version: 66.04
glider: 113
mission: 4
dive: 490
start: 12 29 108 13 20 38
data:
$ID,113
$MISSION,4
$DIVE,490
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-103239.28
$T_RSLEEP,60
$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,35
$R_STBD_OVSHOOT,19
$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,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,130538,6633.290,-6039.329,36,1.5,36,-37.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-10.3
$GPS2,132017,6633.338,-6039.277,10,3.1,29,-37.9
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.171,0.145
$KALMAN_X,92161.7,2854.1,-1884.4,-156741.9,18024.5
$KALMAN_Y,-85168.8,-2637.6,1741.4,-9743.2,-16656.9
$MHEAD_RNG_PITCHd_Wd,109.7,175818,-12.9,-7.021
$D_GRID,449
$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,17,-1.08,-146.0,0.0,0.0,0,159,0.00,0.00,-136.93,0.000,6,0.000,0.000,164,2332,3016
$GC,163,-1.08,-146.0,0.7,1.4,25,176,7.35,2.55,0.00,0.000,4,0.127,0.057,2196,947,3017
$GC,432,-1.19,-146.0,0.9,-0.9,72,438,0.00,2.55,0.00,0.000,6,0.000,0.051,2196,2351,3018
$GC,779,-1.31,-146.0,0.9,0.0,133,785,0.17,2.55,0.00,0.000,4,0.089,0.055,2143,946,3018
$GC,1041,-1.43,-146.0,0.9,0.2,179,1047,0.00,2.45,0.00,0.000,6,0.000,0.051,2142,2341,3018
$GC,1387,-1.54,-146.0,0.9,-0.2,240,1394,0.15,2.47,0.00,0.000,4,0.095,0.056,2093,933,3018
$GC,1649,-1.66,-146.0,0.9,-0.1,286,1655,0.00,2.42,0.00,0.000,6,0.000,0.051,2093,2352,3019
$GC,1996,-1.78,-146.0,0.8,0.1,347,2003,0.15,2.42,0.00,0.000,4,0.096,0.055,2041,943,3018
$GC,2259,-1.89,-146.0,0.9,0.1,393,2265,0.00,2.38,0.00,0.000,6,0.000,0.052,2041,2352,3019
$GC,2606,-2.00,-146.0,0.9,-0.0,454,2612,0.15,2.42,0.00,0.000,4,0.091,0.056,1986,933,3019
$GC,2869,-2.11,-146.0,0.9,0.1,500,2875,0.00,2.38,0.00,0.000,6,0.000,0.052,1986,2348,3019
$GC,3214,-2.23,-146.0,0.9,0.1,561,3221,0.12,2.40,0.00,0.000,4,0.098,0.056,1942,939,3019
$GC,3477,-2.34,-146.0,0.8,0.1,607,3484,0.00,2.35,0.00,0.000,6,0.000,0.052,1942,2343,3018
$GC,3824,-2.46,-146.0,0.9,0.1,668,3831,0.15,2.40,0.00,0.000,4,0.097,0.056,1889,935,3018
$GC,4089,-2.57,-146.0,1.0,-0.1,714,4095,0.00,2.35,0.00,0.000,6,0.000,0.052,1889,2340,3019
$GC,4435,-2.68,-146.0,0.9,-0.1,775,4442,0.12,2.40,0.00,0.000,4,0.097,0.057,1842,933,3018
$GC,4697,-2.80,-146.0,0.9,-0.1,821,4704,0.00,2.38,0.00,0.000,6,0.000,0.052,1842,2352,3018
$GC,5044,-2.91,-146.0,0.9,0.0,882,5051,0.15,2.40,0.00,0.000,4,0.100,0.056,1792,944,3019
$GC,5306,-3.03,-146.0,0.9,-0.6,928,5312,0.00,2.35,0.00,0.000,6,0.000,0.051,1791,2348,3018
$GC,5653,-3.14,-146.0,0.9,0.1,989,5659,0.15,2.40,0.00,0.000,4,0.099,0.056,1740,942,3018
$GC,5916,-3.25,-146.0,0.9,-0.0,1035,5922,0.00,2.35,0.00,0.000,6,0.000,0.052,1740,2344,3019
$GC,6261,-3.36,-146.0,1.0,-0.8,1096,6268,0.12,2.40,0.00,0.000,4,0.094,0.057,1695,936,3018
$GC,6523,-3.48,-146.0,0.8,0.5,1142,6529,0.00,2.38,0.00,0.000,6,0.000,0.052,1695,2349,3018
$GC,6870,-3.48,-146.0,0.8,0.1,1203,6876,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,935,3018
$GC,7132,-3.48,-146.0,0.9,-0.0,1249,7139,0.00,2.38,0.00,0.000,6,0.000,0.052,1694,2347,3018
$GC,7479,-3.48,-146.0,1.0,-0.2,1310,7485,0.00,2.40,0.00,0.000,4,0.000,0.057,1695,939,3018
$GC,7742,-3.48,-146.0,0.9,-0.1,1356,7748,0.00,2.38,0.00,0.000,6,0.000,0.055,1695,2338,3018
$GC,8089,-3.48,-146.0,0.9,-0.0,1417,8095,0.00,2.40,0.00,0.000,4,0.000,0.059,1695,939,3019
$GC,8350,-3.48,-146.0,0.9,-0.1,1463,8356,0.00,2.40,0.00,0.000,6,0.000,0.055,1695,2352,3019
$GC,8697,-3.48,-146.0,0.9,0.3,1524,8703,0.00,2.42,0.00,0.000,4,0.000,0.058,1695,931,3018
$GC,8959,-3.48,-146.0,0.9,0.5,1570,8965,0.00,2.40,0.00,0.000,6,0.000,0.054,1695,2348,3019
$GC,9306,-3.48,-146.0,0.8,0.1,1631,9312,0.00,2.42,0.00,0.000,4,0.000,0.058,1695,933,3019
$GC,9568,-3.48,-146.0,0.9,0.0,1677,9574,0.00,2.40,0.00,0.000,6,0.000,0.054,1695,2348,3018
$GC,9913,-3.48,-146.0,0.8,0.1,1738,9919,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,944,3018
$GC,10177,-3.48,-146.0,0.8,0.2,1784,10184,0.00,2.38,0.00,0.000,6,0.000,0.054,1695,2347,3018
$GC,10524,-3.48,-146.0,0.9,0.1,1845,10531,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,944,3019
$GC,10787,-3.48,-146.0,0.9,-0.1,1891,10793,0.00,2.38,0.00,0.000,6,0.000,0.053,1695,2348,3018
$GC,11133,-3.48,-146.0,0.9,-0.3,1952,11140,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,944,3018
$GC,11396,-3.48,-146.0,0.9,0.1,1998,11402,0.00,2.38,0.00,0.000,6,0.000,0.053,1695,2348,3018
$GC,11742,-3.48,-146.0,0.8,0.2,2059,11749,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,943,3019
$GC,12004,-3.48,-146.0,0.8,-0.0,2105,12010,0.00,2.38,0.00,0.000,6,0.000,0.054,1695,2343,3018
$GC,12351,-3.48,-146.0,0.8,0.1,2166,12357,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,944,3018
$GC,12613,-3.48,-146.0,0.8,0.2,2212,12619,0.00,2.38,0.00,0.000,6,0.000,0.054,1695,2343,3019
$GC,12960,-3.48,-146.0,0.9,-0.0,2273,12966,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,941,3019
$GC,13222,-3.48,-146.0,0.9,-1.8,2319,13228,0.00,2.38,0.00,0.000,6,0.000,0.054,1695,2341,3018
$GC,13569,-3.48,-146.0,0.9,-0.2,2380,13575,0.00,2.40,0.00,0.000,4,0.000,0.059,1695,944,3018
$GC,13831,-3.48,-146.0,0.9,-0.0,2426,13838,0.00,2.38,0.00,0.000,6,0.000,0.054,1695,2345,3019
$GC,14177,-3.48,-146.0,0.9,-0.3,2487,14184,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,940,3018
$GC,14440,-3.48,-146.0,0.8,0.4,2533,14446,0.00,2.38,0.00,0.000,6,0.000,0.053,1695,2346,3019
$GC,14787,-3.48,-146.0,0.8,0.1,2594,14793,0.00,2.40,0.00,0.000,4,0.000,0.058,1695,944,3018
$STATE,15006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15006,begin apogee
$FREEZE,0.85,-4.248,-0.335
$GC,15016,-0.34,0.0,0.8,-0.3,2633,15028,2.20,0.00,6.95,0.881,2,0.137,0.000,2360,2522,2988
$STATE,15029,end apogee,SURFACE_DEPTH_REACHED
$STATE,15030,begin surface coast
$FREEZE,0.79,-4.239,-0.335
$FREEZE,0.88,-4.251,-0.335
$FREEZE,0.83,-4.241,-0.335
$FREEZE,0.93,-4.241,-0.335
$FREEZE,0.93,-4.241,-0.335
$FREEZE,0.82,-4.246,-0.335
$FREEZE,0.87,-4.254,-0.335
$FREEZE,0.85,-4.255,-0.335
$FREEZE,0.88,-4.246,-0.335
$FINISH,0.9,1.004469
$STATE,15080,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15080,begin surface
$SM_CCo,15100,313.62,0.897,0,0,1502,225.19
$SM_GC,0.80,0.00,0.00,313.62,0.000,0.000,0.897,156,2329,1502,-10.49,-0.28,225.19
$RAFOS_CLK,908
$RAFOS,4,1230569044,16.750000,16.734444,58,58,55,54,52,51,147,203,213,175,133,118
$RAFOS,3,1230568446,16.583334,16.568333,70,66,54,53,52,51,174,204,124,216,225,531
$RAFOS,2,1230567843,16.416666,16.400833,59,57,57,52,52,52,206,157,221,185,143,175
$RAFOS,1,1230567246,16.250000,16.235001,70,57,50,49,47,47,222,174,148,127,203,194
$RAFOS,0,1230566646,16.083334,16.068333,72,57,54,52,51,51,153,174,235,209,220,850
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6604.29,-6032.06,250398,070728
$TT8_MAMPS,0.028379
$HUMID,1863
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.2,91.228
$10V_AH,10.4,41.973
$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,17.400,120.775,6.950,313.625,0.000,32.991,26.606,604.835,0.000,0.000,0.000,32.284,4025.028,6578.484,610.974,3856.972,1198.727,0.000,2370.634,0.000,3816.292,1800.000,0.538,0.000
$DEVICE_MAMPS,136.526,62.894,880.516,897.390,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2003.400,1796.348,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,87920,2643
$CAP_FILE_SIZE,191973,0
$CFSIZE,260165632,214794240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,291208,173907,6631.446,-6040.798,36,2.0,42,-37.8