version: 66.04
glider: 113
mission: 4
dive: 116
start: 9 29 108 20 18 28
data:
$ID,113
$MISSION,4
$DIVE,116
$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,-24120.131
$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,29
$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
$GPS1,201002,6638.391,-6033.488,36,1.9,36,-38.0
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.0
$GPS2,201733,6638.319,-6033.368,12,1.2,12,-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,-0.152,0.165
$KALMAN_X,15568.2,-160.9,260.7,-117213.7,115.5
$KALMAN_Y,-9930.6,100.5,-1830.8,-18821.1,-358.1
$MHEAD_RNG_PITCHd_Wd,355.4,9811,-12.9,-7.021
$D_GRID,493
$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,16,-1.08,-145.9,0.0,0.0,0,138,0.00,0.00,-119.15,0.000,2,0.000,0.000,165,2341,2810
$GC,140,-1.08,-146.0,3.3,-2.9,21,165,8.80,2.42,-6.70,0.000,4,0.270,0.087,2200,3736,3020
$GC,222,-0.54,-146.0,23.7,-22.3,35,229,0.43,2.25,0.00,0.000,6,0.180,0.047,2318,2333,3022
$GC,566,-0.60,-146.0,52.7,-6.9,96,572,0.00,2.25,0.00,0.000,4,0.000,0.058,2318,928,3024
$GC,667,-0.60,-146.0,61.2,-8.4,114,673,0.00,2.28,0.00,0.000,6,0.000,0.053,2318,2340,3024
$GC,1010,-0.72,-146.0,83.0,-5.5,175,1016,0.15,0.00,0.00,0.000,6,0.095,0.000,2264,2341,3025
$GC,1348,-0.72,-146.0,111.1,-8.8,219,1352,0.00,2.33,0.00,0.000,4,0.000,0.071,2264,3755,3025
$GC,1454,-0.72,-146.0,120.0,-7.8,223,1460,0.00,2.22,0.00,0.000,6,0.000,0.044,2264,2336,3026
$GC,1768,-0.72,-146.0,143.5,-7.4,239,1772,0.00,2.22,0.00,0.000,4,0.000,0.059,2264,932,3025
$GC,1857,-0.72,-146.0,150.7,-8.1,243,1861,0.00,2.25,0.00,0.000,6,0.000,0.054,2264,2342,3025
$GC,2189,-0.72,-146.0,174.5,-7.3,259,2193,0.00,2.33,0.00,0.000,4,0.000,0.074,2264,3747,3024
$GC,2272,-0.78,-146.0,181.0,-7.9,262,2279,0.00,2.22,0.00,0.000,6,0.000,0.044,2264,2341,3025
$GC,2587,-0.78,-146.0,204.3,-7.4,278,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2341,3025
$GC,2897,-0.78,-146.0,226.9,-6.7,293,2901,0.00,2.35,0.00,0.000,4,0.000,0.074,2264,3746,3024
$GC,2969,-0.87,-146.0,232.1,-7.1,296,2973,0.00,2.22,0.00,0.000,6,0.000,0.044,2264,2341,3024
$GC,3296,-0.93,-146.0,254.3,-6.5,312,3298,0.12,0.00,0.00,0.000,6,0.109,0.000,2220,2340,3023
$GC,3606,-0.84,-146.0,277.3,-7.3,327,3607,0.12,0.00,0.00,0.000,6,0.170,0.000,2252,2340,3024
$GC,3914,-0.84,-146.0,297.4,-6.7,342,3918,0.00,2.35,0.00,0.000,4,0.000,0.075,2252,3749,3024
$GC,4003,-0.92,-146.0,303.6,-7.1,346,4007,0.00,2.20,0.00,0.000,6,0.000,0.044,2252,2338,3023
$GC,4330,-0.92,-146.0,325.9,-6.7,362,4333,0.00,2.22,0.00,0.000,4,0.000,0.059,2252,932,3023
$GC,4390,-0.92,-146.0,330.4,-7.4,364,4397,0.00,2.28,0.00,0.000,6,0.000,0.054,2252,2338,3023
$GC,4707,-0.97,-146.0,351.3,-6.6,380,4711,0.10,2.30,0.00,0.000,4,0.117,0.070,2217,3752,3023
$GC,4778,-0.97,-146.0,357.1,-8.3,383,4782,0.00,2.25,0.00,0.000,6,0.000,0.044,2217,2331,3023
$GC,5099,-0.91,-146.0,381.7,-7.5,399,5104,0.10,2.22,0.00,0.000,4,0.170,0.058,2242,932,3023
$GC,5181,-0.91,-146.0,387.6,-7.3,402,5188,0.00,2.28,0.00,0.000,6,0.000,0.054,2242,2339,3023
$GC,5495,-0.91,-146.0,408.2,-6.6,415,5499,0.00,2.30,0.00,0.000,4,0.000,0.071,2242,3743,3023
$GC,5686,-0.99,-146.0,420.9,-6.4,419,5690,0.00,2.20,0.00,0.000,6,0.000,0.044,2242,2330,3023
$GC,6005,-1.04,-146.0,440.6,-6.3,427,6009,0.12,2.22,0.00,0.000,4,0.098,0.058,2198,927,3023
$GC,6116,-0.89,-146.0,450.0,-8.6,429,6120,0.17,2.28,0.00,0.000,6,0.168,0.054,2244,2353,3023
$GC,6457,-0.95,-146.0,470.4,-5.9,438,6461,0.00,2.30,0.00,0.000,4,0.000,0.073,2244,3751,3023
$GC,6676,-1.05,-146.0,483.3,-6.7,442,6683,0.12,2.20,0.00,0.000,6,0.100,0.043,2200,2335,3023
$STATE,6842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6842,begin apogee
$GC,6847,-0.34,0.0,495.4,7.3,447,6976,0.55,0.00,126.00,1.248,6,0.152,0.000,2365,2519,2420
$STATE,6977,end apogee,CONTROL_FINISHED_OK
$STATE,6977,begin climb
$GC,6978,1.08,146.0,498.0,0.0,450,7116,1.02,2.70,128.27,1.155,4,0.112,0.072,2667,3920,1824
$GC,7156,0.78,146.0,484.7,10.6,454,7161,0.25,2.40,0.00,0.000,6,0.152,0.042,2603,2525,1822
$GC,7474,0.78,147.6,463.0,7.0,462,7478,0.00,2.45,0.00,0.000,4,0.000,0.073,2603,3933,1821
$GC,7496,0.74,153.7,461.5,6.8,462,7511,0.00,2.33,7.70,0.994,6,0.000,0.041,2603,2508,1793
$GC,7842,0.77,178.5,440.0,6.2,471,7870,0.00,2.55,21.75,1.157,4,0.000,0.072,2603,3929,1691
$GC,7899,0.77,178.5,435.6,8.1,472,7903,0.00,2.33,0.00,0.000,6,0.000,0.041,2603,2523,1691
$GC,8213,0.85,190.0,414.1,6.6,480,8225,0.00,0.00,11.00,1.085,6,0.000,0.000,2603,2523,1645
$GC,8518,0.99,222.6,395.3,5.9,489,8553,0.17,2.40,28.00,1.157,4,0.079,0.057,2669,1119,1512
$GC,8727,0.92,222.6,377.7,9.2,498,8732,0.12,2.30,0.00,0.000,6,0.150,0.051,2636,2527,1510
$GC,9042,0.94,231.7,355.7,6.7,513,9056,0.00,2.35,8.70,1.035,4,0.000,0.056,2637,1118,1475
$GC,9203,1.05,260.2,344.9,6.0,520,9234,0.10,2.28,24.80,1.132,6,0.093,0.051,2675,2524,1359
$GC,9550,1.00,260.2,316.0,8.2,537,9554,0.10,2.30,0.00,0.000,4,0.140,0.056,2649,1116,1356
$GC,9559,1.00,260.2,315.2,8.4,537,9566,0.00,2.30,0.00,0.000,6,0.000,0.050,2649,2520,1356
$GC,9875,1.00,260.2,292.5,7.2,553,9878,0.00,2.28,0.00,0.000,4,0.000,0.056,2649,1109,1355
$GC,9901,1.06,260.2,290.6,7.2,554,9906,0.00,2.28,0.00,0.000,6,0.000,0.051,2649,2524,1355
$GC,10228,1.12,260.2,266.5,7.6,570,10233,0.12,2.28,0.00,0.000,4,0.084,0.055,2698,1112,1355
$GC,10244,1.12,260.2,265.1,8.1,571,10248,0.00,2.25,0.00,0.000,6,0.000,0.051,2698,2523,1355
$GC,10576,1.01,260.2,233.0,9.4,587,10580,0.17,2.28,0.00,0.000,4,0.140,0.057,2648,1112,1354
$GC,10585,0.94,260.2,231.9,9.3,587,10592,0.00,2.28,0.00,0.000,6,0.000,0.051,2648,2544,1354
$GC,10902,1.03,278.4,211.0,6.4,603,10924,0.00,2.35,15.70,1.094,4,0.000,0.056,2648,1109,1284
$GC,10929,1.15,290.2,209.2,6.6,604,10947,0.12,2.30,11.25,1.016,6,0.086,0.051,2695,2530,1236
$GC,11255,1.09,290.2,181.5,8.6,620,11259,0.10,2.33,0.00,0.000,4,0.146,0.057,2669,1107,1233
$GC,11263,1.09,290.2,180.6,8.5,620,11270,0.00,2.30,0.00,0.000,6,0.000,0.051,2668,2516,1233
$GC,11579,1.14,290.2,156.5,7.9,636,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2516,1232
$GC,11889,1.22,290.2,133.4,7.4,651,11894,0.12,2.28,0.00,0.000,4,0.080,0.058,2719,1109,1232
$GC,11898,1.27,290.2,132.6,7.2,651,11905,0.00,2.30,0.00,0.000,6,0.000,0.051,2719,2546,1232
$GC,12214,1.19,290.2,100.1,10.9,667,12216,0.10,0.00,0.00,0.000,6,0.148,0.000,2692,2546,1231
$GC,12549,1.19,290.2,71.4,8.3,724,12555,0.00,2.30,0.00,0.000,4,0.000,0.059,2692,1116,1231
$GC,12560,1.19,290.2,70.6,8.2,726,12567,0.00,2.25,0.00,0.000,6,0.000,0.052,2692,2528,1231
$GC,12904,1.19,294.7,44.4,6.9,787,12911,0.00,0.00,4.53,0.802,6,0.000,0.000,2692,2528,1218
$GC,13248,1.51,294.7,21.3,7.1,848,13255,0.20,2.30,0.00,0.000,4,0.081,0.071,2771,3927,1217
$GC,13278,1.61,294.7,19.0,7.7,853,13284,0.00,2.22,0.00,0.000,6,0.000,0.045,2772,2508,1217
$STATE,13472,end climb,SURFACE_DEPTH_REACHED
$STATE,13473,begin surface coast
$FINISH,0.8,1.011435
$STATE,13496,end surface coast,CONTROL_FINISHED_OK
$STATE,13496,begin surface
$SM_CCo,13571,0.00,0.000,0,0,1214,295.83
$SM_GC,1.69,7.38,0.00,0.00,0.081,0.000,0.000,158,2328,1214,-10.40,-0.34,295.83
$RAFOS_CLK,777
$RAFOS,4,1222721047,20.750000,20.735277,73,58,58,55,54,54,887,203,145,121,133,176
$RAFOS,3,1222720443,20.583334,20.567499,83,60,56,55,54,53,800,206,172,187,151,118
$RAFOS,2,1222719841,20.416666,20.400278,123,67,57,54,52,52,1034,182,207,226,144,164
$RAFOS,0,1222718641,20.083334,20.066944,75,57,57,56,55,54,626,216,175,197,121,141
$RAFOS_FIX,6640.051758,-6028.533691,290908,202016,4,88,7.46
$IRIDIUM_FIX,6609.62,-6038.83,241297,202025
$TT8_MAMPS,0.026845
$HUMID,1908
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,27.069
$10V_AH,10.6,10.472
$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,20.900,124.725,387.700,0.000,0.000,56.360,48.214,182.070,0.000,0.000,0.000,13.675,1619.977,9628.454,541.551,1804.973,442.213,33.372,1515.138,0.000,1773.472,1080.000,0.534,0.000
$DEVICE_MAMPS,269.984,87.438,1247.909,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.897,607.566,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31549,892
$CAP_FILE_SIZE,122482,0
$CFSIZE,260165632,242860032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.2
$GPS,300908,000608,6639.424,-6035.122,34,1.0,34,-38.0