version: 66.04
glider: 113
mission: 4
dive: 117
start: 9 30 108 0 13 46
data:
$ID,113
$MISSION,4
$DIVE,117
$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,-24136.561
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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,33
$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
$GPS1,000608,6639.424,-6035.122,34,1.0,34,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.8
$GPS2,001250,6639.470,-6035.124,9,1.0,14,-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,-0.224,0.012
$KALMAN_X,16327.8,-5.5,196.3,-119342.9,198.2
$KALMAN_Y,-11088.9,231.2,-1004.4,-16501.5,2256.1
$MHEAD_RNG_PITCHd_Wd,311.0,7432,-12.9,-7.021
$D_GRID,494
$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,-145.9,0.0,0.0,0,121,0.00,0.00,-102.60,0.000,2,0.000,0.000,159,2327,2705
$GC,123,-1.08,-146.0,3.1,-2.1,18,149,8.73,2.33,-11.82,0.000,4,0.267,0.073,2199,938,3018
$GC,301,-0.65,-146.0,39.6,-19.4,49,308,0.35,2.30,0.00,0.000,6,0.173,0.056,2298,2350,3023
$GC,644,-0.65,-146.0,67.2,-6.1,110,650,0.00,2.33,0.00,0.000,4,0.000,0.074,2298,3750,3025
$GC,707,-0.73,-146.0,71.4,-7.0,121,713,0.00,2.22,0.00,0.000,6,0.000,0.043,2298,2334,3025
$GC,1050,-0.80,-146.0,96.5,-7.9,182,1056,0.12,2.25,0.00,0.000,4,0.096,0.058,2251,926,3025
$GC,1090,-0.67,-146.0,100.7,-10.6,188,1097,0.15,2.28,0.00,0.000,6,0.175,0.054,2288,2343,3026
$GC,1405,-0.73,-146.0,126.0,-7.0,204,1409,0.00,2.33,0.00,0.000,4,0.000,0.074,2288,3750,3026
$GC,1477,-0.85,-146.0,130.5,-6.3,207,1482,0.15,2.22,0.00,0.000,6,0.096,0.044,2234,2327,3026
$GC,1792,-0.75,-146.0,153.6,-7.8,222,1794,0.15,0.00,0.00,0.000,6,0.170,0.000,2273,2327,3026
$GC,2100,-0.75,-146.0,175.3,-7.8,237,2104,0.00,2.38,0.00,0.000,4,0.000,0.075,2273,3750,3025
$GC,2202,-0.85,-146.0,184.2,-9.5,241,2206,0.00,2.20,0.00,0.000,6,0.000,0.044,2274,2341,3025
$GC,2522,-0.91,-146.0,210.5,-8.0,257,2526,0.15,2.25,0.00,0.000,4,0.106,0.058,2222,927,3025
$GC,2593,-0.76,-146.0,217.7,-10.5,260,2598,0.17,2.28,0.00,0.000,6,0.173,0.054,2268,2353,3024
$GC,2919,-0.82,-146.0,241.9,-6.9,276,2923,0.00,2.30,0.00,0.000,4,0.000,0.074,2268,3747,3024
$GC,3004,-0.93,-146.0,247.9,-6.9,279,3011,0.12,2.20,0.00,0.000,6,0.096,0.044,2224,2338,3024
$GC,3320,-0.85,-146.0,274.9,-8.6,295,3324,0.12,2.22,0.00,0.000,4,0.167,0.058,2256,932,3024
$GC,3369,-0.85,-146.0,278.8,-8.0,297,3373,0.00,2.25,0.00,0.000,6,0.000,0.054,2256,2343,3024
$GC,3695,-0.85,-146.0,301.1,-6.6,313,3699,0.00,2.30,0.00,0.000,4,0.000,0.071,2256,3745,3024
$GC,3773,-0.94,-146.0,306.4,-6.7,316,3778,0.10,2.20,0.00,0.000,6,0.107,0.044,2221,2336,3024
$GC,4094,-0.86,-146.0,330.8,-7.8,332,4098,0.12,2.22,0.00,0.000,4,0.170,0.058,2253,936,3024
$GC,4148,-0.86,-146.0,335.0,-7.7,334,4153,0.00,2.30,0.00,0.000,6,0.000,0.058,2253,2345,3024
$GC,4469,-0.91,-146.0,357.0,-7.0,350,4473,0.00,2.33,0.00,0.000,4,0.000,0.076,2253,3746,3024
$GC,4569,-1.03,-146.0,364.9,-7.8,354,4574,0.15,2.20,0.00,0.000,6,0.100,0.044,2203,2336,3024
$GC,4890,-0.92,-146.0,393.9,-9.4,370,4892,0.12,0.00,0.00,0.000,6,0.163,0.000,2235,2336,3024
$GC,5215,-0.92,-146.0,419.9,-7.9,380,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2336,3024
$GC,5541,-0.92,-146.0,443.4,-6.9,388,5545,0.00,2.38,0.00,0.000,4,0.000,0.074,2235,3758,3023
$GC,5680,-0.99,-146.0,452.6,-7.1,391,5684,0.00,2.22,0.00,0.000,6,0.000,0.043,2235,2324,3023
$GC,6003,-0.99,-146.0,473.2,-6.2,399,6007,0.00,2.20,0.00,0.000,4,0.000,0.059,2236,935,3023
$GC,6125,-0.99,-146.0,481.5,-6.2,401,6130,0.00,2.25,0.00,0.000,6,0.000,0.054,2236,2347,3023
$STATE,6338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6338,begin apogee
$GC,6343,-0.34,0.0,495.5,6.6,407,6472,0.43,0.00,126.25,1.253,6,0.151,0.000,2365,2525,2420
$STATE,6472,end apogee,CONTROL_FINISHED_OK
$STATE,6473,begin climb
$GC,6474,1.08,146.0,498.0,0.0,410,6618,1.05,2.62,130.45,1.144,4,0.113,0.056,2669,1125,1824
$GC,6625,0.90,146.0,487.6,9.5,414,6630,0.15,2.53,0.00,0.000,6,0.150,0.051,2633,2526,1823
$GC,6949,0.84,146.0,462.9,7.7,422,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2526,1821
$GC,7274,0.77,146.3,439.7,7.0,430,7279,0.12,2.38,0.00,0.000,4,0.149,0.070,2598,3941,1820
$GC,7313,0.79,163.2,437.2,6.4,431,7332,0.00,2.28,15.02,1.127,6,0.000,0.041,2598,2512,1754
$GC,7640,0.89,182.8,417.2,6.4,439,7665,0.12,2.50,17.67,1.141,4,0.083,0.072,2649,3931,1673
$GC,7670,0.79,182.8,414.5,8.9,439,7675,0.17,2.30,0.00,0.000,6,0.150,0.042,2601,2515,1673
$GC,7982,0.92,206.9,393.5,6.2,449,8009,0.12,2.45,20.83,1.144,4,0.081,0.072,2651,3927,1575
$GC,8014,0.86,206.9,391.2,8.0,450,8021,0.12,2.30,0.00,0.000,6,0.154,0.042,2619,2514,1574
$GC,8329,0.98,246.8,372.2,5.7,466,8372,0.12,2.53,33.62,1.150,4,0.091,0.072,2665,3922,1412
$GC,8378,0.91,246.8,368.7,7.6,468,8382,0.12,2.30,0.00,0.000,6,0.150,0.042,2634,2522,1411
$GC,8704,0.99,259.8,347.7,6.6,484,8725,0.00,2.38,11.90,1.070,4,0.000,0.056,2634,1111,1360
$GC,8730,1.11,275.9,345.9,6.5,485,8751,0.15,2.33,14.82,1.068,6,0.080,0.051,2691,2529,1295
$GC,9079,1.02,275.9,312.8,9.9,502,9083,0.12,2.33,0.00,0.000,4,0.134,0.056,2658,1111,1292
$GC,9116,1.08,275.9,309.3,8.1,503,9123,0.00,2.28,0.00,0.000,6,0.000,0.051,2659,2520,1292
$GC,9431,1.08,275.9,282.1,9.0,519,9435,0.00,2.28,0.00,0.000,4,0.000,0.057,2658,1112,1292
$GC,9449,1.13,275.9,280.8,9.3,519,9456,0.10,2.28,0.00,0.000,6,0.098,0.051,2695,2531,1291
$GC,9764,1.04,275.9,245.7,11.0,535,9765,0.12,0.00,0.00,0.000,6,0.147,0.000,2662,2531,1291
$GC,10072,1.04,275.9,218.8,8.2,550,10076,0.00,2.28,0.00,0.000,4,0.000,0.057,2662,1114,1291
$GC,10082,1.09,275.9,218.0,8.1,550,10087,0.00,2.28,0.00,0.000,6,0.000,0.051,2662,2523,1291
$GC,10403,1.15,275.9,191.8,8.8,566,10407,0.10,2.28,0.00,0.000,4,0.088,0.056,2704,1110,1291
$GC,10412,1.15,275.9,190.9,8.9,566,10417,0.00,2.28,0.00,0.000,6,0.000,0.051,2704,2520,1291
$GC,10734,1.06,275.9,156.9,10.2,582,10739,0.15,2.28,0.00,0.000,4,0.140,0.058,2661,1109,1291
$GC,10743,1.02,275.9,155.9,10.0,582,10748,0.00,2.25,0.00,0.000,6,0.000,0.052,2661,2521,1291
$GC,11065,1.11,279.3,132.5,6.9,598,11070,0.00,0.00,3.72,0.719,6,0.000,0.000,2661,2520,1281
$GC,11374,1.24,304.9,113.3,6.1,613,11404,0.15,2.40,22.40,1.075,4,0.077,0.058,2720,1109,1176
$GC,11410,1.17,304.9,110.4,8.7,614,11417,0.12,2.33,0.00,0.000,6,0.143,0.051,2687,2532,1175
$GC,11739,1.23,308.1,86.6,6.9,654,11745,0.00,2.33,0.00,0.000,4,0.000,0.058,2687,1104,1172
$GC,11757,1.31,316.8,85.4,6.7,657,11776,0.12,2.30,11.05,1.003,6,0.088,0.053,2732,2529,1127
$GC,12114,1.24,316.8,52.3,9.1,720,12120,0.12,0.00,0.00,0.000,6,0.141,0.000,2697,2529,1125
$GC,12457,1.49,382.2,27.3,4.8,781,12522,0.20,2.47,55.65,1.026,4,0.071,0.059,2785,1116,860
$GC,12569,1.44,382.2,17.0,10.2,800,12576,0.15,2.35,0.00,0.000,6,0.146,0.052,2747,2523,856
$STATE,12754,end climb,SURFACE_DEPTH_REACHED
$STATE,12754,begin surface coast
$FINISH,0.9,1.012780
$STATE,12784,end surface coast,CONTROL_FINISHED_OK
$STATE,12784,begin surface
$SM_CCo,12859,0.00,0.000,0,0,846,385.86
$SM_GC,1.52,7.40,0.00,0.00,0.077,0.000,0.000,161,2331,846,-10.39,-0.25,385.86
$RAFOS_CLK,740
$RAFOS,4,1222735457,0.750000,0.738056,99,64,62,59,58,54,823,206,197,171,223,149
$RAFOS,3,1222734843,0.583333,0.567500,74,65,57,54,54,51,813,193,205,214,153,225
$RAFOS,2,1222734246,0.416667,0.401667,83,70,59,58,51,51,1002,185,220,201,232,131
$RAFOS,1,1222733647,0.250000,0.235278,62,56,55,54,53,52,172,203,214,153,185,121
$RAFOS_FIX,6639.721680,-6031.706543,300908,000016,3,85,1.82
$IRIDIUM_FIX,6609.62,-6036.17,251297,000027
$TT8_MAMPS,0.029146
$HUMID,1890
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.1,27.231
$10V_AH,10.6,10.531
$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,22.300,125.325,463.400,0.000,0.000,51.513,53.525,131.557,0.250,0.000,0.000,15.804,1537.661,9163.130,589.789,1593.286,391.881,33.368,1487.012,0.000,1568.510,1440.000,0.528,0.000
$DEVICE_MAMPS,266.916,80.535,1252.511,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.128,569.053,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31530,838
$CAP_FILE_SIZE,119126,0
$CFSIZE,260165632,242798592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.1
$GPS,300908,034938,6640.978,-6038.356,41,0.8,41,-38.0