version: 66.04
glider: 113
mission: 4
dive: 71
start: 9 18 108 16 54 59
data:
$ID,113
$MISSION,4
$DIVE,71
$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,-23326.617
$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,35
$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
$GPS1,164425,6700.521,-5652.060,27,1.1,44,-37.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.0
$GPS2,165408,6700.680,-5652.280,35,1.3,35,-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,0.020,0.185
$KALMAN_X,7108.4,-346.9,-512.2,74187.9,1203.8
$KALMAN_Y,-13288.3,-153.5,824.0,26707.9,-1056.1
$MHEAD_RNG_PITCHd_Wd,43.6,5293,-14.2,-7.021
$D_GRID,606
$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,-145.9,0.0,0.0,0,128,0.00,0.00,-108.57,0.000,2,0.000,0.000,161,2327,3019
$GC,131,-1.16,-146.0,3.8,-4.3,19,150,8.38,2.38,-2.25,0.000,4,0.262,0.076,2178,3740,3099
$GC,404,-0.88,-146.0,50.1,-14.9,67,411,0.25,2.20,0.00,0.000,6,0.167,0.040,2247,2325,3102
$GC,748,-0.82,-146.0,84.0,-9.6,128,755,0.00,2.33,0.00,0.000,4,0.000,0.066,2247,3746,3106
$GC,827,-0.82,-146.0,91.4,-9.3,142,834,0.00,2.17,0.00,0.000,6,0.000,0.039,2247,2337,3106
$GC,1150,-0.82,-146.0,121.0,-9.1,170,1154,0.00,2.17,0.00,0.000,4,0.000,0.054,2247,936,3107
$GC,1217,-0.82,-146.0,127.3,-8.9,173,1221,0.00,2.22,0.00,0.000,6,0.000,0.049,2247,2351,3107
$GC,1549,-0.82,-146.0,156.4,-8.5,189,1552,0.00,2.25,0.00,0.000,4,0.000,0.067,2247,3746,3106
$GC,1622,-0.91,-146.0,162.6,-8.4,192,1626,0.00,2.17,0.00,0.000,6,0.000,0.041,2247,2337,3105
$GC,1948,-0.96,-146.0,189.6,-8.1,208,1952,0.00,2.30,0.00,0.000,4,0.000,0.070,2247,3742,3104
$GC,2048,-1.07,-146.0,198.3,-8.8,212,2052,0.12,2.20,0.00,0.000,6,0.095,0.041,2196,2338,3104
$GC,2369,-0.97,-146.0,229.9,-9.2,228,2373,0.12,2.20,0.00,0.000,4,0.172,0.054,2227,928,3103
$GC,2435,-0.97,-146.0,235.7,-8.6,231,2439,0.00,2.22,0.00,0.000,6,0.000,0.051,2227,2343,3103
$GC,2766,-0.97,-146.0,261.8,-7.6,247,2770,0.00,2.28,0.00,0.000,4,0.000,0.070,2227,3750,3102
$GC,2827,-1.05,-146.0,266.5,-7.8,249,2834,0.00,2.20,0.00,0.000,6,0.000,0.041,2228,2336,3102
$GC,3143,-1.11,-146.0,288.9,-6.9,265,3147,0.12,2.17,0.00,0.000,4,0.104,0.052,2184,934,3101
$GC,3332,-0.96,-146.0,305.5,-9.1,273,3337,0.12,2.22,0.00,0.000,6,0.173,0.051,2222,2335,3101
$GC,3653,-1.01,-146.0,327.6,-7.0,289,3657,0.00,2.28,0.00,0.000,4,0.000,0.068,2222,3752,3100
$GC,3781,-1.11,-146.0,337.4,-8.3,294,3788,0.08,2.17,0.00,0.000,6,0.098,0.039,2190,2343,3100
$GC,4097,-1.06,-146.0,364.1,-8.4,310,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2343,3101
$GC,4406,-1.00,-146.0,389.9,-8.3,325,4410,0.12,2.28,0.00,0.000,4,0.164,0.067,2221,3743,3101
$GC,4483,-1.09,-146.0,395.7,-7.5,328,4490,0.00,2.17,0.00,0.000,6,0.000,0.039,2220,2334,3100
$GC,4795,-1.15,-146.0,417.2,-6.9,338,4797,0.12,0.00,0.00,0.000,6,0.108,0.000,2176,2334,3101
$GC,5119,-1.06,-146.0,443.2,-8.0,346,5124,0.12,2.28,0.00,0.000,4,0.166,0.066,2207,3743,3102
$GC,5191,-1.11,-146.0,448.6,-7.8,347,5195,0.00,2.12,0.00,0.000,6,0.000,0.038,2207,2341,3102
$GC,5527,-1.11,-146.0,471.4,-6.7,356,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2341,3102
$GC,5852,-1.11,-146.0,492.9,-6.6,364,5856,0.00,2.25,0.00,0.000,4,0.000,0.066,2207,3745,3103
$GC,5924,-1.17,-146.0,497.9,-7.0,365,5928,0.10,2.15,0.00,0.000,6,0.111,0.038,2173,2325,3103
$GC,6265,-1.08,-146.0,524.5,-7.7,374,6270,0.12,2.12,0.00,0.000,4,0.162,0.049,2204,939,3103
$GC,6320,-1.08,-146.0,528.7,-7.8,375,6325,0.00,2.20,0.00,0.000,6,0.000,0.046,2204,2342,3103
$GC,6639,-1.08,-146.0,549.3,-6.4,383,6643,0.00,2.22,0.00,0.000,4,0.000,0.064,2204,3743,3104
$GC,6733,-1.14,-146.0,555.5,-6.2,385,6737,0.00,2.12,0.00,0.000,6,0.000,0.037,2204,2336,3103
$GC,7057,-1.14,-146.0,575.2,-6.0,393,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2336,3104
$GC,7382,-1.14,-146.0,596.2,-6.6,401,7385,0.00,2.28,0.00,0.000,4,0.000,0.064,2204,3755,3105
$GC,7454,-1.21,-146.0,601.5,-7.3,402,7459,0.10,2.17,0.00,0.000,6,0.094,0.037,2162,2336,3105
$STATE,7509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7509,begin apogee
$GC,7513,-0.34,0.0,606.0,8.1,404,7641,0.65,0.00,124.82,1.262,6,0.158,0.000,2359,2530,2500
$STATE,7642,end apogee,CONTROL_FINISHED_OK
$STATE,7642,begin climb
$GC,7643,1.16,146.0,608.5,0.0,407,7778,1.08,2.58,126.72,1.178,4,0.110,0.062,2686,3929,1904
$GC,7801,0.83,146.0,595.4,11.3,410,7808,0.22,2.40,0.00,0.000,6,0.143,0.036,2614,2532,1904
$GC,8131,0.83,146.0,569.3,7.8,419,8135,0.00,2.38,0.00,0.000,4,0.000,0.065,2614,3934,1902
$GC,8181,0.73,146.0,564.7,9.3,420,8185,0.00,2.25,0.00,0.000,6,0.000,0.037,2614,2515,1902
$GC,8505,0.73,146.0,539.4,7.8,428,8508,0.00,2.35,0.00,0.000,4,0.000,0.064,2614,3936,1902
$GC,8515,0.73,146.0,538.4,7.9,428,8519,0.00,2.22,0.00,0.000,6,0.000,0.037,2614,2525,1901
$GC,8833,0.73,146.0,512.9,8.0,436,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2525,1901
$GC,9158,0.73,146.0,487.6,7.8,444,9162,0.00,2.28,0.00,0.000,4,0.000,0.065,2614,3923,1900
$GC,9185,0.64,146.0,485.3,8.5,444,9189,0.12,2.20,0.00,0.000,6,0.140,0.037,2573,2513,1900
$GC,9527,0.81,170.8,464.1,6.2,453,9554,0.15,2.38,20.70,1.167,4,0.076,0.063,2632,3934,1802
$GC,9576,0.69,170.8,459.9,10.1,454,9580,0.17,2.22,0.00,0.000,6,0.146,0.037,2586,2518,1802
$GC,9894,0.83,183.9,438.4,6.6,462,9908,0.12,0.00,11.88,1.084,6,0.080,0.000,2636,2516,1750
$GC,10218,0.83,183.9,410.0,8.8,470,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2516,1749
$GC,10525,0.83,183.9,382.5,8.9,482,10529,0.00,2.30,0.00,0.000,4,0.000,0.063,2636,3937,1749
$GC,10558,0.70,183.9,379.4,10.1,483,10563,0.15,2.20,0.00,0.000,6,0.135,0.037,2587,2520,1749
$GC,10879,0.88,208.6,358.9,6.2,499,10903,0.15,0.00,21.02,1.101,6,0.077,0.000,2648,2519,1649
$GC,11208,0.88,208.6,329.7,9.1,515,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2519,1647
$GC,11517,0.88,208.6,302.1,9.0,530,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2519,1648
$GC,11827,0.88,208.6,274.3,9.2,545,11831,0.00,2.28,0.00,0.000,4,0.000,0.063,2648,3933,1647
$GC,11836,0.84,208.6,273.2,9.1,545,11842,0.10,2.20,0.00,0.000,6,0.139,0.037,2613,2516,1647
$GC,12158,0.93,208.6,247.8,7.9,561,12162,0.10,2.17,0.00,0.000,4,0.091,0.048,2655,1111,1647
$GC,12189,0.93,208.6,244.7,10.0,562,12196,0.00,2.22,0.00,0.000,6,0.000,0.045,2656,2520,1647
$GC,12504,0.93,208.6,214.9,9.1,578,12508,0.00,2.22,0.00,0.000,4,0.000,0.061,2656,3926,1648
$GC,12543,0.81,208.6,211.0,10.2,579,12551,0.12,2.17,0.00,0.000,6,0.143,0.038,2602,2513,1649
$GC,12859,1.04,252.1,191.9,5.5,595,12902,0.20,2.28,34.95,1.039,4,0.072,0.050,2688,1110,1472
$GC,12907,0.97,252.1,188.1,8.9,597,12911,0.17,2.28,0.00,0.000,6,0.134,0.044,2639,2520,1471
$GC,13234,1.11,274.5,166.8,6.2,613,13256,0.15,0.00,18.85,0.997,6,0.080,0.000,2697,2521,1381
$GC,13564,1.06,274.5,136.6,9.2,629,13566,0.12,0.00,0.00,0.000,6,0.141,0.000,2663,2520,1378
$GC,13873,1.14,274.5,114.0,7.1,644,13877,0.00,2.22,0.00,0.000,4,0.000,0.051,2663,1116,1379
$GC,13896,1.28,280.5,112.5,6.8,645,13907,0.17,2.22,6.12,0.860,6,0.077,0.045,2731,2532,1356
$GC,14233,1.16,280.5,76.3,10.9,687,14240,0.15,2.25,0.00,0.000,4,0.143,0.063,2688,3930,1355
$GC,14245,1.06,280.5,74.9,10.9,689,14252,0.10,2.17,0.00,0.000,6,0.155,0.039,2662,2521,1355
$GC,14590,1.20,289.7,51.0,6.7,750,14603,0.12,0.00,8.90,0.959,6,0.088,0.000,2709,2521,1318
$GC,14942,1.20,289.7,21.9,7.5,812,14948,0.00,2.30,0.00,0.000,4,0.000,0.069,2709,3923,1315
$GC,14953,1.24,289.7,21.0,7.4,814,14960,0.00,2.17,0.00,0.000,6,0.000,0.041,2709,2519,1314
$STATE,15222,end climb,SURFACE_DEPTH_REACHED
$STATE,15222,begin surface coast
$FINISH,0.8,1.025262
$STATE,15251,end surface coast,CONTROL_FINISHED_OK
$STATE,15252,begin surface
$SM_CCo,15326,0.00,0.000,0,0,1310,291.66
$SM_GC,1.64,7.05,0.00,0.00,0.074,0.000,0.000,163,2330,1310,-10.37,-0.28,291.66
$RAFOS_CLK,828
$RAFOS,4,1221770646,20.750000,20.735001,99,61,60,60,59,50,833,219,181,196,156,134
$RAFOS,3,1221770047,20.583334,20.568611,105,64,60,56,55,54,977,214,192,157,176,116
$RAFOS,2,1221769446,20.416666,20.401667,62,60,54,54,51,51,216,199,145,176,121,640
$RAFOS,1,1221768848,20.250000,20.235556,80,57,56,55,55,54,860,213,151,133,182,173
$RAFOS,0,1221768250,20.083334,20.069445,67,62,60,59,59,52,1015,147,196,217,137,106
$RAFOS_FIX,41004.593750,393516.906250,180908,202023,5,83,22663.11
$IRIDIUM_FIX,6631.12,-5656.72,131297,161639
$TT8_MAMPS,0.027612
$HUMID,1931
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.4,19.679
$10V_AH,10.6,6.966
$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,21.300,126.000,373.975,0.000,0.000,52.607,61.012,272.943,0.000,0.000,0.000,36.651,1671.201,11504.659,516.080,1741.412,544.519,33.368,1457.935,0.000,1694.266,1800.000,0.529,0.000
$DEVICE_MAMPS,261.547,75.933,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.806,587.961,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31600,867
$CAP_FILE_SIZE,129894,0
$CFSIZE,260165632,247062528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,180908,211255,6701.530,-5651.526,37,1.0,37,-37.5