version: 66.04
glider: 113
mission: 4
dive: 76
start: 9 19 108 13 31 1
data:
$ID,113
$MISSION,4
$DIVE,76
$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,-23415.311
$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,33
$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
$GPS1,132152,6702.436,-5656.855,38,2.1,57,-37.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.7
$GPS2,133008,6702.406,-5656.774,10,1.4,15,-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,-0.145,-0.116
$KALMAN_X,9888.5,-361.8,600.6,67048.6,-451.4
$KALMAN_Y,-14979.5,-373.1,-733.3,33383.9,1406.1
$MHEAD_RNG_PITCHd_Wd,269.0,28390,-14.2,-7.021
$D_GRID,639
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-102.65,0.000,2,0.000,0.000,167,2336,2929
$GC,125,-1.16,-146.0,3.0,-2.5,18,144,8.27,2.40,-5.57,0.000,4,0.258,0.077,2178,3742,3098
$GC,399,-0.86,-146.0,50.3,-14.4,66,406,0.25,2.20,0.00,0.000,6,0.169,0.040,2246,2333,3103
$GC,743,-0.86,-146.0,87.6,-10.0,127,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2332,3107
$GC,1078,-0.86,-146.0,119.9,-9.9,160,1081,0.00,2.20,0.00,0.000,4,0.000,0.054,2247,929,3106
$GC,1110,-0.82,-146.0,123.3,-10.9,161,1114,0.00,2.25,0.00,0.000,6,0.000,0.048,2246,2340,3107
$GC,1431,-0.82,-146.0,152.6,-8.5,177,1435,0.00,2.28,0.00,0.000,4,0.000,0.066,2247,3753,3106
$GC,1458,-0.88,-146.0,155.1,-9.2,178,1462,0.00,2.17,0.00,0.000,6,0.000,0.039,2246,2338,3105
$GC,1784,-0.94,-146.0,182.6,-8.3,194,1788,0.00,2.30,0.00,0.000,4,0.000,0.066,2246,3754,3105
$GC,1823,-1.05,-146.0,185.9,-8.7,195,1829,0.15,2.17,0.00,0.000,6,0.105,0.040,2194,2339,3104
$GC,2137,-0.95,-146.0,217.4,-9.9,211,2139,0.15,0.00,0.00,0.000,6,0.163,0.000,2233,2337,3104
$GC,2447,-1.00,-146.0,242.2,-7.9,226,2451,0.00,2.20,0.00,0.000,4,0.000,0.054,2233,928,3103
$GC,2473,-1.00,-146.0,244.4,-8.1,227,2477,0.00,2.25,0.00,0.000,6,0.000,0.049,2233,2343,3104
$GC,2800,-1.06,-146.0,269.0,-7.6,243,2805,0.12,2.25,0.00,0.000,4,0.108,0.065,2190,3744,3103
$GC,2888,-1.01,-146.0,277.1,-8.8,247,2893,0.10,2.17,0.00,0.000,6,0.170,0.041,2214,2324,3103
$GC,3214,-1.01,-146.0,304.1,-8.5,263,3218,0.00,2.33,0.00,0.000,4,0.000,0.068,2214,3753,3103
$GC,3303,-1.07,-146.0,311.8,-8.9,267,3307,0.00,2.17,0.00,0.000,6,0.000,0.041,2215,2334,3103
$GC,3635,-1.07,-146.0,338.4,-7.9,283,3639,0.00,2.17,0.00,0.000,4,0.000,0.053,2214,929,3102
$GC,3695,-1.07,-146.0,343.6,-8.5,285,3702,0.00,2.22,0.00,0.000,6,0.000,0.049,2215,2333,3102
$GC,4011,-1.07,-146.0,367.3,-7.4,301,4014,0.00,2.28,0.00,0.000,4,0.000,0.068,2214,3750,3102
$GC,4060,-1.13,-146.0,371.2,-7.7,303,4065,0.10,2.17,0.00,0.000,6,0.100,0.039,2179,2324,3102
$GC,4386,-1.04,-146.0,400.7,-9.2,319,4391,0.12,2.30,0.00,0.000,4,0.164,0.068,2211,3749,3103
$GC,4457,-1.04,-146.0,406.9,-8.6,320,4461,0.00,2.15,0.00,0.000,6,0.000,0.040,2211,2340,3104
$GC,4793,-1.04,-146.0,434.7,-8.4,329,4797,0.00,2.28,0.00,0.000,4,0.000,0.067,2210,3746,3103
$GC,4826,-1.09,-146.0,437.6,-8.9,329,4831,0.00,2.17,0.00,0.000,6,0.000,0.040,2211,2341,3104
$GC,5162,-1.09,-146.0,465.4,-8.1,338,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2341,3104
$GC,5488,-1.09,-146.0,489.6,-7.3,346,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2341,3104
$GC,5813,-1.09,-146.0,512.3,-6.9,354,5816,0.00,2.28,0.00,0.000,4,0.000,0.068,2211,3743,3104
$GC,5845,-1.14,-146.0,514.7,-7.4,354,5850,0.05,2.17,0.00,0.000,6,0.102,0.040,2185,2338,3103
$GC,6181,-1.09,-146.0,541.1,-7.8,363,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2338,3104
$GC,6506,-1.05,-146.0,566.4,-7.8,371,6511,0.10,2.28,0.00,0.000,4,0.174,0.066,2209,3746,3103
$GC,6557,-1.12,-146.0,570.1,-7.8,372,6561,0.00,2.15,0.00,0.000,6,0.000,0.040,2209,2338,3103
$GC,6881,-1.17,-146.0,591.9,-6.8,380,6882,0.12,0.00,0.00,0.000,6,0.104,0.000,2165,2337,3103
$GC,7205,-1.07,-146.0,619.1,-8.4,388,7210,0.15,2.28,0.00,0.000,4,0.165,0.066,2204,3744,3103
$GC,7260,-1.13,-146.0,623.1,-6.8,389,7264,0.00,2.15,0.00,0.000,6,0.000,0.040,2204,2334,3103
$STATE,7530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7530,begin apogee
$GC,7535,-0.34,0.0,639.9,6.0,396,7664,0.50,0.00,125.75,1.325,6,0.123,0.000,2368,2522,2500
$STATE,7665,end apogee,CONTROL_FINISHED_OK
$STATE,7665,begin climb
$GC,7666,1.16,146.0,639.6,0.0,399,7804,1.02,2.58,128.52,1.231,4,0.097,0.053,2690,1128,1903
$GC,7929,0.97,146.0,617.0,10.2,405,7934,0.17,2.38,0.00,0.000,6,0.151,0.048,2644,2527,1901
$GC,8247,0.85,146.0,588.6,8.8,413,8251,0.10,2.35,0.00,0.000,4,0.162,0.065,2617,3931,1901
$GC,8290,0.72,146.0,584.7,9.5,414,8295,0.08,2.28,0.00,0.000,6,0.149,0.040,2596,2526,1901
$GC,8614,0.78,149.9,562.9,6.9,422,8621,0.00,0.00,4.57,0.878,6,0.000,0.000,2596,2527,1888
$GC,8939,0.85,149.9,539.7,7.1,430,8944,0.10,2.33,0.00,0.000,4,0.093,0.068,2635,3929,1887
$GC,8999,0.67,149.9,533.8,10.0,431,9004,0.20,2.20,0.00,0.000,6,0.150,0.041,2579,2517,1887
$GC,9346,0.80,160.0,510.5,6.7,440,9362,0.12,2.35,9.85,1.138,4,0.087,0.069,2625,3930,1847
$GC,9383,0.70,160.0,507.1,9.9,440,9390,0.12,2.25,0.00,0.000,6,0.143,0.041,2586,2521,1846
$GC,9715,0.83,172.8,484.7,6.6,449,9734,0.12,2.42,11.85,1.161,4,0.084,0.068,2635,3930,1795
$GC,9757,0.70,172.8,481.0,10.3,450,9762,0.17,2.22,0.00,0.000,6,0.150,0.041,2587,2521,1794
$GC,10080,0.85,187.1,459.5,6.5,458,10096,0.12,0.00,13.27,1.161,6,0.084,0.000,2636,2518,1737
$GC,10408,0.85,187.1,431.8,8.5,466,10411,0.00,2.35,0.00,0.000,4,0.000,0.068,2636,3938,1735
$GC,10429,0.77,187.1,429.6,9.0,466,10433,0.10,2.25,0.00,0.000,6,0.147,0.041,2603,2519,1735
$GC,10778,0.89,199.9,406.1,6.6,475,10797,0.10,2.42,11.82,1.131,4,0.093,0.068,2643,3933,1684
$GC,10830,0.75,199.9,401.2,10.1,476,10835,0.12,2.25,0.00,0.000,6,0.142,0.041,2594,2524,1683
$GC,11154,0.92,222.1,380.8,6.2,491,11180,0.15,2.33,19.00,1.162,4,0.081,0.054,2651,1122,1594
$GC,11196,0.92,222.1,377.2,7.5,493,11200,0.00,2.28,0.00,0.000,6,0.000,0.048,2651,2522,1593
$GC,11528,0.92,222.1,347.4,9.1,509,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2522,1592
$GC,11837,0.92,222.1,317.8,9.8,524,11841,0.00,2.25,0.00,0.000,4,0.000,0.054,2652,1111,1591
$GC,11882,0.92,222.1,313.5,9.8,526,11886,0.00,2.25,0.00,0.000,6,0.000,0.048,2652,2536,1591
$GC,12213,0.92,222.1,281.2,9.8,542,12217,0.00,2.25,0.00,0.000,4,0.000,0.054,2652,1116,1591
$GC,12228,0.92,222.1,279.8,9.6,542,12235,0.00,2.25,0.00,0.000,6,0.000,0.048,2652,2522,1591
$GC,12544,0.92,222.1,251.8,8.5,558,12547,0.00,2.25,0.00,0.000,4,0.000,0.065,2651,3926,1591
$GC,12576,0.82,222.1,248.5,10.4,559,12581,0.10,2.20,0.00,0.000,6,0.144,0.040,2616,2518,1591
$GC,12897,0.95,230.0,226.3,6.7,575,12907,0.10,0.00,7.55,0.960,6,0.094,0.000,2656,2518,1562
$GC,13205,0.95,230.0,199.8,8.3,590,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2518,1563
$GC,13515,0.95,230.0,173.8,8.4,605,13519,0.00,2.30,0.00,0.000,4,0.000,0.067,2656,3929,1562
$GC,13530,0.95,230.0,172.3,8.8,605,13537,0.00,2.20,0.00,0.000,6,0.000,0.041,2656,2521,1563
$GC,13846,0.95,230.0,148.0,7.1,621,13849,0.00,2.30,0.00,0.000,4,0.000,0.067,2657,3936,1563
$GC,13867,0.95,230.0,146.3,7.9,622,13871,0.00,2.20,0.00,0.000,6,0.000,0.041,2657,2505,1563
$GC,14199,0.95,230.0,121.2,7.9,638,14203,0.00,2.33,0.00,0.000,4,0.000,0.067,2656,3937,1562
$GC,14225,0.95,230.0,118.8,8.5,639,14230,0.00,2.20,0.00,0.000,6,0.000,0.041,2656,2524,1563
$GC,14546,1.01,230.0,95.5,7.1,662,14553,0.00,2.28,0.00,0.000,4,0.000,0.067,2657,3927,1563
$GC,14575,1.01,230.0,93.1,7.8,667,14581,0.00,2.17,0.00,0.000,6,0.000,0.041,2657,2512,1563
$GC,14919,1.11,250.7,69.2,6.3,728,14943,0.00,2.35,18.15,1.042,4,0.000,0.067,2656,3924,1476
$GC,14961,1.19,270.2,66.5,6.3,735,14985,0.12,2.22,16.70,0.996,6,0.091,0.041,2703,2507,1398
$GC,15323,1.19,270.2,33.3,9.2,799,15329,0.00,2.38,0.00,0.000,4,0.000,0.071,2703,3934,1394
$GC,15334,1.19,270.2,32.1,9.3,801,15341,0.00,2.22,0.00,0.000,6,0.000,0.042,2704,2516,1394
$GC,15677,1.20,278.1,7.6,6.7,862,15690,0.00,2.22,6.82,0.900,4,0.000,0.055,2704,1112,1366
$GC,15719,1.28,278.1,4.8,7.0,869,15725,0.00,2.25,0.00,0.000,6,0.000,0.050,2704,2520,1366
$STATE,15768,end climb,SURFACE_DEPTH_REACHED
$STATE,15769,begin surface coast
$FINISH,0.6,1.009646
$STATE,15810,end surface coast,CONTROL_FINISHED_OK
$STATE,15810,begin surface
$SM_CCo,15886,0.00,0.000,0,0,1363,278.91
$SM_GC,1.54,7.10,0.00,0.00,0.073,0.000,0.000,166,2330,1363,-10.37,-0.28,278.91
$RAFOS_CLK,880
$RAFOS,4,1221842649,16.750000,16.735834,107,59,56,56,52,52,776,214,173,198,229,147
$RAFOS,3,1221842047,16.583334,16.568611,74,59,59,58,54,53,955,228,196,120,166,181
$RAFOS,2,1221841464,16.416666,16.406666,75,66,58,52,52,52,515,215,201,123,135,152
$RAFOS,1,1221840844,16.250000,16.234444,75,56,55,52,51,50,852,157,199,208,116,175
$RAFOS,0,1221840243,16.083334,16.067499,61,59,55,55,53,52,229,1032,183,212,194,151
$RAFOS_FIX,6724.857422,-6018.880371,190908,161601,5,78,14.18
$IRIDIUM_FIX,6636.54,-5658.34,141297,131309
$TT8_MAMPS,0.027612
$HUMID,1950
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,15.90
$XPDR_PINGS,1
$24V_AH,22.3,20.355
$10V_AH,10.6,7.278
$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,20.450,145.275,373.875,0.000,0.000,56.467,65.304,196.303,0.250,0.000,0.000,16.844,1709.712,12002.048,528.622,1727.024,477.377,33.355,1486.819,0.000,1700.054,1800.000,0.529,0.000
$DEVICE_MAMPS,257.712,77.467,1325.376,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.991,603.493,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31546,885
$CAP_FILE_SIZE,133161,0
$CFSIZE,260165632,246759424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.5
$GPS,190908,175807,6702.654,-5703.098,38,1.5,38,-37.6