version: 66.04
glider: 113
mission: 4
dive: 70
start: 9 18 108 11 56 47
data:
$ID,113
$MISSION,4
$DIVE,70
$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,-23289.338
$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,28
$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
$GPS1,115008,6658.940,-5655.280,34,1.2,34,-37.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.3
$GPS2,115556,6658.951,-5655.276,12,1.2,29,-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,0.166,0.082
$KALMAN_X,6518.5,-242.8,898.0,71097.3,-1299.5
$KALMAN_Y,-13059.9,-438.1,-802.4,25181.9,1020.4
$MHEAD_RNG_PITCHd_Wd,101.2,9157,-14.2,-7.021
$D_GRID,653
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.16,-146.0,0.0,0.0,0,128,0.00,0.00,-108.50,0.000,2,0.000,0.000,165,2319,2958
$GC,130,-1.16,-146.0,3.3,-3.4,19,149,8.43,0.00,-4.40,0.000,6,0.266,0.000,2180,2320,3098
$GC,487,-0.85,-146.0,59.4,-12.9,82,493,0.22,2.35,0.00,0.000,4,0.176,0.067,2245,3743,3104
$GC,589,-0.85,-146.0,70.2,-9.8,100,595,0.00,2.17,0.00,0.000,6,0.000,0.040,2245,2340,3105
$GC,932,-0.85,-146.0,98.9,-9.1,161,938,0.00,2.30,0.00,0.000,4,0.000,0.069,2245,3745,3107
$GC,964,-0.85,-146.0,102.2,-9.7,164,969,0.00,2.20,0.00,0.000,6,0.000,0.040,2245,2341,3107
$GC,1285,-0.85,-146.0,131.8,-9.1,180,1289,0.00,2.20,0.00,0.000,4,0.000,0.054,2245,935,3106
$GC,1330,-0.85,-146.0,136.1,-10.1,182,1334,0.00,2.22,0.00,0.000,6,0.000,0.051,2245,2346,3106
$GC,1661,-0.85,-146.0,164.5,-8.3,198,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2346,3105
$GC,1971,-0.85,-146.0,187.9,-6.9,213,1975,0.00,2.28,0.00,0.000,4,0.000,0.071,2245,3749,3105
$GC,2083,-0.96,-146.0,195.8,-7.5,218,2087,0.00,2.17,0.00,0.000,6,0.000,0.042,2245,2330,3104
$GC,2415,-1.03,-146.0,219.2,-7.3,234,2417,0.12,0.00,0.00,0.000,6,0.111,0.000,2203,2330,3103
$GC,2724,-0.97,-146.0,246.6,-8.7,249,2729,0.10,2.17,0.00,0.000,4,0.176,0.055,2227,927,3103
$GC,2751,-0.97,-146.0,249.1,-9.7,250,2755,0.00,2.25,0.00,0.000,6,0.000,0.051,2227,2337,3103
$GC,3077,-0.97,-146.0,274.3,-7.6,266,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2338,3102
$GC,3387,-1.02,-146.0,297.6,-7.3,281,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2338,3101
$GC,3697,-1.08,-146.0,318.6,-6.7,296,3699,0.10,0.00,0.00,0.000,6,0.107,0.000,2191,2339,3101
$GC,4006,-1.03,-146.0,342.4,-8.0,311,4009,0.00,2.25,0.00,0.000,4,0.000,0.067,2191,3743,3101
$GC,4050,-1.03,-146.0,346.1,-8.9,313,4054,0.00,2.15,0.00,0.000,6,0.000,0.040,2191,2336,3101
$GC,4382,-0.98,-146.0,371.7,-7.8,329,4383,0.12,0.00,0.00,0.000,6,0.160,0.000,2224,2334,3101
$GC,4691,-1.05,-146.0,392.2,-6.5,344,4695,0.00,2.28,0.00,0.000,4,0.000,0.067,2224,3745,3101
$GC,4736,-1.17,-146.0,395.5,-7.3,346,4740,0.15,2.15,0.00,0.000,6,0.094,0.039,2173,2331,3101
$GC,5083,-1.07,-146.0,424.0,-8.2,356,5088,0.12,2.30,0.00,0.000,4,0.163,0.065,2204,3754,3102
$GC,5121,-1.07,-146.0,426.9,-7.3,357,5125,0.00,2.15,0.00,0.000,6,0.000,0.038,2204,2340,3102
$GC,5450,-1.07,-146.0,448.7,-6.7,365,5454,0.00,2.28,0.00,0.000,4,0.000,0.067,2204,3747,3103
$GC,5482,-1.07,-146.0,451.0,-7.2,365,5487,0.00,2.17,0.00,0.000,6,0.000,0.038,2204,2335,3103
$GC,5819,-1.07,-146.0,472.5,-6.4,374,5823,0.00,2.28,0.00,0.000,4,0.000,0.066,2204,3749,3103
$GC,5846,-1.07,-146.0,474.2,-7.0,374,5851,0.00,2.17,0.00,0.000,6,0.000,0.038,2204,2333,3104
$GC,6188,-1.07,-146.0,495.5,-6.4,383,6192,0.00,2.28,0.00,0.000,4,0.000,0.066,2204,3744,3104
$GC,6215,-1.07,-146.0,497.4,-7.2,383,6219,0.00,2.15,0.00,0.000,6,0.000,0.038,2204,2346,3104
$GC,6558,-1.07,-146.0,520.6,-6.7,392,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2346,3105
$GC,6882,-1.07,-146.0,542.4,-6.7,400,6886,0.00,2.25,0.00,0.000,4,0.000,0.064,2204,3750,3105
$GC,7022,-1.13,-146.0,552.3,-7.0,403,7026,0.00,2.15,0.00,0.000,6,0.000,0.037,2204,2329,3105
$GC,7346,-1.13,-146.0,573.9,-6.6,411,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2328,3106
$GC,7671,-1.13,-146.0,594.7,-6.4,419,7674,0.00,2.28,0.00,0.000,4,0.000,0.064,2204,3747,3107
$GC,7720,-1.20,-146.0,597.9,-6.4,420,7725,0.12,2.15,0.00,0.000,6,0.106,0.038,2161,2329,3106
$GC,8044,-1.09,-146.0,622.7,-7.7,428,8049,0.15,2.30,0.00,0.000,4,0.161,0.064,2200,3757,3107
$GC,8065,-1.09,-146.0,624.1,-6.8,428,8069,0.00,2.17,0.00,0.000,6,0.000,0.038,2200,2343,3107
$GC,8413,-1.09,-146.0,645.8,-6.9,437,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2343,3107
$STATE,8533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8533,begin apogee
$GC,8537,-0.34,0.0,653.5,6.4,440,8667,0.52,0.00,126.32,1.308,6,0.146,0.000,2366,2519,2500
$STATE,8667,end apogee,CONTROL_FINISHED_OK
$STATE,8667,begin climb
$GC,8669,1.16,146.0,655.6,0.0,443,8805,1.08,2.62,129.20,1.220,4,0.104,0.064,2691,3936,1903
$GC,8855,0.78,146.0,638.3,13.8,447,8862,0.32,2.40,0.00,0.000,6,0.150,0.038,2604,2529,1903
$GC,9186,0.78,146.0,612.8,7.6,456,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2530,1901
$GC,9511,0.78,147.5,589.4,7.0,464,9514,0.00,2.33,0.00,0.000,4,0.000,0.066,2604,3931,1901
$GC,9571,0.69,147.5,584.6,8.6,465,9575,0.00,2.25,0.00,0.000,6,0.000,0.038,2604,2513,1900
$GC,9884,0.70,153.1,563.4,6.8,473,9898,0.00,2.42,7.00,1.058,4,0.000,0.067,2604,3939,1874
$GC,9937,0.62,153.1,559.5,8.3,474,9942,0.10,2.25,0.00,0.000,6,0.142,0.038,2571,2519,1874
$GC,10256,0.81,195.4,541.6,5.5,482,10296,0.15,0.00,35.53,1.248,6,0.079,0.000,2626,2519,1703
$GC,10620,0.81,195.4,510.7,8.9,491,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2519,1701
$GC,10945,0.81,195.4,481.7,8.8,499,10949,0.00,2.33,0.00,0.000,4,0.000,0.067,2626,3935,1699
$GC,10999,0.72,195.4,476.1,10.6,500,11004,0.10,2.22,0.00,0.000,6,0.143,0.039,2593,2518,1699
$GC,11318,0.82,200.4,453.9,6.8,508,11328,0.10,2.20,5.25,0.917,4,0.091,0.051,2634,1115,1682
$GC,11355,0.82,200.4,450.7,9.0,508,11362,0.00,2.25,0.00,0.000,6,0.000,0.046,2635,2520,1682
$GC,11686,0.82,200.4,423.2,8.2,517,11690,0.00,2.25,0.00,0.000,4,0.000,0.063,2634,3928,1682
$GC,11731,0.71,200.4,419.1,8.9,518,11736,0.17,2.17,0.00,0.000,6,0.145,0.038,2585,2513,1682
$GC,12060,0.90,237.8,399.6,5.7,526,12097,0.17,2.28,31.15,1.154,4,0.074,0.051,2653,1113,1530
$GC,12129,0.90,237.8,393.5,8.9,528,12134,0.00,2.30,0.00,0.000,6,0.000,0.045,2652,2516,1529
$GC,12451,0.90,237.8,364.5,8.9,544,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2516,1528
$GC,12760,0.90,237.8,336.1,9.2,559,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2516,1528
$GC,13069,0.90,237.8,307.7,9.3,574,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2516,1528
$GC,13379,0.90,237.8,278.5,9.4,589,13382,0.00,2.25,0.00,0.000,4,0.000,0.062,2652,3930,1529
$GC,13417,0.79,237.8,274.3,11.1,590,13424,0.12,2.20,0.00,0.000,6,0.137,0.038,2610,2514,1528
$GC,13732,0.92,237.8,249.9,8.1,606,13736,0.10,2.17,0.00,0.000,4,0.090,0.050,2652,1111,1529
$GC,13792,0.92,237.8,244.1,10.4,608,13799,0.00,2.22,0.00,0.000,6,0.000,0.045,2652,2522,1529
$GC,14107,0.92,237.8,214.7,8.8,624,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2522,1529
$GC,14416,0.92,237.8,189.2,8.0,639,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2522,1529
$GC,14726,0.92,237.8,165.5,7.6,654,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2522,1530
$GC,15035,0.92,237.8,141.6,8.0,669,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2522,1530
$GC,15345,0.98,237.8,118.1,7.2,684,15349,0.00,2.22,0.00,0.000,4,0.000,0.065,2652,3929,1530
$GC,15399,0.98,237.8,113.6,8.1,686,15404,0.00,2.17,0.00,0.000,6,0.000,0.039,2652,2518,1530
$GC,15725,1.08,248.0,91.7,6.7,716,15737,0.00,0.00,9.95,0.983,6,0.000,0.000,2652,2517,1488
$GC,16074,1.18,248.0,68.8,7.4,778,16081,0.15,2.30,0.00,0.000,4,0.081,0.067,2713,3925,1486
$GC,16110,1.10,248.0,65.3,9.7,784,16117,0.15,2.17,0.00,0.000,6,0.153,0.042,2673,2516,1485
$GC,16455,1.20,278.5,41.6,6.0,845,16486,0.10,2.33,24.65,1.045,4,0.100,0.055,2712,1118,1364
$GC,16553,1.26,278.5,33.8,8.2,862,16560,0.00,2.28,0.00,0.000,6,0.000,0.049,2712,2529,1362
$GC,16895,1.26,278.5,9.8,7.7,923,16901,0.00,2.30,0.00,0.000,4,0.000,0.069,2712,3939,1358
$GC,16974,1.17,278.5,3.0,9.7,937,16981,0.10,2.22,0.00,0.000,6,0.156,0.042,2689,2513,1357
$STATE,16986,end climb,SURFACE_DEPTH_REACHED
$STATE,16987,begin surface coast
$FINISH,1.0,1.025266
$STATE,17008,end surface coast,CONTROL_FINISHED_OK
$STATE,17008,begin surface
$SM_CCo,17083,0.00,0.000,0,0,1355,280.87
$SM_GC,1.53,7.07,0.00,0.00,0.077,0.000,0.000,162,2329,1355,-10.39,-0.34,280.87
$RAFOS_CLK,927
$RAFOS,3,1221755643,16.583334,16.567499,59,58,58,55,54,53,988,232,205,220,129,115
$RAFOS,2,1221755046,16.416666,16.401667,99,65,63,54,52,51,639,178,194,208,165,227
$RAFOS,1,1221754458,16.250000,16.238333,64,60,55,54,51,49,804,184,203,126,225,162
$RAFOS,0,1221753855,16.083334,16.070833,74,61,59,53,51,50,205,122,182,136,995,223
$RAFOS,4,1221741856,12.750000,12.737778,81,62,58,56,52,52,778,218,137,160,231,179
$RAFOS,3,1221741255,12.583333,12.570833,68,63,62,62,57,49,125,179,209,924,157,136
$RAFOS,2,1221740646,12.416667,12.401667,91,61,61,60,59,55,638,185,142,164,196,219
$RAFOS,1,1221740044,12.250000,12.234445,99,61,61,61,58,57,880,214,231,198,124,161
$RAFOS,0,1221739446,12.083333,12.068334,59,57,56,53,53,52,143,125,177,157,216,199
$RAFOS_FIX,6638.310547,-5915.785645,180908,121256,4,85,52.42
$IRIDIUM_FIX,6631.12,-5656.72,131297,070702
$TT8_MAMPS,0.027612
$HUMID,1909
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.3,19.534
$10V_AH,10.6,6.900
$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,20.175,121.875,369.050,0.000,0.000,23.393,32.514,163.517,0.000,0.000,0.000,31.396,1805.271,13016.455,546.272,1779.746,368.745,33.367,1489.505,0.000,1736.903,3240.000,0.528,0.000
$DEVICE_MAMPS,266.149,70.564,1307.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.469,641.123,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34765,943
$CAP_FILE_SIZE,129298,0
$CFSIZE,260165632,247119872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$GPS,180908,164425,6700.521,-5652.060,27,1.1,44,-37.5