version: 66.04
glider: 113
mission: 4
dive: 73
start: 9 19 108 1 30 7
data:
$ID,113
$MISSION,4
$DIVE,73
$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,-23370.439
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,012407,6702.995,-5647.743,26,1.0,26,-37.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.4
$GPS2,012915,6703.001,-5647.727,8,2.0,8,-37.5
$SPEED_LIMITS,0.122,0.186
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.162,-0.091
$KALMAN_X,7566.7,313.5,927.7,74937.9,-1031.4
$KALMAN_Y,-14484.0,408.6,-438.4,32905.4,600.6
$MHEAD_RNG_PITCHd_Wd,278.1,35025,-14.2,-7.021
$D_GRID,515
$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,-146.0,0.0,0.0,0,129,0.00,0.00,-109.65,0.000,2,0.000,0.000,159,2336,2900
$GC,132,-1.16,-146.0,3.1,-3.1,19,152,8.45,2.30,-6.50,0.000,4,0.265,0.066,2180,934,3098
$GC,405,-0.83,-146.0,51.3,-12.8,67,412,0.28,2.25,0.00,0.000,6,0.171,0.050,2256,2347,3103
$GC,749,-0.83,-146.0,80.1,-7.9,128,755,0.00,2.25,0.00,0.000,4,0.000,0.052,2257,923,3106
$GC,801,-0.78,-146.0,84.3,-8.6,137,807,0.00,2.25,0.00,0.000,6,0.000,0.048,2257,2351,3106
$GC,1132,-0.78,-146.0,109.0,-7.2,180,1136,0.00,2.25,0.00,0.000,4,0.000,0.067,2257,3745,3107
$GC,1171,-0.85,-146.0,111.7,-7.2,181,1178,0.00,2.20,0.00,0.000,6,0.000,0.039,2257,2337,3107
$GC,1486,-0.91,-146.0,136.6,-8.4,197,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2337,3106
$GC,1795,-1.00,-146.0,160.1,-7.3,212,1800,0.15,2.20,0.00,0.000,4,0.097,0.052,2204,927,3105
$GC,1833,-0.85,-146.0,163.7,-9.8,213,1840,0.15,2.25,0.00,0.000,6,0.163,0.051,2251,2338,3105
$GC,2149,-0.92,-146.0,186.6,-7.2,229,2153,0.00,2.28,0.00,0.000,4,0.000,0.070,2250,3746,3105
$GC,2187,-1.04,-146.0,189.5,-7.5,230,2194,0.10,2.20,0.00,0.000,6,0.099,0.041,2204,2336,3104
$GC,2502,-0.98,-146.0,219.0,-9.6,246,2506,0.00,2.30,0.00,0.000,4,0.000,0.069,2204,3747,3104
$GC,2579,-0.98,-146.0,226.8,-10.3,249,2584,0.00,2.20,0.00,0.000,6,0.000,0.041,2204,2337,3103
$GC,2900,-0.98,-146.0,257.6,-9.5,265,2904,0.00,2.17,0.00,0.000,4,0.000,0.054,2204,932,3102
$GC,2956,-0.90,-146.0,263.2,-10.4,267,2960,0.15,2.22,0.00,0.000,6,0.170,0.049,2244,2355,3102
$GC,3276,-1.02,-146.0,287.8,-7.6,283,3280,0.12,2.22,0.00,0.000,4,0.102,0.064,2199,3746,3101
$GC,3369,-1.02,-146.0,295.9,-9.0,287,3374,0.00,2.17,0.00,0.000,6,0.000,0.039,2199,2341,3101
$GC,3696,-1.02,-146.0,323.7,-8.3,303,3700,0.00,2.17,0.00,0.000,4,0.000,0.052,2199,932,3101
$GC,3741,-0.94,-146.0,327.7,-8.7,305,3745,0.12,2.20,0.00,0.000,6,0.179,0.048,2230,2346,3100
$GC,4072,-1.03,-146.0,348.6,-5.9,321,4076,0.00,2.22,0.00,0.000,4,0.000,0.065,2230,3742,3101
$GC,4162,-1.15,-146.0,354.1,-6.2,325,4167,0.15,2.15,0.00,0.000,6,0.093,0.038,2177,2326,3101
$GC,4493,-1.06,-146.0,379.7,-7.8,341,4498,0.12,2.30,0.00,0.000,4,0.161,0.067,2207,3744,3101
$GC,4526,-1.06,-146.0,382.1,-6.6,342,4530,0.00,2.15,0.00,0.000,6,0.000,0.038,2207,2333,3101
$GC,4846,-1.06,-146.0,403.5,-6.6,357,4850,0.00,2.15,0.00,0.000,4,0.000,0.051,2207,934,3102
$GC,4890,-1.06,-146.0,406.6,-7.5,358,4894,0.00,2.20,0.00,0.000,6,0.000,0.048,2207,2351,3102
$GC,5219,-1.06,-146.0,429.4,-7.2,366,5223,0.00,2.22,0.00,0.000,4,0.000,0.065,2207,3746,3103
$GC,5324,-1.11,-146.0,437.0,-7.3,368,5328,0.00,2.17,0.00,0.000,6,0.000,0.038,2207,2334,3103
$GC,5637,-1.11,-146.0,457.4,-6.5,376,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2334,3103
$GC,5962,-1.11,-146.0,478.4,-6.4,384,5966,0.00,2.28,0.00,0.000,4,0.000,0.067,2207,3744,3104
$GC,6011,-1.18,-146.0,481.7,-6.5,385,6016,0.10,2.12,0.00,0.000,6,0.110,0.037,2172,2336,3104
$GC,6335,-1.39,-146.0,498.3,-2.7,393,6340,0.15,2.15,0.00,0.000,4,0.091,0.049,2114,929,3104
$STATE,6461,end dive,NO_VERTICAL_VELOCITY
$STATE,6461,begin apogee
$GC,6468,-0.34,0.0,498.4,0.0,395,6595,0.73,0.00,122.82,1.198,6,0.121,0.000,2358,2533,2500
$STATE,6596,end apogee,CONTROL_FINISHED_OK
$STATE,6596,begin climb
$GC,6597,1.16,146.0,498.1,0.0,399,6730,1.05,2.58,124.78,1.114,4,0.105,0.063,2684,3916,1904
$GC,6859,0.82,146.0,470.7,13.0,405,6864,0.28,2.28,0.00,0.000,6,0.147,0.037,2613,2527,1903
$GC,7182,0.82,146.0,444.7,7.9,413,7186,0.00,2.35,0.00,0.000,4,0.000,0.065,2613,3927,1902
$GC,7203,0.76,146.0,442.8,8.7,413,7207,0.00,2.25,0.00,0.000,6,0.000,0.037,2613,2518,1902
$GC,7550,0.76,146.0,414.3,8.3,422,7554,0.00,2.33,0.00,0.000,4,0.000,0.065,2613,3929,1902
$GC,7577,0.68,146.0,411.8,9.5,422,7582,0.08,2.22,0.00,0.000,6,0.146,0.038,2586,2517,1902
$GC,7901,0.81,166.0,390.2,6.3,434,7924,0.10,2.42,16.88,1.096,4,0.087,0.065,2625,3929,1823
$GC,7935,0.75,166.0,387.4,7.9,435,7940,0.08,2.25,0.00,0.000,6,0.149,0.038,2601,2517,1823
$GC,8256,0.83,172.6,364.9,6.8,451,8270,0.00,2.28,6.85,0.934,4,0.000,0.049,2600,1116,1796
$GC,8287,0.97,198.3,362.9,6.1,452,8314,0.15,2.22,22.20,1.081,6,0.078,0.044,2660,2521,1691
$GC,8624,0.88,198.3,330.1,10.1,468,8628,0.12,2.28,0.00,0.000,4,0.145,0.061,2626,3927,1689
$GC,8661,0.81,198.3,326.2,9.8,469,8668,0.00,2.20,0.00,0.000,6,0.000,0.037,2626,2523,1689
$GC,8976,0.81,198.3,300.3,8.2,485,8980,0.00,2.20,0.00,0.000,4,0.000,0.050,2626,1113,1689
$GC,9005,0.88,198.3,298.2,7.5,486,9009,0.00,2.22,0.00,0.000,6,0.000,0.045,2626,2531,1689
$GC,9330,0.88,198.3,273.0,7.8,502,9334,0.00,2.22,0.00,0.000,4,0.000,0.049,2626,1114,1689
$GC,9346,0.94,198.3,271.7,7.8,502,9352,0.00,2.22,0.00,0.000,6,0.000,0.044,2626,2522,1688
$GC,9661,0.94,198.3,246.4,8.1,518,9665,0.00,2.20,0.00,0.000,4,0.000,0.049,2626,1117,1688
$GC,9705,1.02,198.3,242.9,8.5,520,9710,0.12,2.20,0.00,0.000,6,0.086,0.044,2676,2533,1688
$GC,10037,0.92,198.3,209.3,10.0,536,10041,0.15,2.22,0.00,0.000,4,0.137,0.061,2632,3937,1689
$GC,10091,0.86,198.3,204.2,9.5,538,10098,0.00,2.17,0.00,0.000,6,0.000,0.037,2632,2506,1690
$GC,10407,0.90,198.3,180.8,7.0,554,10410,0.00,2.15,0.00,0.000,4,0.000,0.049,2632,1110,1690
$GC,10433,1.00,198.3,178.7,7.4,555,10439,0.00,2.22,0.00,0.000,6,0.000,0.045,2632,2523,1690
$GC,10760,1.07,198.3,156.2,7.2,571,10764,0.12,2.20,0.00,0.000,4,0.084,0.049,2686,1114,1690
$GC,10775,1.07,198.3,155.1,7.4,572,10779,0.00,2.20,0.00,0.000,6,0.000,0.044,2686,2534,1690
$GC,11107,0.98,198.3,123.7,9.4,588,11112,0.15,2.22,0.00,0.000,4,0.147,0.061,2641,3940,1690
$GC,11172,0.98,198.3,117.7,8.6,591,11177,0.00,2.17,0.00,0.000,6,0.000,0.038,2641,2524,1690
$GC,11493,1.11,233.9,96.9,5.8,611,11528,0.12,0.00,28.65,1.030,6,0.087,0.000,2691,2523,1545
$GC,11865,1.11,233.9,66.3,8.7,677,11871,0.00,2.30,0.00,0.000,4,0.000,0.066,2691,3926,1543
$GC,11918,0.98,233.9,61.2,10.3,686,11925,0.17,2.17,0.00,0.000,6,0.149,0.040,2641,2524,1543
$GC,12263,1.18,279.6,39.7,5.4,747,12305,0.17,0.00,36.10,1.017,6,0.084,0.000,2706,2522,1359
$GC,12643,1.26,280.5,13.2,7.0,814,12650,0.00,2.25,0.00,0.000,4,0.000,0.054,2706,1109,1353
$GC,12672,1.36,283.2,11.1,6.9,819,12679,0.10,2.25,0.00,0.000,6,0.094,0.049,2748,2517,1353
$STATE,12780,end climb,SURFACE_DEPTH_REACHED
$STATE,12780,begin surface coast
$FINISH,0.6,1.007755
$STATE,12809,end surface coast,CONTROL_FINISHED_OK
$STATE,12809,begin surface
$SM_CCo,12883,0.00,0.000,0,0,1350,281.85
$SM_GC,1.27,7.12,0.00,0.00,0.067,0.000,0.000,164,2338,1350,-10.38,-0.06,281.85
$RAFOS_CLK,688
$RAFOS,4,1221799446,4.750000,4.735000,123,59,57,53,52,51,829,222,198,176,207,122
$RAFOS,3,1221798850,4.583333,4.569445,111,62,57,56,53,51,963,221,151,162,211,197
$RAFOS,2,1221798245,4.416667,4.401389,67,60,57,57,57,53,642,163,172,221,133,186
$RAFOS,1,1221797656,4.250000,4.237778,67,59,58,56,52,52,821,199,160,209,181,148
$RAFOS,0,1221797053,4.083333,4.070278,64,61,56,54,53,51,162,195,1002,204,114,235
$RAFOS_FIX,6635.725098,-6053.662109,190908,040448,5,86,17.73
$IRIDIUM_FIX,6631.12,-5646.10,131297,212112
$TT8_MAMPS,0.026845
$HUMID,1932
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.4,19.937
$10V_AH,10.6,7.089
$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,20.875,134.500,358.275,0.000,0.000,28.008,29.547,148.208,0.000,0.000,0.000,10.166,1623.176,9111.577,506.971,1666.278,342.469,33.369,1425.646,0.000,1643.956,1800.000,0.528,0.000
$DEVICE_MAMPS,265.382,69.797,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.460,570.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31558,843
$CAP_FILE_SIZE,120062,0
$CFSIZE,260165632,246951936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$GPS,190908,050738,6703.261,-5650.512,66,0.9,66,-37.5