version: 66.04
glider: 113
mission: 4
dive: 135
start: 10 3 108 1 50 55
data:
$ID,113
$MISSION,4
$DIVE,135
$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,-24422.238
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,013656,6641.362,-5957.681,114,1.2,114,-37.9
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.1
$GPS2,014959,6641.307,-5957.615,12,1.2,12,-37.9
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.212,0.072
$KALMAN_X,13819.3,74.0,210.2,-89682.5,-254.4
$KALMAN_Y,-28075.0,-310.5,-1167.3,4587.3,595.7
$MHEAD_RNG_PITCHd_Wd,109.0,39040,-12.9,-7.021
$D_GRID,677
$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,-146.0,0.0,0.0,0,117,0.00,0.00,-97.75,0.000,2,0.000,0.000,161,2332,2762
$GC,120,-1.08,-146.0,3.0,-2.0,17,145,8.75,2.33,-9.07,0.000,4,0.264,0.071,2199,919,3019
$GC,241,-0.50,-146.0,27.3,-20.7,38,248,0.45,2.33,0.00,0.000,6,0.177,0.056,2325,2339,3022
$GC,586,-0.58,-146.0,58.1,-7.1,99,592,0.00,2.33,0.00,0.000,4,0.000,0.070,2325,3746,3024
$GC,616,-0.69,-146.0,60.2,-6.8,104,623,0.15,2.22,0.00,0.000,6,0.086,0.041,2271,2327,3024
$GC,960,-0.64,-146.0,89.3,-9.0,165,967,0.10,2.38,0.00,0.000,4,0.164,0.070,2296,3753,3025
$GC,1018,-0.74,-146.0,94.3,-8.5,175,1024,0.00,2.22,0.00,0.000,6,0.000,0.042,2297,2333,3026
$GC,1340,-0.82,-146.0,119.0,-7.5,200,1344,0.15,2.22,0.00,0.000,4,0.091,0.056,2243,935,3025
$GC,1378,-0.67,-146.0,122.6,-9.8,201,1385,0.17,2.25,0.00,0.000,6,0.168,0.051,2289,2345,3026
$GC,1693,-0.76,-146.0,142.7,-5.6,217,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2345,3026
$GC,2003,-0.86,-146.0,160.7,-5.8,232,2005,0.15,0.00,0.00,0.000,6,0.096,0.000,2236,2345,3024
$GC,2312,-0.79,-146.0,185.9,-8.5,247,2316,0.12,2.28,0.00,0.000,4,0.167,0.058,2268,934,3024
$GC,2321,-0.73,-146.0,186.7,-8.3,247,2326,0.00,2.28,0.00,0.000,6,0.000,0.051,2269,2341,3024
$GC,2643,-0.79,-146.0,210.5,-7.6,263,2646,0.00,2.30,0.00,0.000,4,0.000,0.070,2269,3748,3024
$GC,2653,-0.86,-146.0,211.2,-7.4,263,2657,0.00,2.20,0.00,0.000,6,0.000,0.043,2269,2338,3024
$GC,2974,-0.94,-146.0,234.4,-7.0,279,2978,0.15,2.22,0.00,0.000,4,0.098,0.058,2217,935,3024
$GC,2989,-0.94,-146.0,235.7,-7.3,279,2995,0.00,2.28,0.00,0.000,6,0.000,0.052,2217,2343,3024
$GC,3305,-0.85,-146.0,263.7,-8.3,295,3307,0.15,0.00,0.00,0.000,6,0.166,0.000,2256,2343,3023
$GC,3614,-0.90,-146.0,283.9,-6.6,310,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2343,3023
$GC,3924,-0.98,-146.0,302.8,-6.1,325,3928,0.12,2.28,0.00,0.000,4,0.101,0.058,2212,929,3022
$GC,3946,-0.92,-146.0,304.4,-7.8,326,3950,0.10,2.25,0.00,0.000,6,0.181,0.052,2236,2344,3021
$GC,4277,-0.92,-146.0,326.3,-6.4,342,4281,0.00,2.30,0.00,0.000,4,0.000,0.071,2235,3749,3022
$GC,4326,-0.92,-146.0,329.6,-7.1,344,4330,0.00,2.20,0.00,0.000,6,0.000,0.044,2236,2334,3021
$GC,4653,-0.92,-146.0,350.6,-6.9,360,4657,0.00,2.35,0.00,0.000,4,0.000,0.071,2236,3750,3022
$GC,4675,-0.92,-146.0,352.2,-7.4,361,4679,0.00,2.20,0.00,0.000,6,0.000,0.043,2235,2336,3022
$GC,5006,-0.92,-146.0,375.4,-7.0,377,5010,0.00,2.35,0.00,0.000,4,0.000,0.072,2236,3751,3021
$GC,5051,-0.98,-146.0,378.7,-7.1,379,5055,0.00,2.20,0.00,0.000,6,0.000,0.043,2235,2339,3022
$GC,5382,-0.98,-146.0,401.1,-6.8,395,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2338,3022
$GC,5708,-0.98,-146.0,423.7,-7.0,403,5711,0.00,2.22,0.00,0.000,4,0.000,0.056,2235,931,3022
$GC,5740,-0.98,-146.0,426.2,-6.9,403,5745,0.00,2.28,0.00,0.000,6,0.000,0.052,2235,2344,3022
$GC,6077,-0.98,-146.0,450.2,-7.0,412,6081,0.00,2.28,0.00,0.000,4,0.000,0.069,2236,3743,3022
$GC,6114,-1.05,-146.0,453.1,-7.6,412,6122,0.12,2.20,0.00,0.000,6,0.104,0.042,2192,2322,3022
$GC,6446,-0.95,-146.0,480.7,-8.3,421,6451,0.15,2.35,0.00,0.000,4,0.154,0.069,2232,3751,3022
$GC,6478,-1.01,-146.0,483.3,-7.7,421,6485,0.00,2.20,0.00,0.000,6,0.000,0.042,2232,2330,3022
$GC,6809,-1.01,-146.0,505.5,-6.6,430,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3023
$GC,7134,-1.01,-146.0,526.6,-6.3,438,7138,0.00,2.35,0.00,0.000,4,0.000,0.071,2232,3750,3024
$GC,7156,-1.07,-146.0,528.1,-6.7,438,7161,0.12,2.20,0.00,0.000,6,0.107,0.041,2190,2329,3023
$GC,7503,-0.96,-146.0,553.5,-7.5,447,7508,0.15,2.35,0.00,0.000,4,0.153,0.068,2231,3746,3024
$GC,7536,-1.03,-146.0,555.8,-6.6,447,7540,0.00,2.20,0.00,0.000,6,0.000,0.041,2231,2329,3023
$GC,7872,-1.03,-146.0,576.0,-5.9,456,7876,0.00,2.35,0.00,0.000,4,0.000,0.071,2231,3746,3023
$GC,7927,-1.10,-146.0,579.3,-6.1,457,7931,0.12,2.17,0.00,0.000,6,0.100,0.041,2188,2338,3023
$GC,8245,-1.01,-146.0,602.9,-7.6,465,8247,0.12,0.00,0.00,0.000,6,0.156,0.000,2220,2337,3024
$GC,8569,-1.01,-146.0,622.1,-5.6,473,8574,0.00,2.33,0.00,0.000,4,0.000,0.069,2220,3754,3024
$GC,8597,-1.01,-146.0,623.6,-5.1,473,8601,0.00,2.20,0.00,0.000,6,0.000,0.041,2220,2333,3023
$GC,8939,-1.01,-146.0,641.7,-5.2,482,8943,0.00,2.35,0.00,0.000,4,0.000,0.071,2220,3751,3023
$GC,9016,-1.07,-146.0,645.6,-5.2,483,9020,0.00,2.20,0.00,0.000,6,0.000,0.041,2220,2328,3024
$GC,9353,-1.07,-146.0,663.7,-6.1,492,9357,0.00,2.33,0.00,0.000,4,0.000,0.069,2220,3749,3024
$GC,9363,-1.12,-146.0,664.4,-7.1,492,9367,0.12,2.20,0.00,0.000,6,0.101,0.041,2178,2327,3024
$STATE,9545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9545,begin apogee
$GC,9550,-0.34,0.0,677.5,7.2,497,9683,0.62,0.00,129.43,1.326,6,0.151,0.000,2365,2528,2420
$STATE,9683,end apogee,CONTROL_FINISHED_OK
$STATE,9683,begin climb
$GC,9685,1.08,146.0,679.4,0.0,500,9826,1.02,2.70,131.73,1.239,4,0.110,0.067,2667,3934,1823
$GC,9876,0.76,146.0,663.1,10.9,504,9882,0.20,2.45,0.00,0.000,6,0.140,0.041,2598,2522,1821
$GC,10218,0.76,146.0,639.0,7.2,513,10222,0.00,2.33,0.00,0.000,4,0.000,0.054,2598,1111,1820
$GC,10250,0.83,146.0,636.1,8.3,513,10255,0.00,2.33,0.00,0.000,6,0.000,0.049,2598,2535,1820
$GC,10586,0.83,146.0,610.9,7.1,522,10590,0.00,2.30,0.00,0.000,4,0.000,0.067,2598,3926,1820
$GC,10631,0.77,146.0,607.4,7.7,523,10635,0.00,2.25,0.00,0.000,6,0.000,0.041,2598,2499,1820
$GC,10961,0.79,162.4,585.2,6.5,531,10980,0.00,2.25,14.38,1.205,4,0.000,0.054,2598,1113,1757
$GC,11014,0.89,179.4,581.9,6.4,532,11035,0.12,2.28,15.77,1.192,6,0.084,0.049,2649,2519,1688
$GC,11366,0.80,179.4,553.4,8.2,541,11371,0.15,2.33,0.00,0.000,4,0.141,0.067,2606,3932,1685
$GC,11416,0.75,179.4,549.3,7.9,542,11420,0.00,2.22,0.00,0.000,6,0.000,0.041,2606,2514,1685
$GC,11734,0.77,196.8,528.7,6.4,550,11754,0.00,2.28,15.30,1.188,4,0.000,0.054,2607,1109,1617
$GC,11799,0.90,212.1,524.6,6.5,551,11819,0.10,2.30,14.15,1.154,6,0.093,0.049,2648,2533,1554
$GC,12143,0.84,212.1,496.1,8.4,560,12145,0.12,0.00,0.00,0.000,6,0.142,0.000,2614,2533,1553
$GC,12469,0.90,223.6,474.5,6.6,568,12484,0.00,2.30,10.85,1.119,4,0.000,0.054,2614,1118,1508
$GC,12541,1.02,232.3,469.5,6.7,569,12556,0.15,2.25,8.93,1.067,6,0.081,0.048,2672,2522,1472
$GC,12881,0.91,232.3,436.0,10.0,578,12883,0.15,0.00,0.00,0.000,6,0.135,0.000,2629,2522,1470
$GC,13205,0.91,232.3,410.0,8.0,586,13209,0.00,2.25,0.00,0.000,4,0.000,0.055,2629,1109,1470
$GC,13260,1.00,232.3,405.6,8.1,587,13264,0.10,2.25,0.00,0.000,6,0.091,0.048,2666,2532,1470
$GC,13581,0.91,232.3,374.4,9.7,601,13583,0.12,0.00,0.00,0.000,6,0.139,0.000,2630,2533,1470
$GC,13891,0.92,242.1,351.5,6.7,616,13905,0.00,2.30,9.25,1.045,4,0.000,0.054,2630,1108,1432
$GC,13934,1.05,263.9,348.6,6.3,618,13960,0.12,2.25,19.35,1.108,6,0.083,0.048,2679,2523,1344
$GC,14288,0.98,263.9,317.5,9.4,635,14292,0.12,2.28,0.00,0.000,4,0.127,0.054,2642,1116,1342
$GC,14325,1.07,263.9,314.4,7.7,636,14333,0.10,2.25,0.00,0.000,6,0.091,0.048,2681,2531,1341
$GC,14641,1.01,263.9,284.6,9.5,652,14645,0.10,2.28,0.00,0.000,4,0.137,0.054,2653,1114,1342
$GC,14696,1.08,263.9,280.1,8.1,654,14700,0.00,2.22,0.00,0.000,6,0.000,0.048,2653,2521,1341
$GC,15016,1.08,263.9,253.8,8.4,670,15020,0.00,2.25,0.00,0.000,4,0.000,0.054,2653,1111,1341
$GC,15061,1.16,263.9,250.1,8.0,672,15066,0.12,2.22,0.00,0.000,6,0.087,0.049,2703,2520,1341
$GC,15393,1.06,263.9,214.9,10.8,688,15398,0.15,2.30,0.00,0.000,4,0.136,0.067,2659,3939,1342
$GC,15425,1.01,263.9,211.4,9.9,689,15432,0.00,2.20,0.00,0.000,6,0.000,0.041,2660,2518,1342
$GC,15740,1.01,263.9,185.0,8.1,705,15744,0.00,2.22,0.00,0.000,4,0.000,0.056,2660,1109,1341
$GC,15790,1.09,263.9,181.1,7.5,707,15794,0.00,2.22,0.00,0.000,6,0.000,0.048,2660,2522,1341
$GC,16117,1.15,266.9,157.8,6.9,723,16127,0.10,2.30,3.92,0.730,4,0.086,0.068,2705,3922,1331
$GC,16154,0.96,266.9,154.2,10.1,724,16162,0.22,2.17,0.00,0.000,6,0.143,0.044,2639,2522,1331
$GC,16470,1.14,297.1,136.4,6.0,740,16501,0.15,2.30,25.77,1.066,4,0.082,0.056,2700,1112,1208
$GC,16579,1.14,297.1,126.4,9.0,745,16583,0.00,2.30,0.00,0.000,6,0.000,0.050,2699,2533,1205
$GC,16898,1.14,297.1,96.3,8.9,765,16904,0.00,2.30,0.00,0.000,4,0.000,0.068,2699,3936,1203
$GC,16927,1.09,297.1,93.5,9.2,770,16934,0.12,2.25,0.00,0.000,6,0.150,0.044,2668,2506,1203
$GC,17271,1.21,297.1,67.7,7.4,831,17278,0.12,2.22,0.00,0.000,4,0.084,0.058,2718,1116,1203
$GC,17329,1.21,297.1,62.6,9.0,841,17335,0.00,2.25,0.00,0.000,6,0.000,0.052,2718,2523,1202
$GC,17673,1.21,297.1,32.0,8.5,902,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2523,1202
$GC,18015,1.33,384.3,11.8,4.0,963,18097,0.00,2.45,72.07,1.003,4,0.000,0.053,2718,1116,852
$STATE,18151,end climb,SURFACE_DEPTH_REACHED
$STATE,18153,begin surface coast
$FINISH,1.1,1.025004
$STATE,18177,end surface coast,CONTROL_FINISHED_OK
$STATE,18177,begin surface
$SM_CCo,18254,0.00,0.000,0,0,841,387.33
$SM_GC,1.60,7.35,0.00,0.00,0.068,0.000,0.000,163,2362,841,-10.38,0.62,387.33
$RAFOS_CLK,1053
$RAFOS,4,1223009077,4.750000,4.743611,62,62,61,60,56,50,145,167,203,186,214,177
$RAFOS,3,1223008446,4.583333,4.568333,72,58,53,51,51,49,708,206,226,194,215,123
$RAFOS,2,1223007843,4.416667,4.400833,64,56,56,56,54,52,122,143,183,895,203,155
$RAFOS,1,1223007245,4.250000,4.234722,62,58,58,55,54,53,183,199,661,222,132,165
$RAFOS,0,1223006654,4.083333,4.070556,81,65,65,59,57,53,501,222,188,209,154,169
$RAFOS_FIX,6641.487305,-5959.678711,031008,040416,2,76,0.17
$IRIDIUM_FIX,6609.62,-5957.12,281297,010115
$TT8_MAMPS,0.027612
$HUMID,1910
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.0,29.851
$10V_AH,10.6,11.657
$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,23.175,177.700,470.900,0.000,0.000,75.205,95.629,367.757,0.000,0.000,0.000,14.193,1888.306,13861.869,620.612,1934.909,758.277,33.366,1714.248,0.000,1905.962,1800.000,0.528,0.000
$DEVICE_MAMPS,263.848,72.865,1326.143,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.702,675.942,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37886,991
$CAP_FILE_SIZE,158967,0
$CFSIZE,260165632,241692672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$GPS,031008,065656,6641.739,-5952.086,38,1.6,38,-37.9