version: 66.04
glider: 113
mission: 4
dive: 72
start: 9 18 108 21 19 29
data:
$ID,113
$MISSION,4
$DIVE,72
$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,-23359.646
$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,41
$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
$GPS1,211255,6701.530,-5651.526,37,1.0,37,-37.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.9
$GPS2,211837,6701.531,-5651.318,14,1.7,30,-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,0.025,0.184
$KALMAN_X,7011.4,-37.4,-357.7,74528.5,1694.9
$KALMAN_Y,-14092.3,239.8,-367.4,29895.2,-633.8
$MHEAD_RNG_PITCHd_Wd,45.3,3625,-14.2,-7.021
$D_GRID,575
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.16,-146.0,0.0,0.0,0,132,0.00,0.00,-112.10,0.000,2,0.000,0.000,163,2329,2987
$GC,134,-1.16,-146.0,3.6,-4.3,20,153,8.40,2.35,-3.30,0.000,4,0.265,0.078,2178,3743,3100
$GC,289,-0.81,-146.0,37.5,-17.3,47,295,0.30,2.20,0.00,0.000,6,0.165,0.040,2262,2333,3102
$GC,632,-0.81,-146.0,70.2,-9.2,108,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2331,3106
$GC,976,-0.81,-146.0,97.9,-7.3,169,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2331,3108
$GC,1292,-0.85,-146.0,121.4,-7.4,188,1296,0.00,2.33,0.00,0.000,4,0.000,0.069,2262,3752,3107
$GC,1346,-0.96,-146.0,125.5,-7.8,190,1351,0.10,2.20,0.00,0.000,6,0.097,0.040,2220,2342,3107
$GC,1667,-0.89,-146.0,155.2,-9.4,206,1672,0.10,2.20,0.00,0.000,4,0.186,0.053,2244,932,3106
$GC,1727,-0.89,-146.0,160.7,-8.7,209,1731,0.00,2.22,0.00,0.000,6,0.000,0.051,2244,2346,3106
$GC,2059,-0.89,-146.0,187.2,-7.9,225,2063,0.00,2.25,0.00,0.000,4,0.000,0.067,2244,3747,3105
$GC,2194,-0.99,-146.0,198.6,-9.0,231,2198,0.10,2.17,0.00,0.000,6,0.108,0.041,2208,2333,3105
$GC,2525,-0.94,-146.0,230.7,-9.6,247,2530,0.10,2.17,0.00,0.000,4,0.175,0.054,2232,938,3104
$GC,2613,-0.94,-146.0,239.3,-9.6,251,2618,0.00,2.25,0.00,0.000,6,0.000,0.053,2232,2343,3104
$GC,2940,-0.99,-146.0,264.9,-6.9,267,2944,0.00,2.28,0.00,0.000,4,0.000,0.071,2232,3752,3103
$GC,3057,-1.08,-146.0,273.5,-7.2,272,3062,0.12,2.17,0.00,0.000,6,0.110,0.041,2190,2330,3103
$GC,3383,-1.01,-146.0,300.9,-8.8,288,3388,0.12,2.30,0.00,0.000,4,0.165,0.067,2221,3755,3102
$GC,3460,-1.08,-146.0,306.9,-7.4,291,3466,0.00,2.17,0.00,0.000,6,0.000,0.040,2221,2330,3102
$GC,3775,-1.08,-146.0,328.4,-7.1,307,3779,0.00,2.15,0.00,0.000,4,0.000,0.052,2221,938,3101
$GC,3829,-1.08,-146.0,332.5,-7.6,309,3834,0.00,2.22,0.00,0.000,6,0.000,0.050,2221,2341,3101
$GC,4152,-1.13,-146.0,355.2,-6.8,325,4156,0.12,2.25,0.00,0.000,4,0.109,0.067,2176,3743,3101
$GC,4235,-1.06,-146.0,362.1,-8.4,329,4239,0.12,2.15,0.00,0.000,6,0.163,0.039,2209,2332,3102
$GC,4566,-1.06,-146.0,386.3,-7.3,345,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2332,3102
$GC,4894,-1.06,-146.0,408.8,-6.7,358,4897,0.00,2.28,0.00,0.000,4,0.000,0.066,2209,3743,3103
$GC,4977,-1.12,-146.0,414.4,-6.2,359,4983,0.00,2.15,0.00,0.000,6,0.000,0.038,2209,2324,3103
$GC,5308,-1.12,-146.0,435.5,-6.4,368,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2325,3103
$GC,5633,-1.12,-146.0,456.0,-6.4,376,5636,0.00,2.15,0.00,0.000,4,0.000,0.051,2209,927,3104
$GC,5693,-1.12,-146.0,460.2,-7.3,377,5697,0.00,2.22,0.00,0.000,6,0.000,0.047,2209,2343,3104
$GC,6006,-1.12,-146.0,480.8,-6.6,385,6010,0.00,2.22,0.00,0.000,4,0.000,0.064,2209,3743,3104
$GC,6106,-1.19,-146.0,487.7,-6.6,387,6111,0.12,2.12,0.00,0.000,6,0.102,0.038,2165,2337,3104
$GC,6424,-1.09,-146.0,512.6,-7.9,395,6426,0.15,0.00,0.00,0.000,6,0.160,0.000,2204,2335,3104
$GC,6749,-1.09,-146.0,533.8,-6.3,403,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2336,3105
$GC,7075,-1.48,-146.0,545.2,-0.5,411,7080,0.25,2.15,0.00,0.000,4,0.084,0.049,2109,934,3106
$STATE,7195,end dive,NO_VERTICAL_VELOCITY
$STATE,7195,begin apogee
$GC,7203,-0.34,0.0,545.1,0.0,413,7330,0.73,0.00,123.93,1.221,6,0.109,0.000,2360,2532,2500
$STATE,7331,end apogee,CONTROL_FINISHED_OK
$STATE,7331,begin climb
$GC,7332,1.16,146.0,544.9,0.0,417,7466,1.05,2.53,125.97,1.137,4,0.102,0.061,2686,3922,1904
$GC,7635,0.81,146.0,510.9,12.6,424,7640,0.30,2.28,0.00,0.000,6,0.146,0.037,2606,2527,1903
$GC,7958,0.81,146.0,484.1,8.1,432,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2526,1902
$GC,8283,0.81,146.0,457.9,8.1,440,8287,0.00,2.30,0.00,0.000,4,0.000,0.062,2606,3930,1902
$GC,8299,0.81,146.0,456.5,8.3,440,8303,0.00,2.22,0.00,0.000,6,0.000,0.037,2606,2516,1902
$GC,8612,0.81,146.0,432.0,7.7,448,8615,0.00,2.30,0.00,0.000,4,0.000,0.062,2606,3932,1902
$GC,8638,0.76,146.0,429.7,9.2,448,8643,0.00,2.20,0.00,0.000,6,0.000,0.037,2606,2523,1902
$GC,8980,0.76,146.0,403.0,7.8,457,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2522,1902
$GC,9289,0.76,146.0,379.0,7.8,471,9293,0.00,2.28,0.00,0.000,4,0.000,0.063,2606,3932,1902
$GC,9304,0.76,146.0,377.5,8.0,471,9311,0.00,2.20,0.00,0.000,6,0.000,0.037,2606,2513,1902
$GC,9620,0.77,151.4,354.8,6.8,487,9630,0.00,2.30,5.93,0.903,4,0.000,0.061,2606,3932,1881
$GC,9651,0.77,151.4,352.2,8.2,488,9659,0.00,2.20,0.00,0.000,6,0.000,0.036,2606,2517,1881
$GC,9967,0.77,151.4,330.5,7.2,504,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2518,1881
$GC,10276,0.77,157.9,309.3,6.8,519,10290,0.00,2.35,6.60,0.919,4,0.000,0.062,2606,3929,1856
$GC,10319,0.73,157.9,306.2,8.2,521,10323,0.00,2.17,0.00,0.000,6,0.000,0.037,2606,2511,1856
$GC,10650,0.79,157.9,282.3,7.5,537,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2511,1856
$GC,10959,0.86,157.9,260.5,7.1,552,10963,0.00,2.28,0.00,0.000,4,0.000,0.061,2606,3926,1856
$GC,11031,0.86,157.9,254.5,8.5,555,11035,0.00,2.17,0.00,0.000,6,0.000,0.037,2606,2515,1856
$GC,11358,0.94,159.7,231.7,7.0,571,11363,0.12,2.28,0.00,0.000,4,0.086,0.063,2656,3925,1856
$GC,11407,0.74,159.7,227.0,10.2,573,11411,0.17,2.17,0.00,0.000,6,0.141,0.038,2592,2516,1856
$GC,11728,0.94,202.1,207.5,5.5,589,11770,0.17,2.45,35.90,1.048,4,0.075,0.065,2662,3930,1676
$GC,11786,0.83,202.1,202.7,8.4,591,11794,0.17,2.28,0.00,0.000,6,0.144,0.038,2613,2515,1675
$GC,12103,1.00,227.3,183.0,6.1,607,12129,0.15,2.38,21.08,1.004,4,0.080,0.066,2673,3925,1572
$GC,12141,0.90,227.3,179.9,8.8,609,12145,0.17,2.22,0.00,0.000,6,0.146,0.038,2625,2519,1571
$GC,12472,1.02,227.3,155.1,7.6,625,12474,0.12,0.00,0.00,0.000,6,0.088,0.000,2674,2517,1570
$GC,12780,1.02,227.3,126.2,9.2,640,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2518,1569
$GC,13091,1.02,227.3,99.9,8.4,655,13097,0.00,2.30,0.00,0.000,4,0.000,0.067,2674,3927,1569
$GC,13102,1.02,227.3,98.7,8.5,657,13108,0.00,2.17,0.00,0.000,6,0.000,0.039,2675,2513,1569
$GC,13445,1.02,227.3,71.9,7.4,718,13451,0.00,2.30,0.00,0.000,4,0.000,0.068,2675,3926,1568
$GC,13457,1.02,227.3,71.0,7.7,720,13463,0.00,2.17,0.00,0.000,6,0.000,0.041,2674,2511,1568
$GC,13800,1.03,233.5,46.4,6.8,781,13813,0.00,2.33,5.78,0.861,4,0.000,0.068,2674,3930,1548
$GC,13824,1.03,233.5,44.6,7.1,785,13831,0.00,2.17,0.00,0.000,6,0.000,0.041,2675,2519,1548
$GC,14168,1.30,304.1,24.0,4.5,846,14228,0.15,0.00,56.12,1.016,6,0.082,0.000,2732,2518,1260
$STATE,14451,end climb,SURFACE_DEPTH_REACHED
$STATE,14451,begin surface coast
$FINISH,0.6,1.025307
$STATE,14474,end surface coast,CONTROL_FINISHED_OK
$STATE,14475,begin surface
$SM_CCo,14550,0.00,0.000,0,0,1248,307.12
$SM_GC,1.56,7.30,0.00,0.00,0.076,0.000,0.000,159,2337,1248,-10.40,-0.08,307.12
$RAFOS_CLK,781
$RAFOS,4,1221785053,0.750000,0.736944,123,62,57,57,55,55,798,217,174,193,157,208
$RAFOS,3,1221784454,0.583333,0.570556,74,61,55,53,49,47,955,186,222,141,1516,202
$RAFOS,2,1221783857,0.416667,0.404722,67,56,53,51,51,49,593,194,144,154,166,207
$RAFOS,1,1221783252,0.250000,0.236667,75,60,59,58,53,51,850,198,221,158,120,1617
$RAFOS,0,1221782652,0.083333,0.070000,61,61,60,59,58,56,160,185,172,1020,211,194
$RAFOS_FIX,6730.119141,-6034.776367,190908,000001,5,80,14.85
$IRIDIUM_FIX,6631.12,-5649.11,131297,171757
$TT8_MAMPS,0.027612
$HUMID,1920
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.4,19.812
$10V_AH,10.6,7.029
$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,20.750,117.100,381.300,0.000,0.000,22.438,36.412,158.345,0.000,0.000,0.000,32.403,1675.833,10617.784,526.123,1776.140,354.720,33.374,1471.847,0.000,1735.043,1800.000,0.528,0.000
$DEVICE_MAMPS,265.382,78.234,1221.064,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.451,609.112,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31650,900
$CAP_FILE_SIZE,119870,0
$CFSIZE,260165632,247009280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,190908,012407,6702.995,-5647.743,26,1.0,26,-37.5