version: 66.04
glider: 113
mission: 4
dive: 69
start: 9 18 108 6 59 55
data:
$ID,113
$MISSION,4
$DIVE,69
$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,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,0.0031999999
$HD_B,0.014
$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,-23257.312
$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,37
$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,2500
$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
$GPS1,065337,6658.455,-5659.019,38,1.1,38,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.3
$GPS2,065903,6658.434,-5659.146,14,1.1,14,-37.5
$SPEED_LIMITS,0.122,0.186
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.065,0.174
$KALMAN_X,6771.8,105.0,-1257.7,69828.7,3335.3
$KALMAN_Y,-13094.2,249.2,999.2,21797.0,-4413.3
$MHEAD_RNG_PITCHd_Wd,57.9,11675,-14.2,-7.021
$D_GRID,685
$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,-1.16,-146.0,0.0,0.0,0,140,0.00,0.00,-120.43,0.000,2,0.000,0.000,163,2327,2972
$GC,142,-1.16,-146.0,3.3,-3.1,21,161,8.45,2.38,-3.85,0.000,4,0.266,0.077,2178,3756,3099
$GC,416,-0.86,-146.0,52.7,-13.5,69,423,0.25,2.22,0.00,0.000,6,0.166,0.040,2247,2329,3104
$GC,759,-0.86,-146.0,83.8,-8.6,130,766,0.00,2.20,0.00,0.000,4,0.000,0.053,2247,928,3107
$GC,828,-0.80,-146.0,90.0,-9.2,142,834,0.00,2.25,0.00,0.000,6,0.000,0.048,2247,2355,3108
$GC,1168,-0.80,-146.0,119.6,-8.2,173,1172,0.00,2.25,0.00,0.000,4,0.000,0.067,2247,3743,3108
$GC,1263,-0.86,-146.0,127.8,-9.3,177,1267,0.00,2.17,0.00,0.000,6,0.000,0.040,2247,2336,3108
$GC,1588,-0.86,-146.0,155.8,-8.6,193,1592,0.00,2.20,0.00,0.000,4,0.000,0.054,2247,926,3107
$GC,1637,-0.86,-146.0,160.4,-9.4,195,1642,0.00,2.25,0.00,0.000,6,0.000,0.049,2247,2337,3107
$GC,1964,-0.91,-146.0,188.6,-8.8,211,1968,0.00,2.28,0.00,0.000,4,0.000,0.071,2247,3742,3106
$GC,2025,-1.03,-146.0,194.4,-9.6,213,2032,0.12,2.17,0.00,0.000,6,0.115,0.041,2204,2331,3106
$GC,2340,-0.96,-146.0,227.6,-10.4,229,2344,0.10,2.33,0.00,0.000,4,0.174,0.071,2228,3752,3105
$GC,2412,-1.03,-146.0,234.4,-9.7,232,2416,0.00,2.17,0.00,0.000,6,0.000,0.041,2229,2340,3105
$GC,2737,-1.03,-146.0,263.0,-8.3,248,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2340,3104
$GC,3048,-1.08,-146.0,285.4,-6.9,263,3052,0.12,2.30,0.00,0.000,4,0.101,0.070,2185,3745,3103
$GC,3097,-1.03,-146.0,289.4,-8.9,265,3101,0.10,2.17,0.00,0.000,6,0.171,0.042,2210,2330,3103
$GC,3417,-1.03,-146.0,311.4,-6.4,281,3421,0.00,2.17,0.00,0.000,4,0.000,0.054,2210,929,3102
$GC,3494,-1.03,-146.0,317.0,-7.5,284,3498,0.00,2.25,0.00,0.000,6,0.000,0.051,2210,2343,3102
$GC,3815,-1.03,-146.0,337.3,-6.4,300,3819,0.00,2.25,0.00,0.000,4,0.000,0.068,2210,3745,3102
$GC,3921,-1.08,-146.0,344.7,-6.5,304,3928,0.00,2.15,0.00,0.000,6,0.000,0.040,2210,2337,3102
$GC,4236,-1.08,-146.0,366.6,-7.1,320,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2337,3102
$GC,4545,-1.08,-146.0,389.5,-7.7,335,4549,0.00,2.28,0.00,0.000,4,0.000,0.067,2210,3743,3102
$GC,4594,-1.14,-146.0,393.5,-7.6,337,4599,0.05,2.17,0.00,0.000,6,0.103,0.038,2186,2331,3102
$GC,4918,-1.09,-146.0,420.9,-8.5,347,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2331,3103
$GC,5242,-1.04,-146.0,448.3,-8.3,355,5244,0.10,0.00,0.00,0.000,6,0.172,0.000,2211,2330,3104
$GC,5567,-1.04,-146.0,472.9,-7.6,363,5571,0.00,2.28,0.00,0.000,4,0.000,0.067,2211,3743,3104
$GC,5657,-1.11,-146.0,479.7,-7.2,365,5661,0.00,2.12,0.00,0.000,6,0.000,0.038,2211,2341,3104
$GC,5986,-1.16,-146.0,502.7,-6.9,373,5991,0.12,2.15,0.00,0.000,4,0.103,0.050,2166,931,3104
$GC,6037,-1.01,-146.0,507.0,-8.6,374,6042,0.20,2.20,0.00,0.000,6,0.172,0.048,2220,2348,3104
$GC,6355,-1.10,-146.0,527.9,-6.5,382,6360,0.10,2.22,0.00,0.000,4,0.112,0.064,2187,3751,3105
$GC,6454,-1.10,-146.0,535.5,-8.0,384,6459,0.00,2.15,0.00,0.000,6,0.000,0.037,2186,2345,3105
$GC,6767,-1.10,-146.0,558.5,-7.3,392,6771,0.00,2.25,0.00,0.000,4,0.000,0.065,2186,3741,3106
$GC,6861,-1.10,-146.0,566.0,-8.1,394,6866,0.00,2.15,0.00,0.000,6,0.000,0.037,2186,2340,3106
$GC,7185,-1.10,-146.0,590.8,-7.8,402,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2340,3106
$GC,7510,-1.10,-146.0,615.8,-7.6,410,7514,0.00,2.28,0.00,0.000,4,0.000,0.067,2186,3753,3107
$GC,7565,-1.10,-146.0,620.3,-8.5,411,7569,0.00,2.17,0.00,0.000,6,0.000,0.038,2186,2336,3107
$GC,7883,-1.10,-146.0,644.2,-7.4,419,7887,0.00,2.28,0.00,0.000,4,0.000,0.067,2186,3746,3107
$GC,7928,-1.10,-146.0,647.6,-8.1,420,7932,0.00,2.15,0.00,0.000,6,0.000,0.038,2186,2328,3107
$GC,8257,-1.10,-146.0,671.0,-7.0,428,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2327,3107
$STATE,8458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8458,begin apogee
$GC,8463,-0.34,0.0,685.9,7.3,433,8593,0.57,0.00,127.00,1.335,6,0.156,0.000,2362,2519,2500
$STATE,8593,end apogee,CONTROL_FINISHED_OK
$STATE,8593,begin climb
$GC,8595,1.16,146.0,687.8,0.0,436,8732,1.10,2.55,129.18,1.244,4,0.107,0.051,2691,1133,1904
$GC,8745,0.92,146.0,675.7,10.7,440,8750,0.22,2.45,0.00,0.000,6,0.145,0.047,2634,2522,1903
$GC,9068,0.83,146.0,647.1,8.9,448,9072,0.00,2.38,0.00,0.000,4,0.000,0.067,2634,3933,1901
$GC,9113,0.64,146.0,642.5,10.9,449,9118,0.22,2.25,0.00,0.000,6,0.147,0.038,2573,2527,1901
$GC,9436,0.77,157.2,620.7,6.6,457,9449,0.12,0.00,10.27,1.157,6,0.086,0.000,2620,2525,1859
$GC,9761,0.77,157.2,594.1,8.1,465,9764,0.00,2.33,0.00,0.000,4,0.000,0.068,2620,3929,1857
$GC,9788,0.67,157.2,591.5,9.7,465,9793,0.15,2.20,0.00,0.000,6,0.153,0.040,2581,2517,1857
$GC,10130,0.80,175.5,569.2,6.4,474,10152,0.12,2.38,16.27,1.230,4,0.088,0.067,2626,3931,1784
$GC,10169,0.71,175.5,565.8,9.5,475,10174,0.15,2.25,0.00,0.000,6,0.156,0.039,2586,2513,1784
$GC,10493,0.81,178.9,543.9,6.9,483,10499,0.10,0.00,4.28,0.851,6,0.091,0.000,2624,2512,1770
$GC,10816,0.81,178.9,516.6,8.4,491,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2512,1769
$GC,11141,0.81,178.9,488.4,8.8,499,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2512,1769
$GC,11467,0.81,178.9,460.5,8.4,507,11471,0.00,2.33,0.00,0.000,4,0.000,0.067,2624,3943,1769
$GC,11499,0.71,178.9,457.2,10.4,507,11504,0.10,2.22,0.00,0.000,6,0.143,0.039,2590,2514,1769
$GC,11836,0.82,193.1,434.9,6.5,516,11851,0.10,0.00,13.18,1.136,6,0.091,0.000,2630,2514,1712
$GC,12160,0.82,193.1,407.6,8.4,524,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2514,1711
$GC,12467,0.82,193.1,381.3,8.5,536,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2514,1711
$GC,12776,0.82,193.1,355.0,8.4,551,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2514,1712
$GC,13086,0.82,193.1,328.2,8.6,566,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2514,1711
$GC,13395,0.82,193.1,302.0,8.3,581,13399,0.00,2.30,0.00,0.000,4,0.000,0.066,2630,3937,1712
$GC,13410,0.82,193.1,300.4,9.0,581,13417,0.00,2.20,0.00,0.000,6,0.000,0.038,2630,2511,1713
$GC,13726,0.82,193.1,273.4,8.8,597,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2511,1713
$GC,14035,0.82,193.1,246.9,8.3,612,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2511,1713
$GC,14344,0.82,193.1,221.7,7.8,627,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2511,1714
$GC,14654,0.88,193.1,198.0,7.6,642,14658,0.00,2.28,0.00,0.000,4,0.000,0.067,2630,3931,1714
$GC,14691,0.88,193.1,194.9,8.1,643,14698,0.00,2.17,0.00,0.000,6,0.000,0.039,2630,2521,1714
$GC,15007,0.98,219.0,174.8,6.1,659,15034,0.00,2.35,22.02,1.055,4,0.000,0.065,2630,3938,1606
$GC,15055,0.98,219.0,171.2,7.7,661,15060,0.00,2.25,0.00,0.000,6,0.000,0.038,2630,2522,1605
$GC,15378,1.13,249.5,151.2,6.0,677,15405,0.17,0.00,25.20,1.039,6,0.085,0.000,2696,2521,1482
$GC,15706,1.07,249.5,124.0,7.9,693,15710,0.12,2.22,0.00,0.000,4,0.144,0.053,2663,1119,1478
$GC,15723,1.07,249.5,122.7,8.0,693,15729,0.00,2.25,0.00,0.000,6,0.000,0.048,2663,2528,1478
$GC,16038,1.14,249.5,100.6,7.6,709,16042,0.00,2.28,0.00,0.000,4,0.000,0.067,2663,3936,1478
$GC,16052,1.14,249.5,99.3,7.8,709,16059,0.00,2.22,0.00,0.000,6,0.000,0.040,2663,2519,1478
$GC,16397,1.22,249.5,71.5,7.9,770,16403,0.12,0.00,0.00,0.000,6,0.091,0.000,2709,2519,1478
$GC,16740,1.22,249.5,36.9,11.1,831,16745,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2519,1477
$GC,17082,1.26,281.0,11.1,5.9,892,17113,0.00,2.38,24.77,1.042,4,0.000,0.070,2709,3922,1353
$GC,17159,1.21,281.0,4.9,8.3,905,17165,0.00,2.22,0.00,0.000,6,0.000,0.042,2709,2522,1351
$STATE,17208,end climb,SURFACE_DEPTH_REACHED
$STATE,17208,begin surface coast
$FINISH,0.7,1.025317
$STATE,17249,end surface coast,CONTROL_FINISHED_OK
$STATE,17249,begin surface
$SM_CCo,17324,0.00,0.000,0,0,1347,282.59
$SM_GC,1.33,7.22,0.00,0.00,0.078,0.000,0.000,165,2320,1347,-10.38,-0.57,282.59
$RAFOS_CLK,936
$RAFOS,4,1221727466,8.750000,8.740556,67,59,57,57,54,52,717,210,153,187,121,221
$RAFOS,3,1221726844,8.583333,8.567778,75,58,57,52,50,49,966,217,193,123,180,168
$RAFOS,2,1221726273,8.416667,8.409166,91,67,58,53,52,51,481,203,172,162,136,212
$RAFOS,1,1221725656,8.250000,8.237778,91,59,58,53,53,53,800,196,227,207,162,153
$RAFOS,0,1221725042,8.083333,8.067223,59,58,58,52,51,51,210,162,126,219,174,198
$RAFOS_FIX,6658.298828,-5702.890625,180908,080800,4,81,0.49
$IRIDIUM_FIX,6631.12,-5718.20,131297,010110
$TT8_MAMPS,0.027612
$HUMID,1959
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.3,19.393
$10V_AH,10.6,6.833
$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,20.350,122.050,372.175,0.000,0.000,30.357,31.823,149.932,0.000,0.000,0.000,16.408,1707.925,13268.713,541.347,1771.288,368.759,33.361,1502.494,0.000,1748.811,1800.000,0.528,0.000
$DEVICE_MAMPS,266.149,77.467,1334.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.095,627.174,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34731,921
$CAP_FILE_SIZE,128076,0
$CFSIZE,260165632,247181312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,180908,115008,6658.940,-5655.280,34,1.2,34,-37.5