version: 66.04
glider: 113
mission: 4
dive: 77
start: 9 19 108 18 4 19
data:
$ID,113
$MISSION,4
$DIVE,77
$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,-23429.93
$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,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
$GPS1,175807,6702.654,-5703.098,38,1.5,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.2
$GPS2,180326,6702.673,-5703.273,12,1.5,12,-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,-0.164,0.087
$KALMAN_X,9525.1,-793.2,-735.0,64459.8,2027.6
$KALMAN_Y,-14630.4,-152.1,1321.9,31239.0,-2091.7
$MHEAD_RNG_PITCHd_Wd,335.5,23960,-14.2,-7.021
$D_GRID,698
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-107.68,0.000,2,0.000,0.000,166,2330,2966
$GC,130,-1.16,-146.0,3.1,-3.1,19,149,8.48,2.35,-4.28,0.000,4,0.267,0.078,2178,3745,3097
$GC,403,-0.87,-146.0,52.7,-11.7,67,410,0.25,2.20,0.00,0.000,6,0.169,0.041,2247,2337,3102
$GC,747,-0.87,-146.0,82.1,-8.5,128,753,0.00,2.33,0.00,0.000,4,0.000,0.066,2246,3753,3106
$GC,871,-0.87,-146.0,92.8,-9.1,150,877,0.00,2.20,0.00,0.000,6,0.000,0.040,2247,2330,3106
$GC,1209,-0.87,-146.0,122.5,-9.4,178,1213,0.00,2.17,0.00,0.000,4,0.000,0.054,2247,935,3106
$GC,1291,-0.87,-146.0,130.7,-9.8,181,1298,0.00,2.25,0.00,0.000,6,0.000,0.050,2247,2342,3106
$GC,1608,-0.91,-146.0,159.1,-9.0,197,1611,0.00,2.28,0.00,0.000,4,0.000,0.067,2247,3750,3105
$GC,1702,-0.99,-146.0,167.7,-8.8,201,1706,0.08,2.20,0.00,0.000,6,0.106,0.041,2216,2341,3105
$GC,2028,-0.99,-146.0,196.5,-8.0,217,2032,0.00,2.20,0.00,0.000,4,0.000,0.055,2216,931,3105
$GC,2150,-0.91,-146.0,206.9,-8.1,222,2155,0.08,2.25,0.00,0.000,6,0.180,0.049,2239,2343,3104
$GC,2472,-0.96,-146.0,228.1,-6.5,238,2476,0.00,2.28,0.00,0.000,4,0.000,0.069,2239,3750,3104
$GC,2566,-1.06,-146.0,234.8,-6.9,242,2571,0.12,2.17,0.00,0.000,6,0.102,0.041,2196,2334,3103
$GC,2892,-1.00,-146.0,263.9,-9.2,258,2894,0.10,0.00,0.00,0.000,6,0.173,0.000,2219,2333,3103
$GC,3202,-1.00,-146.0,288.0,-7.2,273,3205,0.00,2.30,0.00,0.000,4,0.000,0.069,2219,3748,3102
$GC,3324,-1.07,-146.0,296.6,-6.8,278,3328,0.00,2.17,0.00,0.000,6,0.000,0.041,2219,2332,3102
$GC,3645,-1.07,-146.0,318.2,-6.8,294,3649,0.00,2.17,0.00,0.000,4,0.000,0.054,2219,929,3102
$GC,3762,-1.07,-146.0,327.1,-7.6,299,3766,0.00,2.22,0.00,0.000,6,0.000,0.051,2219,2349,3101
$GC,4087,-1.12,-146.0,350.5,-7.2,315,4089,0.10,0.00,0.00,0.000,6,0.114,0.000,2186,2350,3102
$GC,4397,-1.05,-146.0,375.5,-8.1,330,4401,0.00,2.22,0.00,0.000,4,0.000,0.066,2185,3743,3102
$GC,4468,-1.05,-146.0,381.6,-8.6,333,4472,0.00,2.17,0.00,0.000,6,0.000,0.039,2185,2338,3102
$GC,4795,-0.99,-146.0,408.0,-8.2,347,4797,0.15,0.00,0.00,0.000,6,0.166,0.000,2225,2336,3103
$GC,5119,-1.06,-146.0,429.7,-6.6,355,5123,0.00,2.28,0.00,0.000,4,0.000,0.067,2226,3743,3104
$GC,5202,-1.17,-146.0,435.5,-6.8,356,5210,0.15,2.15,0.00,0.000,6,0.097,0.040,2174,2334,3104
$GC,5533,-1.07,-146.0,462.9,-8.5,365,5537,0.12,2.17,0.00,0.000,4,0.164,0.052,2205,932,3104
$GC,5599,-1.07,-146.0,468.1,-8.3,366,5604,0.00,2.22,0.00,0.000,6,0.000,0.048,2205,2342,3104
$GC,5947,-1.07,-146.0,493.2,-7.3,375,5951,0.00,2.25,0.00,0.000,4,0.000,0.067,2205,3753,3103
$GC,6115,-1.13,-146.0,506.5,-7.9,378,6119,0.00,2.15,0.00,0.000,6,0.000,0.039,2205,2334,3104
$GC,6450,-1.13,-146.0,531.8,-7.5,387,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2334,3103
$GC,6775,-1.13,-146.0,555.6,-7.3,395,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2334,3104
$GC,7100,-1.13,-146.0,579.7,-7.5,403,7103,0.00,2.30,0.00,0.000,4,0.000,0.067,2205,3754,3104
$GC,7211,-1.19,-146.0,588.3,-7.3,405,7216,0.12,2.17,0.00,0.000,6,0.106,0.039,2163,2327,3103
$GC,7560,-1.08,-146.0,619.3,-9.0,414,7562,0.15,0.00,0.00,0.000,6,0.167,0.000,2202,2326,3103
$GC,7883,-1.08,-146.0,643.7,-7.3,422,7887,0.00,2.30,0.00,0.000,4,0.000,0.068,2202,3746,3103
$GC,7995,-1.13,-146.0,652.5,-7.9,424,7999,0.00,2.15,0.00,0.000,6,0.000,0.040,2202,2337,3103
$GC,8342,-1.13,-146.0,678.7,-7.6,433,8346,0.00,2.17,0.00,0.000,4,0.000,0.054,2202,930,3103
$GC,8432,-1.13,-146.0,686.1,-8.3,435,8435,0.00,2.20,0.00,0.000,6,0.000,0.050,2202,2339,3103
$STATE,8596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8596,begin apogee
$GC,8601,-0.34,0.0,698.1,7.1,439,8731,0.52,0.00,126.88,1.358,6,0.149,0.000,2365,2522,2500
$STATE,8731,end apogee,CONTROL_FINISHED_OK
$STATE,8731,begin climb
$GC,8733,1.16,146.0,700.5,0.0,442,8870,1.05,2.55,129.52,1.263,4,0.104,0.053,2690,1128,1903
$GC,8877,0.91,146.0,690.5,9.5,445,8881,0.22,2.50,0.00,0.000,6,0.147,0.048,2632,2529,1903
$GC,9224,0.83,146.0,661.9,8.5,454,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2530,1900
$GC,9550,0.75,146.0,635.8,7.9,462,9554,0.12,2.33,0.00,0.000,4,0.150,0.066,2598,3940,1901
$GC,9591,0.69,146.0,632.7,7.5,463,9595,0.00,2.22,0.00,0.000,6,0.000,0.039,2598,2524,1900
$GC,9919,0.71,161.6,611.1,6.5,471,9939,0.00,2.42,13.70,1.223,4,0.000,0.069,2598,3930,1841
$GC,9972,0.71,161.6,607.1,8.2,472,9976,0.00,2.28,0.00,0.000,6,0.000,0.040,2598,2515,1840
$GC,10291,0.82,187.5,587.0,6.1,480,10320,0.00,2.47,22.55,1.262,4,0.000,0.068,2597,3927,1735
$GC,10347,0.82,187.5,583.1,7.3,481,10352,0.00,2.28,0.00,0.000,6,0.000,0.039,2597,2523,1735
$GC,10661,0.94,214.5,563.7,6.1,489,10691,0.15,2.47,23.40,1.246,4,0.081,0.070,2654,3926,1625
$GC,10696,0.85,214.5,560.8,9.0,489,10703,0.15,2.28,0.00,0.000,6,0.155,0.041,2617,2519,1623
$GC,11027,0.91,222.3,538.3,6.7,498,11041,0.00,2.30,7.72,1.083,4,0.000,0.054,2617,1123,1594
$GC,11222,1.02,229.7,525.2,6.8,502,11236,0.10,2.28,7.70,1.077,6,0.073,0.050,2664,2520,1563
$GC,11573,0.94,229.7,492.5,9.5,511,11578,0.10,2.25,0.00,0.000,4,0.150,0.054,2638,1117,1562
$GC,11763,0.94,229.7,476.5,8.6,515,11767,0.00,2.28,0.00,0.000,6,0.000,0.050,2638,2523,1562
$GC,12081,0.94,229.7,448.8,8.8,523,12085,0.00,2.25,0.00,0.000,4,0.000,0.055,2638,1111,1562
$GC,12110,1.00,229.7,446.5,8.6,523,12114,0.00,2.25,0.00,0.000,6,0.000,0.050,2637,2529,1561
$GC,12451,1.00,229.7,417.0,8.6,532,12455,0.00,2.25,0.00,0.000,4,0.000,0.054,2638,1113,1561
$GC,12472,1.05,229.7,415.1,8.0,532,12477,0.08,2.25,0.00,0.000,6,0.084,0.049,2675,2520,1562
$GC,12803,0.95,229.7,378.9,11.1,545,12804,0.15,0.00,0.00,0.000,6,0.145,0.000,2633,2520,1561
$GC,13111,0.95,229.7,352.3,8.5,560,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2520,1561
$GC,13420,0.95,229.7,328.1,7.4,575,13424,0.00,2.22,0.00,0.000,4,0.000,0.055,2632,1108,1561
$GC,13465,1.03,229.7,324.8,7.2,577,13470,0.10,2.22,0.00,0.000,6,0.098,0.049,2670,2533,1561
$GC,13797,0.96,229.7,293.9,10.0,593,13801,0.10,2.22,0.00,0.000,4,0.150,0.054,2642,1112,1561
$GC,13818,0.96,229.7,291.8,9.3,594,13822,0.00,2.20,0.00,0.000,6,0.000,0.048,2642,2521,1561
$GC,14149,0.96,229.7,261.9,9.1,610,14153,0.00,2.22,0.00,0.000,4,0.000,0.054,2642,1109,1561
$GC,14159,0.96,229.7,261.1,8.9,610,14163,0.00,2.22,0.00,0.000,6,0.000,0.046,2642,2515,1561
$GC,14480,0.96,229.7,235.1,7.6,626,14484,0.00,2.20,0.00,0.000,4,0.000,0.054,2642,1109,1561
$GC,14489,0.96,229.7,234.2,7.8,626,14494,0.00,2.22,0.00,0.000,6,0.000,0.046,2642,2518,1562
$GC,14810,1.00,229.7,211.6,7.4,642,14812,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2519,1562
$GC,15120,1.07,229.7,188.3,7.1,657,15124,0.10,2.22,0.00,0.000,4,0.094,0.065,2684,3924,1563
$GC,15129,1.07,229.7,187.4,7.1,657,15133,0.00,2.17,0.00,0.000,6,0.000,0.039,2688,2519,1563
$GC,15450,0.99,229.7,158.8,8.8,673,15455,0.15,2.28,0.00,0.000,4,0.153,0.067,2644,3924,1563
$GC,15466,0.94,229.7,157.7,8.1,674,15470,0.00,2.15,0.00,0.000,6,0.000,0.041,2644,2511,1563
$GC,15798,1.03,234.4,135.9,6.9,690,15809,0.00,2.33,5.70,0.862,4,0.000,0.068,2644,3937,1543
$GC,15819,1.09,234.4,134.3,7.6,691,15824,0.08,2.20,0.00,0.000,6,0.087,0.040,2680,2525,1543
$GC,16145,1.09,234.4,106.5,8.3,707,16148,0.00,2.28,0.00,0.000,4,0.000,0.069,2681,3923,1543
$GC,16161,1.04,234.4,105.0,8.3,707,16167,0.00,2.17,0.00,0.000,6,0.000,0.041,2681,2508,1543
$GC,16498,1.06,248.8,79.4,6.5,759,16516,0.00,0.00,12.82,1.012,6,0.000,0.000,2681,2508,1485
$GC,16853,1.06,248.8,52.6,7.7,822,16859,0.00,2.20,0.00,0.000,4,0.000,0.056,2681,1114,1483
$GC,16864,1.06,248.8,51.6,7.6,824,16871,0.00,2.22,0.00,0.000,6,0.000,0.049,2681,2521,1483
$GC,17209,1.17,259.5,25.0,6.6,885,17227,0.00,2.30,9.90,0.974,4,0.000,0.054,2681,1116,1441
$GC,17261,1.39,264.8,21.4,6.8,894,17274,0.17,2.25,5.70,0.837,6,0.080,0.049,2748,2527,1420
$STATE,17496,end climb,SURFACE_DEPTH_REACHED
$STATE,17497,begin surface coast
$FINISH,0.6,1.024857
$STATE,17520,end surface coast,CONTROL_FINISHED_OK
$STATE,17520,begin surface
$SM_CCo,17536,7.68,0.903,0,0,1378,275.23
$SM_GC,2.37,0.00,0.00,7.68,0.000,0.000,0.903,159,2332,1378,-10.47,-0.20,275.23
$RAFOS_CLK,961
$RAFOS,4,1221857045,20.750000,20.734722,99,59,58,58,58,55,787,189,200,212,126,165
$RAFOS,3,1221856478,20.583334,20.577223,89,58,57,53,53,52,779,168,190,201,143,214
$RAFOS,2,1221855844,20.416666,20.401112,96,65,59,54,53,51,611,208,189,148,221,115
$RAFOS,1,1221855260,20.250000,20.238890,83,59,58,57,54,51,760,197,227,138,171,160
$RAFOS,0,1221854641,20.083334,20.066944,64,59,58,55,55,51,199,217,1027,178,153,142
$RAFOS_FIX,6637.331543,-6033.633301,190908,202048,5,86,18.92
$IRIDIUM_FIX,6631.12,-5701.34,141297,131304
$TT8_MAMPS,0.027612
$HUMID,1936
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.2,20.499
$10V_AH,10.6,7.348
$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,20.750,153.675,365.600,7.675,0.000,28.745,40.164,140.788,0.000,0.000,0.000,13.992,1840.552,13170.427,520.837,2013.936,378.161,33.355,1612.657,0.000,1981.100,1800.000,0.529,0.000
$DEVICE_MAMPS,266.916,78.234,1358.357,902.759,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.396,641.958,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34743,940
$CAP_FILE_SIZE,141861,0
$CFSIZE,260165632,246685696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.6
$GPS,190908,225908,6703.001,-5706.762,40,1.4,40,-37.6