version: 66.04
glider: 113
mission: 4
dive: 115
start: 9 29 108 16 14 51
data:
$ID,113
$MISSION,4
$DIVE,115
$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,-24105.828
$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,30
$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,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
$GPS1,160832,6640.336,-6030.793,35,1.8,35,-38.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.7
$GPS2,161356,6640.330,-6030.854,9,1.0,14,-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,-0.178,0.136
$KALMAN_X,15203.2,-49.5,-230.9,-114641.2,502.3
$KALMAN_Y,-7957.5,-212.9,2195.4,-20790.1,-4047.2
$MHEAD_RNG_PITCHd_Wd,345.4,9420,-12.9,-7.021
$D_GRID,507
$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,-146.0,0.0,0.0,0,145,0.00,0.00,-125.53,0.000,2,0.000,0.000,166,2337,2762
$GC,147,-1.08,-146.0,3.5,-3.1,22,172,8.77,2.40,-8.57,0.000,4,0.271,0.084,2192,3750,3019
$GC,268,-0.66,-146.0,29.3,-17.2,43,275,0.35,2.28,0.00,0.000,6,0.179,0.046,2286,2326,3022
$GC,612,-0.66,-146.0,61.4,-8.4,104,618,0.00,2.22,0.00,0.000,4,0.000,0.058,2287,932,3023
$GC,871,-0.66,-146.0,81.2,-7.8,150,877,0.00,2.28,0.00,0.000,6,0.000,0.053,2287,2352,3025
$GC,1221,-0.66,-146.0,108.3,-7.8,199,1225,0.00,2.30,0.00,0.000,4,0.000,0.071,2286,3753,3025
$GC,1293,-0.76,-146.0,113.9,-7.7,202,1297,0.00,2.22,0.00,0.000,6,0.000,0.043,2287,2327,3025
$GC,1613,-0.84,-146.0,136.5,-7.2,218,1617,0.12,2.20,0.00,0.000,4,0.112,0.058,2244,939,3025
$GC,1775,-0.73,-146.0,151.8,-9.0,225,1780,0.15,2.25,0.00,0.000,6,0.173,0.055,2283,2341,3025
$GC,2095,-0.80,-146.0,173.2,-6.1,241,2099,0.00,2.33,0.00,0.000,4,0.000,0.073,2283,3750,3025
$GC,2212,-0.94,-146.0,179.9,-5.7,246,2217,0.17,2.20,0.00,0.000,6,0.087,0.044,2221,2341,3024
$GC,2532,-0.82,-146.0,206.6,-8.8,262,2537,0.15,2.25,0.00,0.000,4,0.168,0.058,2259,926,3024
$GC,2593,-0.82,-146.0,211.8,-8.6,265,2597,0.00,2.28,0.00,0.000,6,0.000,0.055,2259,2351,3024
$GC,2924,-0.82,-146.0,237.1,-7.5,281,2928,0.00,2.30,0.00,0.000,4,0.000,0.072,2259,3747,3024
$GC,3019,-0.91,-146.0,244.5,-7.8,285,3023,0.00,2.20,0.00,0.000,6,0.000,0.043,2259,2334,3024
$GC,3346,-0.95,-146.0,265.2,-5.7,301,3351,0.12,2.22,0.00,0.000,4,0.118,0.058,2217,932,3024
$GC,3412,-0.81,-146.0,270.4,-7.9,304,3417,0.17,2.25,0.00,0.000,6,0.169,0.053,2264,2344,3023
$GC,3739,-0.88,-146.0,290.1,-6.3,320,3743,0.00,2.33,0.00,0.000,4,0.000,0.076,2264,3748,3023
$GC,3823,-0.98,-146.0,295.9,-6.9,323,3830,0.15,2.20,0.00,0.000,6,0.100,0.044,2213,2339,3024
$GC,4137,-0.89,-146.0,323.4,-8.9,339,4142,0.12,2.22,0.00,0.000,4,0.166,0.058,2244,937,3023
$GC,4237,-0.89,-146.0,331.9,-8.3,343,4243,0.00,2.25,0.00,0.000,6,0.000,0.054,2245,2347,3023
$GC,4552,-0.89,-146.0,353.5,-6.5,359,4556,0.00,2.30,0.00,0.000,4,0.000,0.071,2244,3750,3023
$GC,4738,-0.96,-146.0,365.7,-6.3,367,4742,0.00,2.20,0.00,0.000,6,0.000,0.044,2244,2335,3023
$GC,5064,-0.96,-146.0,384.6,-5.9,383,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2335,3023
$GC,5373,-1.01,-146.0,403.3,-6.2,397,5378,0.12,2.35,0.00,0.000,4,0.105,0.073,2201,3747,3023
$GC,5547,-0.93,-146.0,416.9,-7.9,401,5551,0.12,2.20,0.00,0.000,6,0.163,0.043,2232,2333,3022
$GC,5876,-0.93,-146.0,438.6,-6.4,409,5880,0.00,2.20,0.00,0.000,4,0.000,0.058,2232,934,3022
$GC,5993,-0.93,-146.0,447.2,-7.4,411,5997,0.00,2.25,0.00,0.000,6,0.000,0.054,2232,2344,3023
$GC,6335,-0.93,-146.0,467.7,-5.8,420,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2345,3023
$GC,6660,-0.93,-146.0,486.5,-5.8,428,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2345,3023
$GC,6985,-0.93,-146.0,505.5,-6.0,436,6989,0.00,2.30,0.00,0.000,4,0.000,0.072,2232,3748,3023
$STATE,7009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7009,begin apogee
$GC,7016,-0.34,0.0,507.3,6.6,436,7145,0.40,0.00,126.05,1.254,6,0.150,0.000,2358,2514,2420
$STATE,7146,end apogee,CONTROL_FINISHED_OK
$STATE,7146,begin climb
$GC,7147,1.08,146.0,509.9,0.0,439,7285,1.05,2.58,128.38,1.164,4,0.114,0.055,2665,1127,1824
$GC,7291,0.92,146.0,499.5,8.6,442,7296,0.12,2.53,0.00,0.000,6,0.146,0.052,2637,2524,1823
$GC,7638,0.84,146.0,471.6,7.9,451,7643,0.00,2.42,0.00,0.000,4,0.000,0.069,2636,3940,1821
$GC,7724,0.66,146.0,464.1,9.4,453,7730,0.22,2.30,0.00,0.000,6,0.148,0.042,2574,2524,1821
$GC,8048,0.87,198.6,446.2,5.2,461,8095,0.17,0.00,43.95,1.182,6,0.072,0.000,2638,2523,1610
$GC,8412,0.87,198.6,415.0,8.4,470,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2523,1608
$GC,8719,0.87,198.6,389.2,8.5,480,8723,0.00,2.38,0.00,0.000,4,0.000,0.073,2639,3930,1607
$GC,8734,0.82,198.6,387.8,8.7,480,8742,0.10,2.28,0.00,0.000,6,0.159,0.042,2612,2514,1608
$GC,9050,0.90,207.4,365.1,6.7,496,9064,0.00,2.42,8.32,1.036,4,0.000,0.073,2613,3926,1574
$GC,9076,0.96,207.4,363.2,7.3,497,9081,0.12,2.22,0.00,0.000,6,0.087,0.041,2661,2520,1574
$GC,9402,0.89,207.4,335.7,8.1,513,9407,0.12,2.38,0.00,0.000,4,0.140,0.070,2627,3943,1573
$GC,9412,0.83,207.4,334.9,8.0,513,9418,0.00,2.28,0.00,0.000,6,0.000,0.041,2627,2496,1573
$GC,9728,0.91,222.7,314.8,6.5,529,9748,0.00,0.00,14.18,1.109,6,0.000,0.000,2627,2495,1511
$GC,10057,1.01,234.9,292.2,6.6,545,10070,0.10,0.00,11.20,1.065,6,0.094,0.000,2665,2495,1462
$GC,10365,1.01,234.9,267.7,7.8,560,10369,0.00,2.40,0.00,0.000,4,0.000,0.071,2665,3930,1461
$GC,10374,1.01,234.9,266.9,8.2,560,10381,0.00,2.25,0.00,0.000,6,0.000,0.042,2665,2523,1461
$GC,10690,1.01,234.9,242.6,7.4,576,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2523,1460
$GC,10999,1.01,234.9,219.0,7.9,591,11000,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2523,1460
$GC,11309,1.01,234.9,194.4,8.1,606,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2524,1460
$GC,11617,1.01,234.9,171.8,7.1,621,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2523,1459
$GC,11927,1.01,234.9,148.2,7.9,636,11931,0.00,2.25,0.00,0.000,4,0.000,0.059,2665,1111,1459
$GC,11937,1.01,234.9,147.4,7.8,636,11941,0.00,2.28,0.00,0.000,6,0.000,0.052,2665,2522,1459
$GC,12257,1.01,234.9,122.8,7.4,652,12261,0.00,2.25,0.00,0.000,4,0.000,0.058,2665,1118,1459
$GC,12267,1.01,234.9,121.9,7.3,652,12272,0.00,2.28,0.00,0.000,6,0.000,0.052,2665,2546,1459
$GC,12589,1.06,276.6,101.3,5.6,668,12631,0.00,2.42,34.28,1.081,4,0.000,0.058,2666,1121,1291
$GC,12637,1.22,333.3,98.9,5.1,671,12691,0.12,2.33,48.30,1.016,6,0.084,0.052,2715,2529,1060
$GC,13030,1.22,333.3,69.6,7.6,740,13036,0.00,2.35,0.00,0.000,4,0.000,0.058,2715,1116,1049
$GC,13070,1.22,333.3,66.5,7.4,747,13076,0.00,2.30,0.00,0.000,6,0.000,0.052,2715,2520,1049
$GC,13412,1.22,333.3,37.9,7.3,808,13419,0.00,2.30,0.00,0.000,4,0.000,0.059,2715,1117,1047
$GC,13481,1.32,343.1,33.1,6.7,820,13494,0.00,2.28,7.40,0.916,6,0.000,0.053,2715,2523,1021
$GC,13831,1.62,343.1,8.5,7.6,882,13838,0.20,2.35,0.00,0.000,4,0.080,0.074,2798,3929,1017
$STATE,13892,end climb,SURFACE_DEPTH_REACHED
$STATE,13892,begin surface coast
$FINISH,0.8,1.022841
$STATE,13904,end surface coast,CONTROL_FINISHED_OK
$STATE,13905,begin surface
$SM_CCo,13983,0.00,0.000,0,0,1015,344.65
$SM_GC,1.72,7.50,0.00,0.00,0.081,0.000,0.000,165,2342,1015,-10.38,0.06,344.65
$RAFOS_CLK,803
$RAFOS,4,1222706641,16.750000,16.733612,131,73,56,56,54,52,909,214,180,203,145,158
$RAFOS,3,1222706049,16.583334,16.569166,131,76,63,58,54,52,770,205,187,222,132,150
$RAFOS,2,1222705445,16.416666,16.401388,73,58,56,56,55,52,1003,213,161,189,119,174
$RAFOS,0,1222704241,16.083334,16.066944,61,56,56,52,51,51,217,201,159,188,139,1677
$RAFOS_FIX,5623.210449,-7505.003906,290908,161616,4,99,1692.76
$IRIDIUM_FIX,6614.97,-6026.10,241297,121254
$TT8_MAMPS,0.029913
$HUMID,1902
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,26.925
$10V_AH,10.5,10.408
$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,20.800,119.250,422.050,0.000,0.000,29.608,32.254,155.501,0.000,0.000,0.000,15.866,1637.629,10042.396,572.181,1728.400,379.991,33.369,1508.422,0.000,1701.333,1440.000,0.529,0.000
$DEVICE_MAMPS,270.751,83.603,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.658,608.632,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31607,895
$CAP_FILE_SIZE,117279,0
$CFSIZE,260165632,242921472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$GPS,290908,201002,6638.391,-6033.488,36,1.9,36,-38.0