version: 66.04
glider: 113
mission: 4
dive: 113
start: 9 29 108 8 13 46
data:
$ID,113
$MISSION,4
$DIVE,113
$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,-24072.803
$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,24
$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
$GPS1,080802,6639.795,-6022.359,40,1.4,40,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.2
$GPS2,081251,6639.742,-6022.261,9,1.4,9,-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,-0.222,0.029
$KALMAN_X,14714.4,215.0,294.7,-108701.3,-310.7
$KALMAN_Y,-6229.7,-449.9,-1876.6,-19305.9,564.5
$MHEAD_RNG_PITCHd_Wd,315.5,15757,-12.9,-7.021
$D_GRID,518
$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,14,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,132,0.00,0.00,-113.03,0.000,2,0.000,0.000,164,2330,2754
$GC,135,-1.08,-146.0,3.3,-2.8,20,160,8.77,2.40,-8.85,0.000,4,0.269,0.081,2192,3754,3018
$GC,323,-0.72,-146.0,38.8,-12.8,53,330,0.32,2.25,0.00,0.000,6,0.172,0.044,2282,2336,3022
$GC,669,-0.72,-146.0,67.4,-7.0,114,675,0.00,2.25,0.00,0.000,4,0.000,0.058,2282,927,3023
$GC,709,-0.66,-146.0,70.4,-7.4,121,715,0.00,2.28,0.00,0.000,6,0.000,0.052,2282,2343,3024
$GC,1052,-0.66,-146.0,98.0,-7.6,182,1058,0.00,2.28,0.00,0.000,4,0.000,0.058,2283,930,3025
$GC,1129,-0.66,-146.0,104.6,-8.3,189,1134,0.00,2.30,0.00,0.000,6,0.000,0.052,2282,2346,3025
$GC,1451,-0.66,-146.0,127.8,-6.7,205,1455,0.00,2.33,0.00,0.000,4,0.000,0.072,2283,3753,3025
$GC,1557,-0.75,-146.0,134.9,-6.2,209,1564,0.00,2.22,0.00,0.000,6,0.000,0.044,2282,2327,3024
$GC,1873,-0.82,-146.0,151.6,-5.4,225,1877,0.10,2.22,0.00,0.000,4,0.104,0.058,2247,932,3024
$GC,1979,-0.73,-146.0,159.8,-7.9,229,1986,0.12,2.28,0.00,0.000,6,0.176,0.055,2278,2351,3024
$GC,2294,-0.80,-146.0,181.4,-7.1,245,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2351,3024
$GC,2604,-0.89,-146.0,202.6,-6.5,260,2608,0.15,2.30,0.00,0.000,4,0.100,0.073,2228,3745,3024
$GC,2691,-0.89,-146.0,210.0,-8.7,264,2696,0.00,2.22,0.00,0.000,6,0.000,0.044,2228,2341,3023
$GC,3019,-0.82,-146.0,234.8,-7.6,280,3021,0.12,0.00,0.00,0.000,6,0.179,0.000,2259,2340,3023
$GC,3328,-0.87,-146.0,255.8,-6.8,295,3332,0.00,2.35,0.00,0.000,4,0.000,0.074,2259,3750,3023
$GC,3383,-0.97,-146.0,259.8,-7.4,297,3387,0.12,2.20,0.00,0.000,6,0.102,0.044,2216,2339,3023
$GC,3704,-0.88,-146.0,285.7,-8.1,313,3706,0.12,0.00,0.00,0.000,6,0.164,0.000,2249,2339,3023
$GC,4013,-0.88,-146.0,306.5,-6.3,328,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2339,3023
$GC,4323,-0.88,-146.0,324.8,-5.9,343,4326,0.00,2.35,0.00,0.000,4,0.000,0.074,2249,3750,3022
$GC,4378,-0.96,-146.0,328.2,-5.9,345,4382,0.00,2.22,0.00,0.000,6,0.000,0.044,2249,2326,3022
$GC,4698,-1.02,-146.0,346.2,-5.5,361,4703,0.12,2.22,0.00,0.000,4,0.108,0.058,2204,927,3022
$GC,4766,-0.87,-146.0,351.1,-7.0,364,4771,0.15,2.25,0.00,0.000,6,0.168,0.054,2244,2342,3022
$GC,5098,-0.92,-146.0,371.2,-6.5,380,5101,0.00,2.30,0.00,0.000,4,0.000,0.071,2244,3749,3022
$GC,5159,-1.01,-146.0,375.3,-6.8,382,5166,0.12,2.20,0.00,0.000,6,0.101,0.043,2200,2333,3022
$GC,5474,-0.92,-146.0,399.4,-7.7,398,5476,0.15,0.00,0.00,0.000,6,0.159,0.000,2241,2333,3022
$GC,5779,-0.92,-146.0,419.1,-6.5,406,5783,0.00,2.35,0.00,0.000,4,0.000,0.072,2241,3750,3022
$GC,5869,-1.00,-146.0,425.2,-7.0,408,5874,0.10,2.17,0.00,0.000,6,0.104,0.042,2205,2337,3022
$GC,6198,-0.94,-146.0,452.1,-8.3,416,6200,0.10,0.00,0.00,0.000,6,0.163,0.000,2230,2337,3023
$GC,6523,-0.94,-146.0,474.8,-6.6,424,6527,0.00,2.35,0.00,0.000,4,0.000,0.072,2230,3756,3023
$GC,6568,-1.01,-146.0,477.3,-5.8,425,6572,0.00,2.20,0.00,0.000,6,0.000,0.042,2231,2337,3023
$GC,6897,-1.01,-146.0,499.2,-6.4,433,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2337,3023
$STATE,7220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7221,begin apogee
$GC,7226,-0.34,0.0,519.5,6.5,441,7354,0.43,0.00,125.80,1.257,6,0.141,0.000,2363,2519,2420
$STATE,7355,end apogee,CONTROL_FINISHED_OK
$STATE,7355,begin climb
$GC,7357,1.08,146.0,521.1,0.0,444,7490,1.05,0.00,129.32,1.164,6,0.114,0.000,2667,2518,1824
$GC,7788,0.90,146.0,481.7,9.9,455,7792,0.15,2.45,0.00,0.000,4,0.153,0.069,2628,3928,1821
$GC,7814,0.75,146.0,478.8,10.7,455,7819,0.12,2.33,0.00,0.000,6,0.157,0.041,2596,2512,1820
$GC,8150,0.79,174.1,457.7,6.1,464,8176,0.00,0.00,23.90,1.163,6,0.000,0.000,2596,2513,1710
$GC,8475,0.89,191.7,436.6,6.4,472,8494,0.12,0.00,16.00,1.131,6,0.083,0.000,2646,2512,1638
$GC,8801,0.83,191.7,410.9,8.0,480,8805,0.12,2.40,0.00,0.000,4,0.146,0.071,2613,3930,1635
$GC,8821,0.83,191.7,409.1,8.3,480,8825,0.00,2.28,0.00,0.000,6,0.000,0.041,2613,2519,1636
$GC,9146,0.90,204.8,388.4,6.6,492,9160,0.00,0.00,12.07,1.102,6,0.000,0.000,2613,2518,1585
$GC,9455,0.99,220.8,368.6,6.5,507,9477,0.12,2.30,14.62,1.111,4,0.087,0.056,2662,1116,1519
$GC,9493,0.94,220.8,365.3,8.1,508,9501,0.10,2.30,0.00,0.000,6,0.151,0.050,2637,2528,1518
$GC,9808,0.94,220.8,340.3,8.0,524,9812,0.00,2.30,0.00,0.000,4,0.000,0.055,2637,1109,1517
$GC,9818,0.94,220.8,339.4,7.8,524,9823,0.00,2.30,0.00,0.000,6,0.000,0.049,2637,2520,1517
$GC,10139,0.94,220.8,314.7,7.8,540,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2520,1517
$GC,10449,0.94,221.7,291.4,7.0,555,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2520,1517
$GC,10758,0.94,221.7,269.9,7.2,570,10762,0.00,2.25,0.00,0.000,4,0.000,0.056,2637,1116,1517
$GC,10773,1.00,221.7,268.7,7.3,570,10780,0.00,2.28,0.00,0.000,6,0.000,0.050,2637,2525,1517
$GC,11089,1.05,221.7,245.7,7.3,586,11094,0.10,2.28,0.00,0.000,4,0.092,0.055,2678,1106,1518
$GC,11098,1.05,221.7,244.8,7.5,586,11105,0.00,2.28,0.00,0.000,6,0.000,0.050,2678,2521,1518
$GC,11415,0.97,221.7,217.3,8.4,602,11419,0.12,2.30,0.00,0.000,4,0.146,0.067,2642,3941,1518
$GC,11424,0.90,221.7,216.4,7.9,602,11429,0.00,2.25,0.00,0.000,6,0.000,0.042,2642,2513,1518
$GC,11746,0.98,238.4,196.2,6.5,618,11768,0.00,2.25,15.25,1.078,4,0.000,0.056,2642,1112,1448
$GC,11773,1.10,267.5,194.4,6.0,619,11804,0.12,2.28,24.85,1.064,6,0.084,0.051,2691,2527,1329
$GC,12121,1.04,267.5,165.8,8.4,636,12125,0.12,2.30,0.00,0.000,4,0.135,0.056,2655,1117,1325
$GC,12130,1.04,267.5,164.8,8.2,636,12137,0.00,2.28,0.00,0.000,6,0.000,0.051,2655,2525,1325
$GC,12446,1.15,289.6,144.8,6.3,652,12472,0.12,2.38,18.55,1.062,4,0.080,0.058,2705,1120,1238
$GC,12477,1.10,289.6,142.3,7.9,653,12482,0.12,2.30,0.00,0.000,6,0.143,0.051,2671,2522,1238
$GC,12798,1.15,289.6,119.0,7.5,669,12802,0.00,2.30,0.00,0.000,4,0.000,0.058,2671,1113,1237
$GC,12832,1.27,289.6,116.4,7.4,670,12836,0.15,2.28,0.00,0.000,6,0.084,0.051,2726,2524,1237
$GC,13159,1.18,289.6,83.9,10.1,706,13166,0.15,2.30,0.00,0.000,4,0.141,0.059,2683,1111,1236
$GC,13172,1.11,289.6,82.7,10.0,708,13178,0.00,2.28,0.00,0.000,6,0.000,0.052,2683,2529,1236
$GC,13516,1.16,289.6,55.8,7.5,769,13522,0.00,2.28,0.00,0.000,4,0.000,0.059,2683,1117,1235
$GC,13533,1.24,289.6,54.3,7.7,772,13540,0.08,2.25,0.00,0.000,6,0.104,0.052,2716,2523,1235
$GC,13877,1.24,290.8,24.9,7.0,833,13883,0.00,2.30,0.00,0.000,4,0.000,0.072,2716,3929,1234
$GC,13906,1.26,310.7,23.2,6.3,838,13930,0.00,2.20,17.92,1.037,6,0.000,0.044,2717,2519,1152
$STATE,14208,end climb,SURFACE_DEPTH_REACHED
$STATE,14208,begin surface coast
$FINISH,0.8,1.014433
$STATE,14238,end surface coast,CONTROL_FINISHED_OK
$STATE,14238,begin surface
$SM_CCo,14313,0.00,0.000,0,0,1146,312.51
$SM_GC,1.71,7.22,0.00,0.00,0.076,0.000,0.000,159,2342,1146,-10.40,0.06,312.51
$RAFOS_CLK,818
$RAFOS,0,1222689845,12.083333,12.068055,66,60,56,54,53,51,146,207,248,219,584,94
$RAFOS,4,1222677855,8.750000,8.737500,140,61,60,58,58,55,820,206,167,219,123,149
$RAFOS,3,1222677248,8.583333,8.568889,99,63,56,53,51,49,751,212,187,130,167,117
$RAFOS,2,1222676646,8.416667,8.401667,67,63,60,57,53,50,976,181,197,209,140,163
$RAFOS,1,1222676053,8.250000,8.236944,61,59,56,54,52,51,210,192,169,155,117,415
$RAFOS,0,1222675443,8.083333,8.067500,58,56,56,54,48,46,183,208,221,146,120,161
$RAFOS_FIX,5513.229980,-8446.810547,290908,080856,4,92,1849.09
$IRIDIUM_FIX,6614.97,-6026.10,241297,040433
$TT8_MAMPS,0.027612
$HUMID,1917
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,22.1,26.615
$10V_AH,10.6,10.286
$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,21.150,119.275,398.300,0.000,0.000,30.633,30.108,128.372,0.250,0.000,0.000,10.557,1658.391,10481.665,588.374,1577.319,348.429,33.368,1443.834,0.000,1564.533,1800.000,0.529,0.000
$DEVICE_MAMPS,269.217,80.535,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.417,611.265,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31545,897
$CAP_FILE_SIZE,119940,0
$CFSIZE,260165632,243032064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.1
$GPS,290908,121432,6640.320,-6026.804,40,1.5,40,-38.0