version: 66.04
glider: 113
mission: 4
dive: 75
start: 9 19 108 9 19 14
data:
$ID,113
$MISSION,4
$DIVE,75
$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,-23397.838
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,091308,6703.093,-5653.790,27,1.8,27,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.7
$GPS2,091821,6703.093,-5653.746,12,1.7,12,-37.6
$SPEED_LIMITS,0.122,0.186
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.185,0.009
$KALMAN_X,9452.9,215.4,-435.2,70142.3,1526.5
$KALMAN_Y,-14206.1,-33.9,-418.6,33221.2,-545.8
$MHEAD_RNG_PITCHd_Wd,310.3,30820,-14.2,-7.021
$D_GRID,588
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-103.07,0.000,2,0.000,0.000,165,2334,2890
$GC,125,-1.16,-146.0,3.0,-2.7,18,145,8.40,2.42,-6.90,0.000,4,0.264,0.080,2178,3753,3098
$GC,297,-0.78,-146.0,37.3,-16.9,48,304,0.32,2.22,0.00,0.000,6,0.169,0.041,2269,2334,3102
$GC,641,-0.78,-146.0,68.7,-9.1,109,647,0.00,2.20,0.00,0.000,4,0.000,0.053,2269,932,3105
$GC,731,-0.78,-146.0,77.2,-9.2,125,738,0.00,2.25,0.00,0.000,6,0.000,0.049,2269,2356,3105
$GC,1067,-0.85,-146.0,107.3,-8.8,174,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2356,3106
$GC,1377,-0.93,-146.0,133.5,-8.5,189,1381,0.12,2.25,0.00,0.000,4,0.097,0.067,2225,3745,3106
$GC,1504,-0.93,-146.0,146.5,-10.5,194,1511,0.00,2.20,0.00,0.000,6,0.000,0.041,2225,2338,3106
$GC,1819,-0.93,-146.0,175.2,-8.8,210,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2338,3106
$GC,2129,-0.93,-146.0,199.8,-7.6,225,2132,0.00,2.30,0.00,0.000,4,0.000,0.068,2225,3748,3104
$GC,2211,-0.93,-146.0,206.4,-7.5,228,2218,0.00,2.20,0.00,0.000,6,0.000,0.041,2225,2341,3104
$GC,2527,-0.93,-146.0,230.4,-7.5,244,2530,0.00,2.20,0.00,0.000,4,0.000,0.055,2225,928,3104
$GC,2587,-0.93,-146.0,235.3,-8.2,246,2594,0.00,2.25,0.00,0.000,6,0.000,0.051,2225,2339,3103
$GC,2902,-0.93,-146.0,256.9,-6.6,262,2906,0.00,2.25,0.00,0.000,4,0.000,0.067,2225,3745,3103
$GC,2986,-0.99,-146.0,262.3,-7.0,265,2992,0.00,2.17,0.00,0.000,6,0.000,0.041,2225,2326,3103
$GC,3301,-0.99,-146.0,281.9,-6.1,281,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2326,3103
$GC,3610,-0.99,-146.0,302.9,-7.0,296,3614,0.00,2.30,0.00,0.000,4,0.000,0.071,2225,3745,3103
$GC,3692,-1.07,-146.0,309.1,-7.4,299,3699,0.00,2.17,0.00,0.000,6,0.000,0.041,2225,2343,3102
$GC,4008,-1.12,-146.0,332.8,-7.5,315,4010,0.12,0.00,0.00,0.000,6,0.106,0.000,2179,2344,3101
$GC,4317,-1.03,-146.0,360.8,-9.3,330,4322,0.12,2.30,0.00,0.000,4,0.163,0.069,2211,3752,3102
$GC,4407,-1.08,-146.0,368.5,-8.6,334,4411,0.00,2.17,0.00,0.000,6,0.000,0.040,2211,2332,3102
$GC,4732,-1.08,-146.0,393.2,-7.1,350,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2332,3102
$GC,5039,-1.08,-146.0,415.6,-7.4,360,5042,0.00,2.30,0.00,0.000,4,0.000,0.068,2211,3745,3103
$GC,5105,-1.14,-146.0,420.8,-7.5,361,5109,0.05,2.17,0.00,0.000,6,0.104,0.040,2175,2340,3102
$GC,5453,-1.05,-146.0,451.4,-8.8,370,5455,0.12,0.00,0.00,0.000,6,0.164,0.000,2206,2338,3103
$GC,5777,-1.05,-146.0,477.8,-8.3,378,5781,0.00,2.30,0.00,0.000,4,0.000,0.068,2206,3755,3104
$GC,5900,-1.11,-146.0,488.4,-8.4,380,5904,0.00,2.17,0.00,0.000,6,0.000,0.040,2206,2328,3104
$GC,6236,-1.11,-146.0,515.1,-7.9,389,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2329,3103
$GC,6561,-1.11,-146.0,539.9,-7.5,397,6565,0.00,2.30,0.00,0.000,4,0.000,0.068,2206,3745,3103
$GC,6627,-1.17,-146.0,545.1,-7.8,398,6632,0.08,2.17,0.00,0.000,6,0.104,0.040,2174,2338,3103
$GC,6975,-1.10,-146.0,574.1,-8.4,407,6977,0.10,0.00,0.00,0.000,6,0.166,0.000,2199,2337,3104
$STATE,7176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7176,begin apogee
$GC,7180,-0.34,0.0,589.1,7.3,412,7308,0.52,0.00,124.93,1.295,6,0.152,0.000,2363,2527,2500
$STATE,7309,end apogee,CONTROL_FINISHED_OK
$STATE,7309,begin climb
$GC,7311,1.16,146.0,591.4,0.0,415,7443,1.08,0.00,127.55,1.202,6,0.110,0.000,2687,2526,1904
$GC,7758,0.93,146.0,549.6,10.1,426,7763,0.20,2.40,0.00,0.000,4,0.143,0.067,2628,3934,1902
$GC,7864,0.76,146.0,539.9,9.3,428,7868,0.10,2.28,0.00,0.000,6,0.166,0.040,2602,2513,1902
$GC,8211,0.78,160.5,517.6,6.5,437,8230,0.00,2.45,13.00,1.154,4,0.000,0.067,2602,3929,1844
$GC,8241,0.79,164.9,515.4,6.9,437,8253,0.00,2.28,5.53,0.919,6,0.000,0.040,2602,2522,1827
$GC,8578,0.87,181.6,493.4,6.4,446,8595,0.10,0.00,15.25,1.172,6,0.095,0.000,2638,2522,1758
$GC,8901,0.87,181.6,466.7,8.4,454,8905,0.00,2.35,0.00,0.000,4,0.000,0.068,2638,3938,1757
$GC,8934,0.73,181.6,463.6,9.6,454,8939,0.12,2.25,0.00,0.000,6,0.142,0.041,2599,2522,1757
$GC,9271,0.86,206.7,442.1,6.1,463,9298,0.10,2.40,21.27,1.190,4,0.091,0.065,2638,3940,1656
$GC,9302,0.86,206.7,439.6,8.3,463,9309,0.00,2.30,0.00,0.000,6,0.000,0.040,2638,2521,1656
$GC,9633,0.86,206.7,413.0,8.4,472,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2521,1655
$GC,9940,0.86,206.7,386.3,8.8,483,9944,0.00,2.33,0.00,0.000,4,0.000,0.066,2638,3940,1655
$GC,9973,0.76,206.7,383.1,10.3,484,9977,0.15,2.22,0.00,0.000,6,0.147,0.041,2597,2508,1654
$GC,10293,0.92,227.1,361.7,6.3,500,10314,0.15,0.00,17.17,1.140,6,0.078,0.000,2654,2507,1574
$GC,10622,0.92,227.1,330.5,9.8,516,10626,0.00,2.33,0.00,0.000,4,0.000,0.067,2654,3927,1573
$GC,10631,0.92,227.1,329.4,9.9,516,10635,0.00,2.22,0.00,0.000,6,0.000,0.039,2655,2521,1572
$GC,10952,0.92,227.1,296.7,10.2,532,10956,0.00,2.33,0.00,0.000,4,0.000,0.067,2655,3941,1572
$GC,10979,0.84,227.1,293.5,12.0,533,10984,0.15,2.20,0.00,0.000,6,0.151,0.040,2613,2518,1572
$GC,11305,0.95,227.1,267.1,7.9,549,11310,0.12,2.20,0.00,0.000,4,0.087,0.051,2663,1111,1573
$GC,11315,1.05,227.1,266.4,7.4,549,11322,0.00,2.22,0.00,0.000,6,0.000,0.048,2663,2531,1572
$GC,11630,1.05,227.1,235.9,9.6,565,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2531,1572
$GC,11939,1.05,227.1,205.2,9.9,580,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2531,1572
$GC,12248,1.05,227.1,175.5,9.3,595,12252,0.00,2.22,0.00,0.000,4,0.000,0.053,2663,1115,1573
$GC,12258,1.05,227.1,174.7,8.9,595,12263,0.00,2.22,0.00,0.000,6,0.000,0.047,2663,2519,1573
$GC,12578,1.05,227.1,146.7,8.5,611,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2518,1573
$GC,12888,1.05,227.1,120.3,8.5,626,12892,0.00,2.25,0.00,0.000,4,0.000,0.066,2663,3936,1573
$GC,12897,1.05,227.1,119.4,8.2,626,12901,0.00,2.20,0.00,0.000,6,0.000,0.039,2663,2515,1573
$GC,13221,1.05,227.1,91.9,8.0,653,13227,0.00,2.30,0.00,0.000,4,0.000,0.068,2663,3937,1574
$GC,13232,1.05,227.1,90.9,8.2,655,13239,0.00,2.17,0.00,0.000,6,0.000,0.041,2663,2513,1574
$GC,13576,1.07,240.9,66.0,6.5,716,13593,0.00,0.00,12.57,1.007,6,0.000,0.000,2664,2513,1518
$GC,13930,1.17,240.9,38.6,8.5,779,13937,0.10,2.33,0.00,0.000,4,0.095,0.068,2705,3927,1516
$GC,13943,1.25,240.9,37.5,8.4,781,13949,0.00,2.20,0.00,0.000,6,0.000,0.041,2705,2508,1516
$GC,14286,1.28,262.3,10.6,6.3,842,14310,0.00,2.38,17.75,1.011,4,0.000,0.069,2705,3924,1429
$STATE,14399,end climb,SURFACE_DEPTH_REACHED
$STATE,14399,begin surface coast
$FINISH,0.9,1.025417
$STATE,14412,end surface coast,CONTROL_FINISHED_OK
$STATE,14412,begin surface
$SM_CCo,14429,9.57,0.928,0,0,1378,275.23
$SM_GC,2.52,0.00,0.00,9.57,0.000,0.000,0.928,166,2338,1378,-10.44,-0.06,275.23
$RAFOS_CLK,791
$RAFOS,4,1221828242,12.750000,12.733889,107,56,55,53,53,52,832,184,202,233,147,117
$RAFOS,3,1221827644,12.583333,12.567778,83,68,67,67,58,54,977,213,169,187,199,155
$RAFOS,2,1221827051,12.416667,12.403055,110,62,60,59,58,58,598,160,196,219,174,208
$RAFOS,1,1221826450,12.250000,12.236111,91,59,59,57,52,52,828,205,133,194,162,116
$RAFOS,0,1221825851,12.083333,12.069722,66,63,59,56,54,53,1001,209,146,123,219,180
$RAFOS_FIX,6702.178711,-5701.072754,190908,121248,5,91,0.49
$IRIDIUM_FIX,6647.44,-5302.23,141297,050548
$TT8_MAMPS,0.027612
$HUMID,1915
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.3,20.209
$10V_AH,10.6,7.212
$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,19.525,109.150,355.025,9.575,0.000,31.099,39.651,134.838,0.000,0.000,0.000,13.705,1570.186,10756.205,516.995,1581.741,345.435,33.360,1379.159,0.000,1564.978,1800.000,0.529,0.000
$DEVICE_MAMPS,263.848,79.768,1295.463,928.070,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.040,587.564,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31546,864
$CAP_FILE_SIZE,113018,0
$CFSIZE,260165632,246841344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.7
$GPS,190908,132152,6702.436,-5656.855,38,2.1,57,-37.6