version: 66.04
glider: 113
mission: 4
dive: 495
start: 12 30 108 11 42 3
data:
$ID,113
$MISSION,4
$DIVE,495
$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,-103395.56
$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,29
$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
$GPS1,113328,6614.915,-6052.146,36,4.5,55,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-10.3
$GPS2,114141,6614.901,-6052.185,15,4.9,34,-37.4
$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,100.6,197560,-8.0,-7.021
$D_GRID,357
$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,-291.9,0.0,0.0,0,216,0.00,0.00,-194.70,0.000,6,0.000,0.000,158,2341,3611
$GC,221,-0.94,-291.9,0.8,-0.3,35,234,7.45,2.60,0.00,0.000,4,0.130,0.061,2227,931,3612
$GC,490,-0.82,-291.9,0.8,-0.1,82,497,0.12,2.58,0.00,0.000,6,0.157,0.055,2256,2340,3613
$GC,836,-0.71,-291.9,0.7,0.1,143,843,0.10,2.58,0.00,0.000,4,0.173,0.061,2282,932,3613
$GC,1099,-0.61,-291.9,0.7,-0.0,189,1106,0.10,2.50,0.00,0.000,6,0.161,0.054,2305,2347,3613
$GC,1446,-0.50,-291.9,0.7,0.1,250,1453,0.08,2.50,0.00,0.000,4,0.178,0.060,2326,936,3614
$GC,1709,-0.39,-291.9,0.7,-0.1,296,1715,0.10,2.45,0.00,0.000,6,0.165,0.057,2350,2349,3614
$GC,2056,-0.39,-291.9,0.7,-0.0,357,2062,0.00,2.45,0.00,0.000,4,0.000,0.061,2350,940,3613
$GC,2318,-0.28,-291.9,0.7,0.2,403,2324,0.10,2.42,0.00,0.000,6,0.170,0.058,2373,2348,3613
$GC,2665,-0.16,-291.9,0.8,-0.1,464,2672,0.10,2.47,0.00,0.000,4,0.172,0.061,2400,931,3613
$GC,2928,-0.06,-291.9,0.8,0.1,510,2935,0.10,2.42,0.00,0.000,6,0.161,0.055,2421,2350,3613
$GC,3274,0.06,-291.9,0.7,0.1,571,3281,0.10,2.47,0.00,0.000,4,0.168,0.061,2448,929,3613
$GC,3537,0.17,-291.9,0.7,0.1,617,3544,0.10,2.42,0.00,0.000,6,0.166,0.057,2472,2346,3613
$GC,3885,0.28,-291.9,0.8,0.0,678,3892,0.10,2.47,0.00,0.000,4,0.170,0.061,2500,928,3613
$GC,4148,0.39,-291.9,0.7,0.1,724,4154,0.00,2.42,0.00,0.000,6,0.000,0.055,2500,2350,3613
$GC,4494,0.50,-291.9,0.7,0.3,785,4501,0.17,2.47,0.00,0.000,4,0.153,0.061,2549,940,3613
$GC,4756,0.61,-291.9,0.8,0.2,831,4763,0.00,2.40,0.00,0.000,6,0.000,0.057,2550,2340,3613
$GC,5103,0.72,-291.9,0.7,0.0,892,5110,0.17,2.47,0.00,0.000,4,0.156,0.061,2597,931,3614
$GC,5365,0.83,-291.9,0.7,0.1,938,5372,0.00,2.40,0.00,0.000,6,0.000,0.054,2597,2340,3613
$GC,5714,0.94,-291.9,0.8,-0.1,999,5720,0.15,2.47,0.00,0.000,4,0.157,0.061,2639,929,3614
$GC,5976,1.05,-291.9,0.7,-0.0,1045,5983,0.10,2.42,0.00,0.000,6,0.160,0.055,2663,2350,3614
$GC,6322,1.16,-291.9,0.7,0.2,1106,6329,0.10,2.47,0.00,0.000,4,0.176,0.061,2690,933,3613
$GC,6585,1.27,-291.9,0.7,-0.0,1152,6592,0.10,2.40,0.00,0.000,6,0.169,0.056,2715,2340,3613
$GC,6932,1.38,-291.9,0.7,0.4,1213,6939,0.08,2.45,0.00,0.000,4,0.187,0.061,2735,939,3613
$GC,7195,1.49,-291.9,0.7,0.5,1259,7202,0.10,2.40,0.00,0.000,6,0.164,0.055,2759,2348,3613
$GC,7543,1.49,-291.9,0.8,0.2,1320,7549,0.00,2.45,0.00,0.000,4,0.000,0.061,2759,935,3613
$GC,7805,1.49,-291.9,0.8,0.1,1366,7811,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2348,3614
$GC,8152,1.49,-291.9,0.8,0.0,1427,8160,0.00,2.45,0.00,0.000,4,0.000,0.061,2759,934,3613
$GC,8416,1.49,-291.9,0.7,-0.0,1473,8422,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2345,3613
$GC,8762,1.49,-291.9,0.8,-0.1,1534,8768,0.00,2.45,0.00,0.000,4,0.000,0.061,2759,931,3614
$GC,9024,1.49,-291.9,0.8,0.1,1580,9031,0.00,2.42,0.00,0.000,6,0.000,0.055,2759,2346,3613
$GC,9371,1.49,-291.9,0.7,0.1,1641,9377,0.00,2.45,0.00,0.000,4,0.000,0.061,2759,933,3613
$GC,9632,1.49,-291.9,0.8,-0.2,1687,9638,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2348,3613
$GC,9979,1.49,-291.9,0.7,0.1,1748,9985,0.00,2.45,0.00,0.000,4,0.000,0.061,2759,936,3613
$GC,10243,1.49,-291.9,0.8,0.0,1794,10249,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2350,3614
$GC,10590,1.49,-291.9,0.7,-0.2,1855,10596,0.00,2.47,0.00,0.000,4,0.000,0.061,2759,929,3614
$GC,10852,1.49,-291.9,0.7,0.0,1901,10858,0.00,2.45,0.00,0.000,6,0.000,0.056,2759,2350,3613
$GC,11198,1.49,-291.9,0.7,0.0,1962,11204,0.00,2.47,0.00,0.000,4,0.000,0.062,2759,930,3614
$GC,11459,1.49,-291.9,0.7,-0.0,2008,11465,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2340,3614
$GC,11805,1.49,-291.9,0.7,-0.3,2069,11812,0.00,2.45,0.00,0.000,4,0.000,0.062,2759,933,3613
$GC,12070,1.49,-291.9,0.7,0.0,2115,12077,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2347,3613
$GC,12417,1.49,-291.9,0.7,0.7,2176,12423,0.00,2.45,0.00,0.000,4,0.000,0.061,2759,940,3614
$GC,12679,1.49,-291.9,0.8,0.4,2222,12686,0.00,2.40,0.00,0.000,6,0.000,0.055,2759,2341,3614
$GC,13026,1.49,-291.9,0.7,-0.1,2283,13033,0.00,2.45,0.00,0.000,4,0.000,0.061,2759,936,3614
$GC,13288,1.49,-291.9,0.7,0.0,2329,13294,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2348,3614
$GC,13635,1.49,-291.9,0.7,-0.1,2390,13641,0.00,2.47,0.00,0.000,4,0.000,0.062,2759,930,3613
$GC,13897,1.49,-291.9,0.7,0.1,2436,13903,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2341,3613
$GC,14244,1.49,-291.9,0.8,0.0,2497,14250,0.00,2.45,0.00,0.000,4,0.000,0.063,2759,939,3614
$GC,14506,1.49,-291.9,0.7,-0.0,2543,14513,0.00,2.42,0.00,0.000,6,0.000,0.056,2759,2351,3613
$GC,14852,1.49,-291.9,0.7,-0.0,2604,14859,0.00,2.47,0.00,0.000,4,0.000,0.061,2759,929,3614
$STATE,15009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15009,begin apogee
$FREEZE,0.63,-6.041,-0.319
$GC,15023,-0.34,0.0,0.7,-0.2,2632,15034,1.15,0.00,7.85,0.882,2,0.066,0.000,2354,2530,3549
$STATE,15036,end apogee,SURFACE_DEPTH_REACHED
$STATE,15036,begin surface coast
$FREEZE,0.73,-6.017,-0.319
$FREEZE,0.72,-6.012,-0.319
$FREEZE,0.77,-6.030,-0.319
$FREEZE,0.67,-6.026,-0.319
$FREEZE,0.70,-6.026,-0.319
$FREEZE,0.83,-6.032,-0.319
$FINISH,0.8,1.003974
$STATE,15075,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15075,begin surface
$SM_CCo,15095,263.17,0.885,0,0,1502,225.19
$SM_GC,0.67,0.00,0.00,263.17,0.000,0.000,0.885,159,2326,1502,-10.47,-0.40,225.19
$RAFOS_CLK,890
$RAFOS,4,1230641042,12.750000,12.733889,65,65,60,59,55,52,165,222,203,191,134,145
$RAFOS,3,1230640442,12.583333,12.567223,59,59,55,53,51,50,178,213,161,194,222,146
$RAFOS,2,1230639842,12.416667,12.400556,67,65,60,58,55,55,213,199,145,167,118,224
$RAFOS,1,1230639245,12.250000,12.234722,61,60,60,58,54,54,170,119,229,142,212,155
$RAFOS,0,1230638641,12.083333,12.066944,59,59,58,57,57,52,174,192,218,208,163,125
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6553.70,-6043.20,260398,070707
$TT8_MAMPS,0.027612
$HUMID,1871
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.3,91.666
$10V_AH,10.4,42.606
$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,17.025,123.325,7.850,263.175,0.000,27.331,34.767,216.025,0.000,0.000,0.000,37.136,3996.862,6573.519,600.357,3846.502,815.224,0.000,2369.610,0.000,3810.218,1800.000,0.547,0.000
$DEVICE_MAMPS,187.148,63.661,882.050,885.118,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1944.858,2232.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,84882,2639
$CAP_FILE_SIZE,179689,0
$CFSIZE,260165632,214396928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,301208,155951,6614.276,-6052.921,37,2.2,56,-37.4