version: 66.04
glider: 113
mission: 4
dive: 494
start: 12 30 108 7 15 15
data:
$ID,113
$MISSION,4
$DIVE,494
$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,300
$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,-103357.8
$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,31
$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
$GPS1,065926,6618.298,-6048.727,38,1.8,38,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-10.4
$GPS2,071453,6618.013,-6048.944,10,2.7,29,-37.5
$SPEED_LIMITS,0.122,0.290
$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,101.9,192916,-8.0,-7.021
$D_GRID,378
$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,-0.94,-291.9,0.0,0.0,0,222,0.00,0.00,-199.62,0.000,6,0.000,0.000,155,2333,3611
$GC,227,-0.94,-291.9,0.6,0.1,36,240,7.50,2.58,0.00,0.000,4,0.128,0.061,2229,934,3612
$GC,496,-0.83,-291.9,0.7,0.2,83,503,0.12,2.58,0.00,0.000,6,0.156,0.053,2258,2348,3613
$GC,842,-0.71,-291.9,0.8,-0.1,144,849,0.10,2.58,0.00,0.000,4,0.165,0.060,2283,943,3613
$GC,1105,-0.61,-291.9,0.8,0.1,190,1111,0.00,2.50,0.00,0.000,6,0.000,0.054,2283,2352,3613
$GC,1451,-0.50,-291.9,0.8,0.0,251,1458,0.15,2.53,0.00,0.000,4,0.152,0.060,2325,932,3613
$GC,1715,-0.39,-291.9,0.8,-0.1,297,1722,0.10,2.45,0.00,0.000,6,0.166,0.054,2348,2348,3613
$GC,2063,-0.28,-291.9,0.7,-0.0,358,2069,0.10,2.47,0.00,0.000,4,0.179,0.060,2375,935,3613
$GC,2324,-0.17,-291.9,0.7,0.1,404,2332,0.10,2.42,0.00,0.000,6,0.167,0.054,2395,2351,3613
$GC,2672,-0.07,-291.9,0.7,-0.0,465,2678,0.10,2.47,0.00,0.000,4,0.164,0.060,2422,932,3613
$GC,2936,0.04,-291.9,0.7,1.7,511,2942,0.10,2.42,0.00,0.000,6,0.167,0.054,2446,2353,3613
$GC,3282,0.15,-291.9,0.8,0.2,572,3289,0.08,2.45,0.00,0.000,4,0.183,0.060,2466,942,3614
$GC,3545,0.26,-291.9,0.7,0.0,618,3551,0.12,2.40,0.00,0.000,6,0.164,0.055,2496,2351,3613
$GC,3891,0.37,-291.9,0.8,-0.1,679,3898,0.00,2.42,0.00,0.000,4,0.000,0.060,2496,942,3613
$GC,4153,0.47,-291.9,0.8,0.2,725,4160,0.17,2.38,0.00,0.000,6,0.154,0.055,2538,2340,3613
$GC,4501,0.58,-291.9,0.8,-0.0,786,4507,0.10,2.45,0.00,0.000,4,0.179,0.060,2564,932,3613
$GC,4763,0.69,-291.9,0.8,-0.0,832,4770,0.10,2.40,0.00,0.000,6,0.168,0.055,2585,2340,3613
$GC,5110,0.80,-291.9,0.8,0.1,893,5117,0.10,2.45,0.00,0.000,4,0.166,0.061,2611,937,3613
$GC,5372,0.91,-291.9,0.7,0.1,939,5379,0.10,2.40,0.00,0.000,6,0.167,0.055,2635,2343,3614
$GC,5719,0.91,-291.9,0.8,-0.0,1000,5725,0.00,2.42,0.00,0.000,4,0.000,0.061,2635,942,3613
$GC,5980,0.91,-291.9,0.7,-0.0,1046,5986,0.00,2.40,0.00,0.000,6,0.000,0.056,2635,2345,3613
$GC,6327,1.02,-291.9,0.7,-0.0,1107,6334,0.08,2.45,0.00,0.000,4,0.183,0.060,2656,942,3613
$GC,6590,1.13,-291.9,0.7,-0.0,1153,6597,0.10,2.40,0.00,0.000,6,0.164,0.054,2679,2351,3613
$GC,6937,1.23,-291.9,0.7,-0.1,1214,6944,0.10,2.47,0.00,0.000,4,0.168,0.060,2706,932,3613
$GC,7200,1.34,-291.9,0.8,0.2,1260,7207,0.08,2.42,0.00,0.000,6,0.171,0.055,2724,2348,3613
$GC,7546,1.46,-291.9,0.7,-0.0,1321,7553,0.10,2.47,0.00,0.000,4,0.168,0.061,2750,932,3613
$GC,7809,1.46,-291.9,0.7,0.1,1367,7815,0.00,2.40,0.00,0.000,6,0.000,0.054,2750,2341,3613
$GC,8154,1.56,-291.9,0.7,0.1,1428,8161,0.10,2.45,0.00,0.000,4,0.169,0.061,2776,941,3613
$GC,8419,1.56,-291.9,0.8,0.2,1474,8425,0.00,2.40,0.00,0.000,6,0.000,0.056,2775,2343,3613
$GC,8766,1.56,-291.9,0.7,0.2,1535,8772,0.00,2.45,0.00,0.000,4,0.000,0.062,2775,931,3613
$GC,9028,1.56,-291.9,0.7,0.1,1581,9034,0.00,2.42,0.00,0.000,6,0.000,0.054,2776,2350,3613
$GC,9374,1.56,-291.9,0.8,0.0,1642,9380,0.00,2.45,0.00,0.000,4,0.000,0.061,2775,940,3613
$GC,9637,1.56,-291.9,0.7,0.9,1688,9644,0.00,2.40,0.00,0.000,6,0.000,0.055,2776,2339,3613
$GC,9984,1.56,-291.9,0.7,0.3,1749,9990,0.00,2.42,0.00,0.000,4,0.000,0.061,2776,942,3613
$GC,10246,1.56,-291.9,0.8,-0.1,1795,10252,0.00,2.40,0.00,0.000,6,0.000,0.055,2776,2343,3613
$GC,10593,1.56,-291.9,0.8,-0.1,1856,10599,0.00,2.42,0.00,0.000,4,0.000,0.060,2776,939,3613
$GC,10855,1.56,-291.9,0.8,-0.2,1902,10861,0.00,2.42,0.00,0.000,6,0.000,0.057,2776,2347,3613
$GC,11201,1.56,-291.9,0.8,-0.2,1963,11208,0.00,2.45,0.00,0.000,4,0.000,0.061,2776,939,3613
$GC,11463,1.56,-291.9,0.7,0.2,2009,11469,0.00,2.42,0.00,0.000,6,0.000,0.055,2776,2351,3613
$GC,11810,1.56,-291.9,0.8,-0.0,2070,11816,0.00,2.45,0.00,0.000,4,0.000,0.061,2776,939,3613
$GC,12072,1.56,-291.9,0.7,-0.1,2116,12079,0.00,2.42,0.00,0.000,6,0.000,0.058,2776,2344,3613
$GC,12421,1.56,-291.9,0.8,-0.2,2177,12427,0.00,2.45,0.00,0.000,4,0.000,0.061,2776,932,3613
$GC,12682,1.56,-291.9,0.8,-0.0,2223,12689,0.00,2.42,0.00,0.000,6,0.000,0.056,2776,2345,3613
$GC,13029,1.56,-291.9,0.7,0.1,2284,13035,0.00,2.45,0.00,0.000,4,0.000,0.061,2776,936,3613
$GC,13291,1.56,-291.9,0.8,0.0,2330,13297,0.00,2.42,0.00,0.000,6,0.000,0.055,2776,2345,3614
$GC,13638,1.56,-291.9,0.7,0.1,2391,13644,0.00,2.45,0.00,0.000,4,0.000,0.061,2775,939,3613
$GC,13900,1.56,-291.9,0.7,-0.1,2437,13907,0.00,2.40,0.00,0.000,6,0.000,0.056,2776,2343,3613
$GC,14247,1.56,-291.9,0.8,-0.1,2498,14254,0.00,2.45,0.00,0.000,4,0.000,0.061,2776,937,3613
$GC,14510,1.56,-291.9,0.7,0.0,2544,14516,0.00,2.42,0.00,0.000,6,0.000,0.055,2776,2352,3613
$GC,14858,1.56,-291.9,0.8,-0.2,2605,14864,0.00,2.45,0.00,0.000,4,0.000,0.061,2775,940,3614
$STATE,15009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15009,begin apogee
$FREEZE,0.72,-6.345,-0.323
$GC,15022,-0.34,0.0,0.7,-0.2,2632,15034,1.20,0.00,7.85,0.880,2,0.067,0.000,2355,2530,3549
$STATE,15035,end apogee,SURFACE_DEPTH_REACHED
$STATE,15035,begin surface coast
$FREEZE,0.82,-6.361,-0.324
$FREEZE,0.73,-6.366,-0.324
$FREEZE,0.77,-6.369,-0.324
$FREEZE,0.80,-6.367,-0.324
$FREEZE,0.75,-6.354,-0.323
$FREEZE,0.69,-6.370,-0.324
$FREEZE,0.73,-6.367,-0.324
$FREEZE,0.77,-6.364,-0.324
$FREEZE,0.76,-6.352,-0.324
$FREEZE,0.80,-6.361,-0.324
$FREEZE,0.77,-6.369,-0.324
$FREEZE,0.72,-6.360,-0.324
$FINISH,0.7,1.003989
$STATE,15102,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15102,begin surface
$SM_CCo,15122,262.25,0.884,0,0,1502,225.19
$SM_GC,0.68,0.00,0.00,262.25,0.000,0.000,0.884,158,2340,1502,-10.48,0.00,225.19
$RAFOS_CLK,910
$RAFOS,4,1230626645,8.750000,8.734722,62,62,57,56,53,53,195,210,228,147,168,122
$RAFOS,3,1230626046,8.583333,8.568334,76,59,58,56,52,50,205,182,171,222,193,127
$RAFOS,2,1230625442,8.416667,8.400556,64,58,58,56,56,50,196,184,175,140,221,122
$RAFOS,1,1230624844,8.250000,8.234445,64,60,60,55,52,52,208,190,228,154,133,218
$RAFOS,0,1230624245,8.083333,8.068055,61,61,59,57,56,51,123,182,194,225,148,166
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6548.42,-6045.82,260398,070729
$TT8_MAMPS,0.027612
$HUMID,1865
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,91.581
$10V_AH,10.4,42.480
$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,17.225,122.800,7.850,262.250,0.000,85.442,107.567,389.850,0.000,0.000,0.000,34.919,4028.370,6683.227,604.214,3858.746,1118.401,0.000,2376.262,0.000,3818.149,1800.000,0.546,0.000
$DEVICE_MAMPS,182.546,63.661,879.749,883.584,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1948.016,2200.758,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,84880,2645
$CAP_FILE_SIZE,185065,0
$CFSIZE,260165632,214474752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,301208,113328,6614.915,-6052.146,36,4.5,55,-37.4