version: 66.04
glider: 113
mission: 4
dive: 112
start: 9 29 108 4 12 11
data:
$ID,113
$MISSION,4
$DIVE,112
$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,-2
$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,0.00342
$HD_B,0.0096000005
$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,-24061.617
$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,34
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2420
$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
$GPS1,040408,6642.092,-6018.722,34,1.0,34,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.9
$GPS2,041115,6642.068,-6018.828,12,1.0,12,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.215,0.064
$KALMAN_X,14621.7,79.9,-233.0,-105453.8,825.8
$KALMAN_Y,-5705.6,193.4,2231.6,-20271.8,-5574.2
$MHEAD_RNG_PITCHd_Wd,324.5,17708,-12.9,-7.021
$D_GRID,530
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,123,0.00,0.00,-104.72,0.000,2,0.000,0.000,161,2328,2729
$GC,125,-1.08,-146.0,3.2,-2.5,18,150,8.85,2.42,-9.77,0.000,4,0.272,0.087,2200,3748,3017
$GC,325,-0.76,-146.0,40.3,-14.1,53,332,0.25,2.25,0.00,0.000,6,0.170,0.044,2270,2334,3022
$GC,669,-0.69,-146.0,72.7,-8.1,114,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2334,3024
$GC,1026,-0.69,-146.0,102.1,-8.7,175,1030,0.00,2.25,0.00,0.000,4,0.000,0.059,2270,925,3025
$GC,1087,-0.63,-146.0,107.9,-9.3,177,1094,0.12,2.28,0.00,0.000,6,0.170,0.054,2303,2344,3024
$GC,1403,-0.74,-146.0,131.1,-6.7,193,1408,0.12,2.33,0.00,0.000,4,0.100,0.073,2259,3748,3025
$GC,1486,-0.74,-146.0,137.6,-7.7,197,1490,0.00,2.22,0.00,0.000,6,0.000,0.044,2259,2327,3025
$GC,1818,-0.74,-146.0,161.9,-7.1,213,1822,0.00,2.38,0.00,0.000,4,0.000,0.076,2260,3747,3024
$GC,1884,-0.74,-146.0,167.0,-7.5,216,1888,0.00,2.22,0.00,0.000,6,0.000,0.044,2260,2328,3024
$GC,2216,-0.74,-146.0,191.8,-7.4,232,2219,0.00,2.22,0.00,0.000,4,0.000,0.059,2259,926,3024
$GC,2305,-0.74,-146.0,198.6,-7.3,236,2309,0.00,2.28,0.00,0.000,6,0.000,0.054,2259,2347,3024
$GC,2637,-0.74,-146.0,219.2,-6.0,252,2641,0.00,2.30,0.00,0.000,4,0.000,0.073,2260,3746,3023
$GC,2721,-0.80,-146.0,224.6,-6.7,255,2727,0.00,2.20,0.00,0.000,6,0.000,0.044,2259,2341,3023
$GC,3036,-0.80,-146.0,246.2,-7.3,271,3040,0.00,2.25,0.00,0.000,4,0.000,0.059,2259,927,3022
$GC,3129,-0.80,-146.0,253.7,-8.3,275,3134,0.00,2.30,0.00,0.000,6,0.000,0.054,2259,2346,3022
$GC,3456,-0.85,-146.0,277.5,-7.4,291,3460,0.00,2.30,0.00,0.000,4,0.000,0.074,2259,3742,3023
$GC,3602,-0.95,-146.0,288.3,-7.2,297,3606,0.12,2.20,0.00,0.000,6,0.104,0.045,2216,2333,3022
$GC,3922,-0.87,-146.0,313.6,-7.6,313,3926,0.12,2.25,0.00,0.000,4,0.162,0.060,2248,925,3022
$GC,3995,-0.87,-146.0,318.7,-6.7,316,3999,0.00,2.28,0.00,0.000,6,0.000,0.056,2248,2340,3022
$GC,4321,-0.87,-146.0,338.6,-6.0,332,4325,0.00,2.33,0.00,0.000,4,0.000,0.074,2248,3750,3022
$GC,4456,-0.95,-146.0,347.1,-6.0,338,4460,0.00,2.22,0.00,0.000,6,0.000,0.045,2248,2324,3022
$GC,4788,-1.01,-146.0,368.4,-6.7,354,4790,0.12,0.00,0.00,0.000,6,0.110,0.000,2205,2324,3022
$GC,5097,-0.92,-146.0,393.8,-8.3,369,5098,0.12,0.00,0.00,0.000,6,0.159,0.000,2238,2324,3022
$GC,5403,-0.92,-146.0,413.8,-6.4,379,5407,0.00,2.38,0.00,0.000,4,0.000,0.075,2238,3748,3022
$GC,5486,-1.00,-146.0,419.3,-6.8,380,5492,0.00,2.20,0.00,0.000,6,0.000,0.044,2238,2336,3022
$GC,5817,-1.00,-146.0,440.2,-6.3,389,5821,0.00,2.35,0.00,0.000,4,0.000,0.074,2238,3750,3022
$GC,5889,-1.08,-146.0,444.7,-6.4,390,5893,0.15,2.20,0.00,0.000,6,0.097,0.043,2187,2335,3022
$GC,6230,-0.96,-146.0,470.0,-7.6,399,6232,0.15,0.00,0.00,0.000,6,0.157,0.000,2227,2334,3022
$GC,6555,-0.96,-146.0,489.3,-5.9,407,6559,0.00,2.35,0.00,0.000,4,0.000,0.074,2227,3746,3022
$GC,6633,-1.01,-146.0,494.1,-6.1,408,6637,0.00,2.20,0.00,0.000,6,0.000,0.043,2227,2327,3022
$GC,6970,-1.01,-146.0,514.5,-6.2,417,6973,0.00,2.38,0.00,0.000,4,0.000,0.073,2228,3759,3023
$GC,7053,-1.07,-146.0,520.1,-6.8,418,7060,0.10,2.20,0.00,0.000,6,0.100,0.041,2192,2340,3023
$STATE,7219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7219,begin apogee
$GC,7224,-0.34,0.0,532.5,7.5,423,7353,0.57,0.00,126.25,1.260,6,0.154,0.000,2364,2522,2420
$STATE,7354,end apogee,CONTROL_FINISHED_OK
$STATE,7354,begin climb
$GC,7356,1.08,146.0,535.6,0.0,426,7489,1.02,0.00,128.38,1.171,6,0.109,0.000,2667,2522,1824
$GC,7801,0.88,146.0,497.1,9.1,437,7806,0.15,2.45,0.00,0.000,4,0.154,0.069,2628,3931,1821
$GC,7878,0.72,146.0,489.9,9.4,438,7883,0.15,2.30,0.00,0.000,6,0.153,0.042,2588,2523,1820
$GC,8215,0.82,167.4,468.9,6.3,447,8240,0.10,2.47,18.35,1.159,4,0.088,0.071,2625,3926,1737
$GC,8251,0.75,167.4,466.0,8.8,447,8258,0.12,2.30,0.00,0.000,6,0.152,0.041,2593,2508,1737
$GC,8582,0.86,180.5,444.1,6.6,456,8602,0.12,2.50,12.38,1.116,4,0.084,0.072,2641,3932,1683
$GC,8607,0.80,180.5,442.0,8.4,456,8612,0.15,2.28,0.00,0.000,6,0.152,0.041,2605,2518,1682
$GC,8943,0.86,181.0,418.0,7.0,465,8947,0.00,2.38,0.00,0.000,4,0.000,0.072,2605,3929,1681
$GC,8953,0.92,185.2,417.0,6.9,465,8963,0.12,2.22,5.20,0.903,6,0.087,0.041,2653,2515,1666
$GC,9273,0.83,185.2,389.4,8.2,476,9277,0.15,2.38,0.00,0.000,4,0.142,0.071,2611,3933,1665
$GC,9282,0.77,185.2,388.6,8.1,476,9289,0.00,2.22,0.00,0.000,6,0.000,0.041,2610,2516,1665
$GC,9598,0.88,224.2,370.3,5.7,492,9636,0.00,2.33,32.58,1.167,4,0.000,0.054,2610,1115,1505
$GC,9641,1.04,268.4,367.8,5.5,493,9687,0.17,2.35,38.03,1.114,6,0.072,0.049,2677,2535,1325
$GC,10008,0.97,268.4,334.1,9.7,511,10013,0.12,2.35,0.00,0.000,4,0.126,0.055,2641,1115,1320
$GC,10029,0.97,268.4,332.2,8.5,512,10033,0.00,2.33,0.00,0.000,6,0.000,0.049,2641,2518,1320
$GC,10356,1.03,268.4,305.4,8.5,528,10360,0.00,2.30,0.00,0.000,4,0.000,0.056,2641,1107,1319
$GC,10394,1.13,268.4,302.1,8.8,529,10401,0.15,2.28,0.00,0.000,6,0.082,0.050,2700,2522,1320
$GC,10709,1.00,268.4,266.3,11.1,545,10711,0.17,0.00,0.00,0.000,6,0.139,0.000,2650,2522,1320
$GC,11018,1.05,268.4,241.5,7.5,560,11022,0.00,2.28,0.00,0.000,4,0.000,0.057,2650,1109,1320
$GC,11029,1.12,268.4,240.8,7.4,560,11034,0.12,2.25,0.00,0.000,6,0.084,0.050,2699,2523,1320
$GC,11349,1.03,268.4,212.4,8.8,576,11353,0.15,2.28,0.00,0.000,4,0.143,0.057,2656,1111,1321
$GC,11370,1.03,268.4,210.8,7.4,577,11374,0.00,2.25,0.00,0.000,6,0.000,0.051,2656,2524,1320
$GC,11702,1.10,268.4,188.4,7.2,593,11706,0.00,2.25,0.00,0.000,4,0.000,0.056,2656,1116,1320
$GC,11718,1.19,268.4,187.2,7.4,593,11725,0.12,2.25,0.00,0.000,6,0.084,0.050,2705,2515,1320
$GC,12033,1.09,268.4,156.3,9.9,609,12035,0.12,0.00,0.00,0.000,6,0.146,0.000,2669,2516,1320
$GC,12343,1.09,268.4,131.1,8.2,624,12346,0.00,2.25,0.00,0.000,4,0.000,0.058,2669,1112,1319
$GC,12365,1.18,268.4,129.5,7.3,625,12369,0.08,2.25,0.00,0.000,6,0.103,0.052,2702,2529,1319
$GC,12696,1.18,268.4,99.3,8.7,641,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2529,1319
$GC,13038,1.18,268.4,67.0,9.1,702,13044,0.00,2.28,0.00,0.000,4,0.000,0.059,2702,1115,1318
$GC,13061,1.18,268.4,65.2,8.8,706,13068,0.00,2.25,0.00,0.000,6,0.000,0.052,2702,2528,1318
$GC,13405,1.18,268.4,38.0,8.0,767,13411,0.00,2.28,0.00,0.000,4,0.000,0.058,2702,1112,1317
$GC,13462,1.18,268.4,33.7,7.3,777,13468,0.00,2.25,0.00,0.000,6,0.000,0.053,2702,2524,1317
$GC,13806,1.31,300.8,14.4,5.9,838,13837,0.00,2.38,25.92,1.048,4,0.000,0.058,2702,1118,1193
$GC,13843,1.45,322.1,12.0,6.3,844,13869,0.17,2.30,19.23,0.976,6,0.075,0.052,2773,2525,1106
$STATE,13957,end climb,SURFACE_DEPTH_REACHED
$STATE,13958,begin surface coast
$FINISH,0.8,1.013144
$STATE,13980,end surface coast,CONTROL_FINISHED_OK
$STATE,13980,begin surface
$SM_CCo,14056,0.00,0.000,0,0,1096,324.78
$SM_GC,1.85,7.55,0.00,0.00,0.080,0.000,0.000,164,2333,1096,-10.39,-0.23,324.78
$RAFOS_CLK,807
$RAFOS,4,1222663456,4.750000,4.737778,139,62,58,54,52,50,796,207,143,168,178,118
$RAFOS,3,1222662849,4.583333,4.569167,115,59,56,54,52,52,747,206,148,216,157,125
$RAFOS,2,1222662243,4.416667,4.400833,68,61,59,56,54,53,978,216,187,204,133,143
$RAFOS,1,1222661644,4.250000,4.234445,91,61,61,58,57,56,745,208,116,195,169,218
$RAFOS_FIX,6641.548828,-6015.521973,290908,040428,4,103,2.15
$IRIDIUM_FIX,6614.97,-6021.37,241297,040424
$TT8_MAMPS,0.03068
$HUMID,1901
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.1,26.472
$10V_AH,10.5,10.225
$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,21.875,133.525,406.300,0.000,0.000,56.875,68.303,135.945,0.250,0.000,0.000,13.651,1614.058,10205.214,537.208,1715.377,426.821,33.368,1489.947,0.000,1691.605,1800.000,0.528,0.000
$DEVICE_MAMPS,271.518,87.438,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.807,591.074,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31587,868
$CAP_FILE_SIZE,124328,0
$CFSIZE,260165632,243089408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.0
$GPS,290908,080802,6639.795,-6022.359,40,1.4,40,-38.0