version: 66.04
glider: 113
mission: 4
dive: 170
start: 10 12 108 9 54 3
data:
$ID,113
$MISSION,4
$DIVE,170
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$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,-25170.441
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,094608,6702.916,-5656.179,53,0.9,53,-37.6
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.9
$GPS2,095308,6702.887,-5656.181,12,1.0,12,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.223,-0.022
$KALMAN_X,6021.5,-2.2,894.7,13683.0,-1725.4
$KALMAN_Y,-12109.9,-23.7,31.7,26935.9,-1058.4
$MHEAD_RNG_PITCHd_Wd,301.9,29017,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,120,0.00,0.00,-102.15,0.000,2,0.000,0.000,159,2322,2901
$GC,123,-1.08,-146.0,3.3,-3.2,18,142,8.80,2.38,-3.83,0.000,4,0.266,0.077,2192,3746,3018
$GC,367,-0.72,-146.0,48.2,-12.8,61,374,0.32,2.20,0.00,0.000,6,0.163,0.040,2283,2334,3021
$GC,712,-0.72,-146.0,74.0,-6.6,122,718,0.00,2.33,0.00,0.000,4,0.000,0.065,2283,3750,3021
$GC,758,-0.78,-146.0,77.2,-7.2,130,765,0.00,2.20,0.00,0.000,6,0.000,0.039,2284,2327,3022
$GC,1112,-0.85,-146.0,101.5,-6.6,190,1114,0.12,0.00,0.00,0.000,6,0.089,0.000,2235,2326,3022
$GC,1421,-0.76,-146.0,127.2,-8.2,205,1423,0.15,0.00,0.00,0.000,6,0.163,0.000,2274,2324,3022
$GC,1730,-0.84,-146.0,146.1,-6.0,220,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2324,3022
$GC,2040,-0.92,-146.0,164.3,-5.9,235,2044,0.15,2.20,0.00,0.000,4,0.095,0.052,2220,931,3021
$GC,2135,-0.79,-146.0,172.4,-8.5,239,2139,0.17,2.22,0.00,0.000,6,0.163,0.048,2267,2341,3021
$GC,2461,-0.87,-146.0,193.8,-6.9,255,2465,0.00,2.28,0.00,0.000,4,0.000,0.064,2268,3749,3021
$GC,2574,-1.01,-146.0,201.9,-7.6,260,2578,0.17,2.17,0.00,0.000,6,0.084,0.041,2204,2334,3020
$GC,2905,-0.89,-146.0,231.3,-8.4,276,2910,0.15,2.33,0.00,0.000,4,0.149,0.065,2246,3745,3020
$GC,2960,-0.95,-146.0,235.6,-7.1,278,2964,0.00,2.17,0.00,0.000,6,0.000,0.040,2246,2331,3020
$GC,3281,-0.95,-146.0,256.6,-6.4,294,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2331,3020
$GC,3591,-0.95,-146.0,275.3,-5.7,309,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2331,3020
$GC,3900,-1.01,-146.0,293.9,-6.2,324,3905,0.12,2.33,0.00,0.000,4,0.106,0.064,2201,3749,3020
$GC,3994,-0.95,-146.0,301.1,-8.3,328,3999,0.12,2.17,0.00,0.000,6,0.158,0.040,2233,2334,3020
$GC,4315,-0.95,-146.0,322.3,-6.4,344,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2334,3020
$GC,4624,-0.95,-146.0,342.0,-6.2,359,4628,0.00,2.33,0.00,0.000,4,0.000,0.064,2233,3752,3020
$GC,4697,-1.00,-146.0,346.7,-6.9,362,4701,0.00,2.20,0.00,0.000,6,0.000,0.039,2232,2325,3020
$GC,5023,-1.00,-146.0,366.6,-6.1,378,5027,0.00,2.17,0.00,0.000,4,0.000,0.052,2233,932,3020
$GC,5078,-1.00,-146.0,370.3,-6.5,380,5083,0.00,2.22,0.00,0.000,6,0.000,0.048,2233,2347,3020
$GC,5400,-1.00,-146.0,389.4,-5.6,396,5404,0.00,2.28,0.00,0.000,4,0.000,0.064,2233,3754,3020
$GC,5500,-1.07,-146.0,395.4,-6.1,400,5505,0.12,2.17,0.00,0.000,6,0.101,0.038,2190,2331,3020
$GC,5817,-0.96,-146.0,417.0,-6.9,410,5819,0.15,0.00,0.00,0.000,6,0.149,0.000,2231,2330,3020
$GC,6142,-0.96,-146.0,435.6,-5.7,418,6146,0.00,2.33,0.00,0.000,4,0.000,0.064,2231,3752,3021
$GC,6226,-1.03,-146.0,440.5,-6.1,419,6232,0.00,2.17,0.00,0.000,6,0.000,0.038,2231,2329,3021
$GC,6557,-1.08,-146.0,458.7,-5.4,428,6561,0.12,2.17,0.00,0.000,4,0.096,0.049,2186,933,3021
$GC,6623,-0.91,-146.0,463.7,-7.8,429,6628,0.20,2.22,0.00,0.000,6,0.156,0.047,2241,2350,3021
$GC,6965,-0.99,-146.0,482.2,-5.5,438,6969,0.00,2.28,0.00,0.000,4,0.000,0.064,2241,3750,3022
$GC,7033,-1.10,-146.0,486.1,-6.3,439,7038,0.15,2.17,0.00,0.000,6,0.087,0.037,2187,2329,3022
$GC,7381,-1.00,-146.0,511.4,-7.4,448,7383,0.12,0.00,0.00,0.000,6,0.153,0.000,2220,2327,3022
$GC,7706,-1.00,-146.0,532.4,-6.4,456,7710,0.00,2.33,0.00,0.000,4,0.000,0.063,2220,3750,3023
$GC,7784,-1.00,-146.0,537.6,-6.9,457,7788,0.00,2.17,0.00,0.000,6,0.000,0.037,2220,2330,3023
$GC,8120,-1.00,-146.0,558.3,-6.1,466,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2330,3023
$GC,8445,-1.00,-146.0,578.0,-6.0,474,8449,0.00,2.30,0.00,0.000,4,0.000,0.062,2220,3742,3023
$GC,8529,-1.00,-146.0,583.4,-6.1,475,8535,0.00,2.15,0.00,0.000,6,0.000,0.037,2220,2338,3023
$GC,8860,-1.00,-146.0,602.5,-5.8,484,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2338,3023
$GC,9185,-1.51,-146.0,611.9,-0.1,492,9190,0.32,2.20,0.00,0.000,4,0.077,0.049,2097,935,3023
$STATE,9305,end dive,NO_VERTICAL_VELOCITY
$STATE,9305,begin apogee
$GC,9315,-0.34,0.0,611.8,0.0,494,9445,0.77,0.00,127.50,1.248,6,0.107,0.000,2358,2533,2420
$STATE,9446,end apogee,CONTROL_FINISHED_OK
$STATE,9446,begin climb
$GC,9448,1.08,146.0,611.7,0.0,498,9586,1.02,2.58,130.18,1.164,4,0.103,0.051,2666,1121,1824
$GC,9807,0.98,146.0,582.7,8.8,506,9811,0.00,2.33,0.00,0.000,6,0.000,0.047,2666,2520,1821
$GC,10125,0.84,146.0,555.0,8.6,514,10130,0.17,2.33,0.00,0.000,4,0.136,0.061,2614,3938,1821
$GC,10175,0.78,146.0,550.9,8.2,515,10179,0.00,2.22,0.00,0.000,6,0.000,0.038,2614,2516,1820
$GC,10493,0.81,168.9,530.8,6.2,523,10517,0.00,2.40,19.45,1.155,4,0.000,0.064,2614,3923,1731
$GC,10528,0.84,193.9,528.5,6.2,523,10555,0.00,2.22,21.90,1.136,6,0.000,0.038,2614,2510,1629
$GC,10898,0.95,217.7,505.7,6.2,533,10924,0.10,2.28,20.80,1.144,4,0.087,0.051,2654,1111,1532
$GC,10929,0.95,217.7,503.1,7.6,533,10935,0.00,2.30,0.00,0.000,6,0.000,0.046,2654,2525,1531
$GC,11260,0.95,217.7,475.1,8.6,542,11264,0.00,2.25,0.00,0.000,4,0.000,0.051,2654,1118,1529
$GC,11286,0.95,217.7,472.8,8.5,542,11291,0.00,2.25,0.00,0.000,6,0.000,0.047,2654,2520,1529
$GC,11629,0.95,217.7,443.6,8.6,551,11632,0.00,2.22,0.00,0.000,4,0.000,0.051,2654,1119,1528
$GC,11655,0.95,217.7,441.3,8.2,551,11660,0.00,2.25,0.00,0.000,6,0.000,0.047,2654,2526,1528
$GC,11998,0.95,217.7,411.9,8.6,560,12002,0.00,2.25,0.00,0.000,4,0.000,0.051,2654,1109,1528
$GC,12030,0.95,217.7,408.9,8.4,560,12035,0.00,2.25,0.00,0.000,6,0.000,0.047,2654,2521,1527
$GC,12350,0.95,217.7,380.9,8.8,573,12354,0.00,2.22,0.00,0.000,4,0.000,0.051,2654,1112,1527
$GC,12376,0.95,217.7,378.6,8.6,574,12381,0.00,2.25,0.00,0.000,6,0.000,0.047,2654,2525,1527
$GC,12704,0.95,217.7,349.7,8.9,590,12707,0.00,2.22,0.00,0.000,4,0.000,0.050,2654,1115,1527
$GC,12736,0.95,217.7,346.8,8.6,591,12740,0.00,2.22,0.00,0.000,6,0.000,0.046,2654,2515,1527
$GC,13057,0.95,217.7,319.6,8.6,607,13061,0.00,2.20,0.00,0.000,4,0.000,0.051,2654,1119,1528
$GC,13072,0.95,217.7,318.2,8.8,607,13079,0.00,2.20,0.00,0.000,6,0.000,0.046,2654,2528,1528
$GC,13387,0.95,217.7,292.0,8.2,623,13391,0.00,2.22,0.00,0.000,4,0.000,0.050,2654,1114,1528
$GC,13403,0.95,217.7,290.8,8.1,623,13410,0.00,2.22,0.00,0.000,6,0.000,0.046,2654,2517,1528
$GC,13719,0.95,220.7,267.4,6.9,639,13720,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2518,1528
$GC,14028,0.97,230.2,246.9,6.7,654,14044,0.00,2.22,11.32,0.974,4,0.000,0.050,2654,1118,1481
$GC,14072,1.06,247.5,243.9,6.4,655,14092,0.00,2.22,15.35,0.987,6,0.000,0.046,2654,2531,1410
$GC,14419,1.11,247.5,218.6,7.8,672,14424,0.08,2.28,0.00,0.000,4,0.093,0.049,2692,1108,1408
$GC,14458,1.11,247.5,214.9,9.8,674,14462,0.00,2.25,0.00,0.000,6,0.000,0.047,2692,2529,1407
$GC,14790,1.04,247.5,179.8,10.8,690,14795,0.12,2.25,0.00,0.000,4,0.134,0.051,2655,1117,1407
$GC,14817,1.11,247.5,177.2,8.5,691,14821,0.08,2.20,0.00,0.000,6,0.099,0.045,2691,2521,1407
$GC,15138,1.06,247.5,145.4,9.3,707,15142,0.10,2.22,0.00,0.000,4,0.131,0.051,2662,1121,1407
$GC,15148,1.06,247.5,144.4,9.0,707,15152,0.00,2.20,0.00,0.000,6,0.000,0.046,2663,2525,1407
$GC,15469,1.13,247.5,122.2,7.3,723,15473,0.00,2.22,0.00,0.000,4,0.000,0.051,2662,1120,1407
$GC,15479,1.21,247.5,121.4,7.4,723,15484,0.12,2.20,0.00,0.000,6,0.079,0.047,2716,2524,1406
$GC,15803,1.13,247.5,88.3,10.4,753,15809,0.12,0.00,0.00,0.000,6,0.128,0.000,2680,2524,1407
$GC,16147,1.18,247.5,61.8,7.1,814,16154,0.00,2.22,0.00,0.000,4,0.000,0.052,2680,1122,1407
$GC,16177,1.26,251.8,59.7,6.9,819,16190,0.12,2.20,4.75,0.736,6,0.080,0.048,2731,2522,1393
$GC,16527,1.20,251.8,33.3,8.0,881,16533,0.15,0.00,0.00,0.000,6,0.125,0.000,2685,2522,1392
$GC,16870,1.42,331.7,16.4,4.3,942,16940,0.20,0.00,64.07,0.942,6,0.068,0.000,2772,2522,1065
$STATE,17017,end climb,SURFACE_DEPTH_REACHED
$STATE,17018,begin surface coast
$FINISH,0.9,1.014184
$STATE,17040,end surface coast,CONTROL_FINISHED_OK
$STATE,17040,begin surface
$SM_CCo,17116,0.00,0.000,0,0,1056,334.59
$SM_GC,1.68,7.30,0.00,0.00,0.060,0.000,0.000,164,2332,1056,-10.38,-0.23,334.59
$RAFOS_CLK,908
$RAFOS,4,1223815443,12.750000,12.734167,64,57,55,51,51,51,210,196,159,113,530,808
$RAFOS,3,1223814846,12.583333,12.568334,64,54,51,51,51,51,204,123,163,146,223,964
$RAFOS,2,1223814263,12.416667,12.406389,70,58,55,53,51,51,220,183,199,120,524,533
$RAFOS,1,1223813645,12.250000,12.234722,61,61,51,51,49,49,150,210,166,850,219,101
$RAFOS,0,1223813077,12.083333,12.076944,61,61,60,59,58,50,191,213,200,175,135,150
$RAFOS_FIX,6606.143066,-6032.984863,121008,040456,4,82,16.10
$IRIDIUM_FIX,6636.54,-5658.34,060198,050524
$TT8_MAMPS,0.027612
$HUMID,1896
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,22.0,35.644
$10V_AH,10.6,14.585
$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,21.975,144.275,415.325,0.000,0.000,28.821,47.663,227.811,0.750,0.000,0.000,13.967,1792.552,12740.891,539.615,1940.814,525.417,33.351,1600.706,0.000,1914.556,1800.000,0.530,0.000
$DEVICE_MAMPS,266.149,77.467,1247.909,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.687,660.491,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34694,972
$CAP_FILE_SIZE,140792,0
$CFSIZE,260165632,238108672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.8
$GPS,121008,144038,6703.653,-5703.932,35,1.7,35,-37.6