version: 66.04
glider: 113
mission: 4
dive: 119
start: 9 30 108 7 42 57
data:
$ID,113
$MISSION,4
$DIVE,119
$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,-24163.375
$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,28
$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
$GPS1,073708,6640.112,-6040.240,29,0.9,29,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.4
$GPS2,074202,6640.050,-6040.184,11,1.7,11,-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,-0.044,0.220
$KALMAN_X,17470.3,294.5,-62.1,-124191.9,398.4
$KALMAN_Y,-12921.1,21.8,-685.3,-13707.2,-2643.8
$MHEAD_RNG_PITCHd_Wd,26.7,4158,-12.9,-7.021
$D_GRID,479
$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,-145.9,0.0,0.0,0,127,0.00,0.00,-108.00,0.000,2,0.000,0.000,165,2336,2793
$GC,130,-1.08,-146.0,3.3,-2.7,19,155,8.80,2.42,-7.68,0.000,4,0.271,0.084,2192,3742,3020
$GC,409,-0.75,-146.0,53.9,-14.4,68,416,0.30,2.25,0.00,0.000,6,0.171,0.044,2274,2324,3024
$GC,753,-0.75,-146.0,84.0,-7.4,129,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2324,3026
$GC,1087,-0.75,-146.0,107.4,-7.0,175,1090,0.00,2.38,0.00,0.000,4,0.000,0.074,2275,3744,3026
$GC,1199,-0.80,-146.0,115.5,-7.3,180,1203,0.00,2.22,0.00,0.000,6,0.000,0.044,2275,2326,3026
$GC,1530,-0.80,-146.0,139.6,-7.5,196,1534,0.00,2.20,0.00,0.000,4,0.000,0.059,2274,936,3026
$GC,1585,-0.80,-146.0,144.1,-8.6,198,1589,0.00,2.28,0.00,0.000,6,0.000,0.056,2274,2352,3026
$GC,1905,-0.80,-146.0,168.2,-7.5,214,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2353,3025
$GC,2215,-0.86,-146.0,189.0,-6.1,229,2220,0.10,2.28,0.00,0.000,4,0.119,0.058,2241,938,3025
$GC,2264,-0.77,-146.0,193.0,-8.2,231,2269,0.12,2.25,0.00,0.000,6,0.179,0.055,2271,2344,3025
$GC,2585,-0.84,-146.0,209.8,-4.9,247,2589,0.00,2.30,0.00,0.000,4,0.000,0.074,2272,3743,3025
$GC,2674,-0.96,-146.0,214.7,-5.7,251,2678,0.17,2.20,0.00,0.000,6,0.089,0.044,2210,2338,3025
$GC,2994,-0.83,-146.0,238.8,-7.2,267,2998,0.17,2.35,0.00,0.000,4,0.164,0.074,2257,3742,3024
$GC,3049,-0.92,-146.0,242.0,-5.2,269,3055,0.00,2.20,0.00,0.000,6,0.000,0.045,2258,2339,3025
$GC,3364,-0.96,-146.0,260.9,-6.5,285,3369,0.12,2.22,0.00,0.000,4,0.105,0.058,2215,932,3024
$GC,3482,-0.82,-146.0,271.5,-9.0,290,3486,0.17,2.25,0.00,0.000,6,0.171,0.054,2260,2342,3024
$GC,3807,-0.88,-146.0,294.3,-7.4,306,3811,0.00,2.30,0.00,0.000,4,0.000,0.074,2259,3754,3024
$GC,3935,-0.98,-146.0,304.5,-8.2,311,3943,0.15,2.22,0.00,0.000,6,0.104,0.044,2208,2324,3023
$GC,4251,-0.88,-146.0,332.0,-8.5,327,4256,0.15,2.22,0.00,0.000,4,0.161,0.059,2248,928,3023
$GC,4311,-0.88,-146.0,337.0,-7.6,329,4318,0.00,2.30,0.00,0.000,6,0.000,0.055,2248,2345,3023
$GC,4628,-0.93,-146.0,358.8,-6.6,345,4632,0.00,2.30,0.00,0.000,4,0.000,0.073,2248,3746,3023
$GC,4745,-1.03,-146.0,366.4,-6.2,350,4749,0.15,2.20,0.00,0.000,6,0.103,0.043,2197,2333,3023
$GC,5071,-0.92,-146.0,392.1,-7.7,366,5073,0.15,0.00,0.00,0.000,6,0.165,0.000,2238,2332,3023
$GC,5398,-0.97,-146.0,410.2,-5.6,378,5402,0.00,2.35,0.00,0.000,4,0.000,0.074,2238,3744,3023
$GC,5482,-1.06,-146.0,415.9,-6.8,379,5489,0.12,2.20,0.00,0.000,6,0.102,0.044,2195,2330,3023
$GC,5813,-0.97,-146.0,442.3,-8.7,388,5817,0.12,2.22,0.00,0.000,4,0.163,0.058,2227,928,3023
$GC,5923,-0.97,-146.0,451.5,-8.4,390,5928,0.00,2.28,0.00,0.000,6,0.000,0.052,2227,2342,3023
$GC,6271,-0.97,-146.0,477.5,-7.7,399,6275,0.00,2.30,0.00,0.000,4,0.000,0.072,2227,3744,3024
$STATE,6290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6290,begin apogee
$GC,6297,-0.34,0.0,479.1,7.2,399,6426,0.43,0.00,125.97,1.238,6,0.145,0.000,2363,2513,2420
$STATE,6426,end apogee,CONTROL_FINISHED_OK
$STATE,6426,begin climb
$GC,6428,1.08,146.0,481.8,0.0,402,6561,1.05,0.00,128.68,1.144,6,0.112,0.000,2668,2512,1824
$GC,6886,0.90,146.0,447.7,8.0,414,6891,0.15,2.47,0.00,0.000,4,0.156,0.070,2629,3924,1821
$GC,6929,0.75,146.0,443.8,8.3,415,6934,0.15,2.30,0.00,0.000,6,0.151,0.042,2593,2517,1820
$GC,7253,0.84,168.1,423.0,6.3,423,7274,0.10,0.00,19.05,1.138,6,0.091,0.000,2635,2516,1734
$GC,7558,0.84,168.1,394.9,9.9,431,7561,0.00,2.40,0.00,0.000,4,0.000,0.071,2635,3936,1733
$GC,7607,0.69,168.1,389.2,11.2,433,7612,0.20,2.25,0.00,0.000,6,0.146,0.042,2579,2518,1732
$GC,7934,0.99,168.1,361.7,8.8,449,7938,0.22,2.38,0.00,0.000,4,0.079,0.071,2664,3930,1732
$GC,8022,0.75,168.1,352.2,11.0,453,8027,0.25,2.22,0.00,0.000,6,0.148,0.043,2592,2519,1733
$GC,8348,0.92,207.5,331.4,5.7,469,8384,0.15,0.00,32.65,1.149,6,0.078,0.000,2651,2516,1574
$GC,8678,0.93,214.8,307.3,6.8,485,8688,0.00,0.00,7.55,0.979,6,0.000,0.000,2651,2516,1544
$GC,8987,0.98,251.0,288.6,5.8,500,9020,0.00,0.00,30.70,1.115,6,0.000,0.000,2651,2516,1396
$GC,9316,0.98,251.0,266.4,7.1,516,9320,0.00,2.28,0.00,0.000,4,0.000,0.056,2651,1110,1393
$GC,9326,0.98,251.0,265.8,7.1,516,9331,0.00,2.30,0.00,0.000,6,0.000,0.050,2651,2515,1393
$GC,9647,1.01,278.0,245.5,6.1,532,9677,0.00,2.40,22.60,1.095,4,0.000,0.056,2651,1110,1286
$GC,9694,1.20,336.8,242.8,5.0,534,9753,0.15,2.30,50.15,1.076,6,0.081,0.049,2708,2518,1045
$GC,10062,1.14,336.8,208.3,10.2,552,10067,0.10,2.35,0.00,0.000,4,0.147,0.057,2683,1109,1036
$GC,10123,1.21,336.8,202.5,9.6,555,10128,0.00,2.30,0.00,0.000,6,0.000,0.050,2682,2529,1036
$GC,10455,1.27,336.8,171.5,9.2,571,10460,0.12,2.33,0.00,0.000,4,0.081,0.058,2731,1106,1034
$GC,10493,1.20,336.8,167.2,11.7,572,10501,0.15,2.28,0.00,0.000,6,0.151,0.051,2691,2522,1034
$GC,10808,1.20,336.8,135.0,10.1,588,10812,0.00,2.30,0.00,0.000,4,0.000,0.058,2691,1107,1033
$GC,10846,1.27,336.8,131.4,10.1,589,10853,0.10,2.28,0.00,0.000,6,0.095,0.050,2729,2533,1033
$GC,11163,1.20,336.8,96.7,11.1,608,11170,0.12,2.30,0.00,0.000,4,0.142,0.058,2694,1112,1032
$GC,11198,1.20,336.8,93.5,9.4,614,11204,0.00,2.25,0.00,0.000,6,0.000,0.051,2694,2524,1032
$GC,11541,1.27,336.8,65.8,7.7,675,11547,0.00,2.28,0.00,0.000,4,0.000,0.058,2694,1115,1031
$GC,11576,1.37,336.8,63.2,7.4,681,11583,0.12,2.25,0.00,0.000,6,0.087,0.051,2744,2529,1031
$GC,11920,1.37,336.8,32.2,9.3,742,11926,0.00,2.30,0.00,0.000,4,0.000,0.060,2745,1110,1031
$GC,11966,1.37,336.8,28.0,8.9,750,11972,0.00,2.25,0.00,0.000,6,0.000,0.052,2745,2521,1031
$GC,12309,1.37,336.8,2.1,8.3,811,12315,0.00,2.28,0.00,0.000,4,0.000,0.060,2745,1112,1030
$STATE,12319,end climb,SURFACE_DEPTH_REACHED
$STATE,12320,begin surface coast
$FINISH,0.8,1.024467
$STATE,12349,end surface coast,CONTROL_FINISHED_OK
$STATE,12349,begin surface
$SM_CCo,12426,0.00,0.000,0,0,1028,341.46
$SM_GC,1.65,7.22,0.00,0.00,0.077,0.000,0.000,166,2348,1028,-10.38,0.23,341.46
$RAFOS_CLK,709
$RAFOS,4,1222764258,8.750000,8.738334,91,66,61,61,55,53,825,209,153,173,124,223
$RAFOS,3,1222763650,8.583333,8.569445,91,62,55,55,54,54,782,178,120,161,227,214
$RAFOS,2,1222763056,8.416667,8.404445,112,67,62,56,54,53,961,160,201,215,122,180
$RAFOS,1,1222762460,8.250000,8.238889,119,57,55,54,53,52,711,176,158,209,193,218
$RAFOS,0,1222761858,8.083333,8.071667,107,62,59,57,52,52,550,211,196,164,237,134
$RAFOS_FIX,6640.565430,-6035.689453,300908,080827,5,104,1.29
$IRIDIUM_FIX,6614.97,-6040.90,251297,040459
$TT8_MAMPS,0.027612
$HUMID,1895
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.1,27.516
$10V_AH,10.6,10.649
$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,21.625,113.625,417.350,0.000,0.000,23.944,29.637,135.823,0.000,0.000,0.000,13.004,1504.222,8752.030,568.294,1578.124,334.713,33.371,1425.735,0.000,1559.198,1800.000,0.530,0.000
$DEVICE_MAMPS,270.751,84.370,1237.938,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.166,556.770,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28440,818
$CAP_FILE_SIZE,109748,0
$CFSIZE,260165632,242704384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.9
$GPS,300908,111138,6641.077,-6040.627,38,1.3,38,-38.0