,1037
$CAP_FILE_SIZE,140763,0
$CFSIZE,260165632,241782784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.5
$GPS,031008,013656,6641.362,-5957.681,114,1.2,114,-37.9