version: 66.04
glider: 113
mission: 4
dive: 74
start: 9 19 108 5 20 32
data:
$ID,113
$MISSION,4
$DIVE,74
$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,-23383.504
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,050738,6703.261,-5650.512,66,0.9,66,-37.5
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.5
$GPS2,051939,6703.270,-5650.685,10,1.1,10,-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,-0.153,0.105
$KALMAN_X,8785.3,500.2,-259.5,72562.5,423.5
$KALMAN_Y,-14147.0,278.4,1179.8,31568.5,-2144.8
$MHEAD_RNG_PITCHd_Wd,341.8,33050,-14.2,-7.021
$D_GRID,555
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-103.82,0.000,2,0.000,0.000,164,2336,2985
$GC,126,-1.16,-146.0,3.4,-3.4,18,145,8.35,2.28,-3.42,0.000,4,0.261,0.066,2181,921,3100
$GC,297,-0.82,-146.0,39.1,-13.4,48,304,0.28,2.28,0.00,0.000,6,0.167,0.048,2256,2351,3104
$GC,641,-0.82,-146.0,70.2,-9.3,109,647,0.00,2.25,0.00,0.000,4,0.000,0.064,2256,3746,3107
$GC,771,-0.82,-146.0,82.4,-9.5,132,777,0.00,2.17,0.00,0.000,6,0.000,0.038,2256,2330,3108
$GC,1106,-0.82,-146.0,113.7,-9.1,173,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2330,3108
$GC,1416,-0.88,-146.0,140.1,-8.4,188,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2330,3107
$GC,1725,-0.95,-146.0,164.0,-7.6,203,1730,0.10,2.33,0.00,0.000,4,0.105,0.067,2220,3757,3106
$GC,1802,-0.95,-146.0,170.9,-9.0,206,1809,0.00,2.20,0.00,0.000,6,0.000,0.041,2220,2347,3106
$GC,2117,-0.95,-146.0,198.9,-8.7,222,2121,0.00,2.20,0.00,0.000,4,0.000,0.054,2220,933,3105
$GC,2291,-0.89,-146.0,215.2,-9.6,229,2298,0.10,2.22,0.00,0.000,6,0.182,0.050,2244,2353,3104
$GC,2606,-0.97,-146.0,240.0,-8.0,245,2610,0.00,2.25,0.00,0.000,4,0.000,0.067,2244,3750,3104
$GC,2733,-1.11,-146.0,250.3,-7.9,250,2741,0.10,2.20,0.00,0.000,6,0.087,0.041,2188,2338,3103
$GC,3049,-1.03,-146.0,279.1,-8.6,266,3054,0.10,2.17,0.00,0.000,4,0.170,0.052,2213,935,3102
$GC,3149,-1.03,-146.0,287.7,-8.5,270,3153,0.00,2.22,0.00,0.000,6,0.000,0.051,2213,2336,3102
$GC,3470,-1.03,-146.0,312.0,-7.6,286,3474,0.00,2.28,0.00,0.000,4,0.000,0.066,2213,3752,3101
$GC,3605,-1.08,-146.0,322.5,-7.6,292,3609,0.00,2.17,0.00,0.000,6,0.000,0.040,2213,2329,3101
$GC,3936,-1.08,-146.0,346.5,-7.2,308,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2328,3102
$GC,4246,-1.08,-146.0,367.8,-7.0,323,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2329,3102
$GC,4555,-1.08,-146.0,388.7,-6.6,338,4559,0.00,2.30,0.00,0.000,4,0.000,0.067,2213,3752,3102
$GC,4628,-1.15,-146.0,393.8,-7.3,341,4633,0.12,2.15,0.00,0.000,6,0.095,0.038,2168,2338,3102
$GC,4950,-1.04,-146.0,420.9,-8.5,351,4954,0.15,2.15,0.00,0.000,4,0.159,0.050,2208,939,3102
$GC,5015,-1.04,-146.0,426.1,-7.5,352,5020,0.00,2.20,0.00,0.000,6,0.000,0.047,2208,2341,3102
$GC,5363,-1.04,-146.0,451.2,-7.1,361,5367,0.00,2.22,0.00,0.000,4,0.000,0.064,2208,3750,3103
$GC,5452,-1.11,-146.0,457.8,-7.5,363,5456,0.00,2.15,0.00,0.000,6,0.000,0.038,2208,2333,3103
$GC,5781,-1.11,-146.0,480.9,-7.0,371,5786,0.00,2.12,0.00,0.000,4,0.000,0.050,2208,935,3103
$GC,5853,-1.11,-146.0,486.4,-7.3,372,5857,0.00,2.22,0.00,0.000,6,0.000,0.048,2208,2347,3103
$GC,6195,-1.11,-146.0,510.5,-7.3,381,6199,0.00,2.22,0.00,0.000,4,0.000,0.064,2208,3750,3104
$GC,6334,-1.17,-146.0,520.6,-7.2,384,6339,0.10,2.15,0.00,0.000,6,0.110,0.037,2174,2332,3104
$GC,6658,-1.73,-146.0,531.1,0.0,392,6663,0.32,2.28,0.00,0.000,4,0.076,0.061,2048,3754,3105
$STATE,6742,end dive,NO_VERTICAL_VELOCITY
$STATE,6742,begin apogee
$GC,6748,-0.34,0.0,531.0,0.0,394,6875,0.95,0.00,123.55,1.231,6,0.116,0.000,2365,2509,2500
$STATE,6876,end apogee,CONTROL_FINISHED_OK
$STATE,6876,begin climb
$GC,6878,1.16,146.0,531.0,0.0,397,7011,1.05,2.47,125.62,1.141,4,0.104,0.050,2690,1128,1904
$GC,7094,0.96,146.0,512.2,10.8,402,7099,0.12,2.40,0.00,0.000,6,0.135,0.046,2642,2518,1903
$GC,7418,0.86,146.0,484.0,8.6,410,7422,0.00,2.35,0.00,0.000,4,0.000,0.064,2641,3930,1902
$GC,7485,0.65,146.0,477.4,9.9,411,7490,0.25,2.22,0.00,0.000,6,0.144,0.038,2572,2527,1902
$GC,7826,0.84,176.2,456.5,6.0,420,7857,0.15,2.40,25.40,1.156,4,0.079,0.065,2631,3928,1780
$GC,7868,0.77,176.2,453.1,8.3,421,7873,0.12,2.28,0.00,0.000,6,0.153,0.038,2601,2514,1781
$GC,8192,0.84,176.2,429.1,7.4,429,8195,0.00,2.22,0.00,0.000,4,0.000,0.051,2601,1111,1779
$GC,8201,0.93,176.2,428.3,7.4,429,8207,0.10,2.28,0.00,0.000,6,0.069,0.046,2650,2522,1778
$GC,8520,0.84,176.2,397.6,9.8,437,8524,0.12,2.25,0.00,0.000,4,0.146,0.061,2615,3929,1778
$GC,8541,0.77,176.2,395.3,10.0,438,8545,0.00,2.20,0.00,0.000,6,0.000,0.038,2615,2505,1778
$GC,8873,0.77,176.2,369.6,7.7,454,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2505,1777
$GC,9182,0.77,176.2,346.0,7.6,469,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2505,1778
$GC,9491,0.77,176.2,322.7,7.7,484,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2505,1778
$GC,9801,0.82,176.2,298.7,7.8,499,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2505,1777
$GC,10110,0.86,176.2,274.1,7.9,514,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2505,1778
$GC,10421,0.92,176.2,250.7,7.1,529,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2505,1778
$GC,10729,1.02,186.4,229.2,6.7,544,10744,0.15,2.33,9.40,0.980,4,0.081,0.065,2674,3925,1740
$GC,10772,0.80,186.4,224.9,11.6,546,10777,0.22,2.17,0.00,0.000,6,0.146,0.039,2610,2511,1739
$GC,11099,0.93,205.0,202.8,6.4,562,11121,0.10,2.35,16.17,1.026,4,0.087,0.063,2651,3933,1663
$GC,11126,0.93,205.0,200.6,7.3,563,11131,0.00,2.25,0.00,0.000,6,0.000,0.038,2652,2514,1662
$GC,11453,0.93,205.0,174.8,7.8,579,11457,0.00,2.20,0.00,0.000,4,0.000,0.051,2652,1114,1662
$GC,11462,0.93,205.0,174.0,7.5,579,11467,0.00,2.25,0.00,0.000,6,0.000,0.045,2652,2523,1662
$GC,11784,0.93,205.0,149.3,7.6,595,11788,0.00,2.22,0.00,0.000,4,0.000,0.063,2652,3924,1662
$GC,11793,0.93,205.0,148.4,7.4,595,11798,0.00,2.17,0.00,0.000,6,0.000,0.038,2652,2524,1662
$GC,12115,0.94,213.3,125.4,6.7,611,12129,0.00,2.33,7.80,0.935,4,0.000,0.067,2652,3916,1630
$GC,12135,0.94,213.3,123.9,7.2,612,12139,0.00,2.17,0.00,0.000,6,0.000,0.039,2652,2513,1630
$GC,12467,1.00,215.7,101.3,6.9,628,12476,0.00,2.35,3.75,0.681,4,0.000,0.067,2652,3920,1620
$GC,12521,1.00,215.7,96.8,8.2,635,12528,0.00,2.17,0.00,0.000,6,0.000,0.040,2652,2514,1620
$GC,12865,1.07,219.9,72.4,6.9,696,12878,0.00,2.35,4.90,0.805,4,0.000,0.069,2652,3918,1602
$GC,12884,1.14,233.2,71.2,6.6,699,12903,0.12,2.17,11.98,0.985,6,0.087,0.040,2700,2510,1549
$GC,13240,1.14,233.2,41.2,7.9,762,13247,0.00,2.33,0.00,0.000,4,0.000,0.070,2700,3920,1547
$GC,13269,1.04,233.2,38.9,8.0,767,13276,0.15,2.17,0.00,0.000,6,0.149,0.041,2661,2521,1547
$GC,13614,1.30,258.3,18.7,6.1,828,13644,0.20,2.30,20.58,1.023,4,0.076,0.054,2745,1119,1446
$GC,13650,1.40,258.3,16.1,7.3,834,13656,0.00,2.28,0.00,0.000,6,0.000,0.050,2745,2520,1445
$STATE,13818,end climb,SURFACE_DEPTH_REACHED
$STATE,13818,begin surface coast
$FINISH,0.6,1.013250
$STATE,13841,end surface coast,CONTROL_FINISHED_OK
$STATE,13841,begin surface
$SM_CCo,13855,12.52,0.962,0,0,1378,275.23
$SM_GC,2.10,0.00,0.00,12.52,0.000,0.000,0.962,165,2335,1378,-10.45,-0.14,275.23
$RAFOS_CLK,759
$RAFOS,4,1221813849,8.750000,8.735833,113,60,55,51,51,48,805,195,218,150,204,124
$RAFOS,3,1221813249,8.583333,8.569167,76,66,59,57,50,48,963,210,191,167,102,131
$RAFOS,2,1221812645,8.416667,8.401389,96,61,58,57,54,52,638,210,135,191,145,238
$RAFOS,1,1221812049,8.250000,8.235833,91,61,60,55,55,54,844,154,205,214,184,120
$RAFOS,0,1221811451,8.083333,8.069722,75,62,61,57,56,48,1007,206,153,184,172,217
$RAFOS_FIX,6702.435547,-5658.223145,190908,080827,5,90,0.51
$IRIDIUM_FIX,6631.12,-5653.72,141297,050550
$TT8_MAMPS,0.027612
$HUMID,1943
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.4,20.074
$10V_AH,10.6,7.153
$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,20.725,121.225,349.150,12.525,0.000,105.494,183.707,142.963,0.000,0.000,0.000,12.435,1625.851,10182.619,500.130,1725.220,574.400,33.369,1432.984,0.000,1701.066,1800.000,0.529,0.000
$DEVICE_MAMPS,260.780,69.797,1231.035,961.818,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.702,588.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31561,868
$CAP_FILE_SIZE,122679,0
$CFSIZE,260165632,246894592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.8
$GPS,190908,091308,6703.093,-5653.790,27,1.8,27,-37.6