version: 66.04
glider: 113
mission: 4
dive: 496
start: 12 30 108 16 13 54
data:
$ID,113
$MISSION,4
$DIVE,496
$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,-103431.78
$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
$GPS1,155951,6614.276,-6052.921,37,2.2,56,-37.4
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-10.4
$GPS2,161329,6614.158,-6053.027,14,2.3,33,-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,100.3,198726,-8.0,-7.021
$D_GRID,353
$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,14,begin dive
$GC,17,-0.94,-291.9,0.0,0.0,0,224,0.00,0.00,-200.30,0.000,6,0.000,0.000,159,2326,3611
$GC,230,-0.94,-291.9,0.7,-0.1,37,244,7.53,2.60,0.00,0.000,4,0.133,0.061,2233,937,3612
$GC,499,-0.83,-291.9,0.6,0.2,84,506,0.10,2.58,0.00,0.000,6,0.160,0.054,2256,2343,3613
$GC,846,-0.71,-291.9,0.8,-0.1,145,853,0.10,2.58,0.00,0.000,4,0.164,0.060,2282,940,3613
$GC,1109,-0.60,-291.9,0.7,-0.0,191,1116,0.10,2.50,0.00,0.000,6,0.160,0.054,2305,2348,3613
$GC,1455,-0.60,-291.9,0.7,-0.0,252,1461,0.00,2.50,0.00,0.000,4,0.000,0.061,2305,932,3613
$GC,1715,-0.49,-291.9,0.8,-0.0,298,1722,0.10,2.45,0.00,0.000,6,0.168,0.054,2328,2344,3613
$GC,2064,-0.38,-291.9,0.7,0.0,359,2071,0.10,2.47,0.00,0.000,4,0.167,0.060,2354,935,3613
$GC,2327,-0.27,-291.9,0.7,0.3,405,2334,0.10,2.42,0.00,0.000,6,0.163,0.056,2377,2341,3613
$GC,2674,-0.16,-291.9,0.7,0.1,466,2681,0.10,2.47,0.00,0.000,4,0.170,0.061,2404,931,3613
$GC,2938,-0.05,-291.9,0.8,-2.5,512,2944,0.00,2.42,0.00,0.000,6,0.000,0.055,2404,2345,3613
$GC,3284,0.06,-291.9,0.7,0.1,573,3291,0.17,2.47,0.00,0.000,4,0.158,0.061,2453,937,3613
$GC,3546,0.17,-291.9,0.7,-0.0,619,3553,0.00,2.40,0.00,0.000,6,0.000,0.055,2453,2341,3613
$GC,3893,0.29,-291.9,0.7,-0.1,680,3899,0.17,2.47,0.00,0.000,4,0.155,0.061,2502,930,3613
$GC,4155,0.40,-291.9,0.7,0.1,726,4162,0.00,2.42,0.00,0.000,6,0.000,0.054,2502,2352,3613
$GC,4502,0.51,-291.9,0.7,-0.0,787,4508,0.17,2.50,0.00,0.000,4,0.153,0.061,2552,928,3613
$GC,4765,0.62,-291.9,0.6,0.1,833,4772,0.00,2.42,0.00,0.000,6,0.000,0.056,2552,2343,3613
$GC,5112,0.73,-291.9,0.7,-0.0,894,5119,0.17,2.47,0.00,0.000,4,0.160,0.061,2599,933,3613
$GC,5374,0.84,-291.9,0.7,-0.3,940,5381,0.00,2.40,0.00,0.000,6,0.000,0.055,2599,2341,3613
$GC,5721,0.95,-291.9,0.7,0.2,1001,5728,0.15,2.47,0.00,0.000,4,0.157,0.061,2640,931,3613
$GC,5984,1.06,-291.9,0.7,-0.1,1047,5990,0.10,2.42,0.00,0.000,6,0.161,0.055,2664,2348,3613
$GC,6331,1.17,-291.9,0.7,-0.5,1108,6337,0.10,2.47,0.00,0.000,4,0.172,0.060,2691,933,3613
$GC,6593,1.28,-291.9,0.7,0.3,1154,6599,0.10,2.42,0.00,0.000,6,0.164,0.055,2716,2350,3613
$GC,6940,1.40,-291.9,0.7,-0.1,1215,6946,0.10,2.47,0.00,0.000,4,0.175,0.061,2743,939,3613
$GC,7204,1.51,-291.9,0.7,0.1,1261,7210,0.00,2.40,0.00,0.000,6,0.000,0.055,2743,2340,3613
$GC,7550,1.51,-291.9,0.8,-0.3,1322,7556,0.00,2.42,0.00,0.000,4,0.000,0.061,2743,940,3613
$GC,7812,1.51,-291.9,0.7,-0.0,1368,7818,0.00,2.40,0.00,0.000,6,0.000,0.055,2743,2342,3613
$GC,8158,1.51,-291.9,0.7,-0.0,1429,8165,0.00,2.45,0.00,0.000,4,0.000,0.061,2743,932,3613
$GC,8420,1.51,-291.9,0.7,0.3,1475,8426,0.00,2.42,0.00,0.000,6,0.000,0.054,2743,2351,3613
$GC,8766,1.51,-291.9,0.7,-0.0,1536,8773,0.00,2.45,0.00,0.000,4,0.000,0.061,2743,937,3613
$GC,9029,1.51,-291.9,0.7,-0.1,1582,9035,0.00,2.42,0.00,0.000,6,0.000,0.058,2743,2339,3613
$GC,9375,1.51,-291.9,0.8,-1.0,1643,9382,0.00,2.45,0.00,0.000,4,0.000,0.062,2743,933,3613
$GC,9638,1.51,-291.9,0.7,0.1,1689,9644,0.00,2.42,0.00,0.000,6,0.000,0.056,2743,2346,3613
$GC,9983,1.51,-291.9,0.8,-0.1,1750,9990,0.00,2.45,0.00,0.000,4,0.000,0.061,2743,939,3613
$GC,10247,1.51,-291.9,0.6,0.1,1796,10254,0.00,2.42,0.00,0.000,6,0.000,0.058,2743,2341,3613
$GC,10594,1.51,-291.9,0.7,-0.0,1857,10600,0.00,2.45,0.00,0.000,4,0.000,0.063,2743,936,3613
$GC,10856,1.51,-291.9,0.8,-0.3,1903,10862,0.00,2.42,0.00,0.000,6,0.000,0.058,2743,2341,3613
$GC,11203,1.51,-291.9,0.7,0.0,1964,11209,0.00,2.45,0.00,0.000,4,0.000,0.062,2743,936,3613
$GC,11464,1.51,-291.9,0.7,-0.1,2010,11471,0.00,2.42,0.00,0.000,6,0.000,0.058,2743,2345,3613
$GC,11811,1.51,-291.9,0.7,0.0,2071,11817,0.00,2.45,0.00,0.000,4,0.000,0.061,2743,935,3613
$GC,12073,1.51,-291.9,0.7,0.1,2117,12080,0.00,2.42,0.00,0.000,6,0.000,0.058,2743,2340,3613
$GC,12420,1.51,-291.9,0.7,0.5,2178,12426,0.00,2.45,0.00,0.000,4,0.000,0.063,2743,935,3613
$GC,12682,1.51,-291.9,0.7,0.0,2224,12689,0.00,2.42,0.00,0.000,6,0.000,0.056,2743,2344,3613
$GC,13028,1.51,-291.9,0.8,-0.3,2285,13035,0.00,2.45,0.00,0.000,4,0.000,0.062,2743,938,3613
$GC,13290,1.51,-291.9,0.7,-0.2,2331,13296,0.00,2.42,0.00,0.000,6,0.000,0.057,2743,2345,3613
$GC,13637,1.51,-291.9,0.7,-0.2,2392,13643,0.00,2.45,0.00,0.000,4,0.000,0.061,2743,937,3613
$GC,13898,1.51,-291.9,0.7,-0.2,2438,13905,0.00,2.40,0.00,0.000,6,0.000,0.054,2743,2341,3613
$GC,14245,1.51,-291.9,0.6,0.0,2499,14251,0.00,2.45,0.00,0.000,4,0.000,0.061,2743,932,3613
$GC,14507,1.51,-291.9,0.6,0.1,2545,14513,0.00,2.42,0.00,0.000,6,0.000,0.055,2743,2345,3613
$GC,14853,1.51,-291.9,0.7,-0.1,2606,14859,0.00,2.45,0.00,0.000,4,0.000,0.062,2743,939,3613
$STATE,15015,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15015,begin apogee
$FREEZE,0.70,-4.809,-0.396
$GC,15025,-0.34,0.0,0.7,-0.1,2634,15036,1.10,0.00,7.85,0.884,2,0.071,0.000,2356,2527,3548
$STATE,15038,end apogee,SURFACE_DEPTH_REACHED
$STATE,15038,begin surface coast
$FREEZE,0.69,-4.797,-0.396
$FREEZE,0.72,-4.806,-0.396
$FREEZE,0.67,-4.802,-0.396
$FREEZE,0.71,-4.814,-0.396
$FREEZE,0.68,-4.801,-0.396
$FREEZE,0.72,-4.802,-0.396
$FREEZE,0.65,-4.795,-0.396
$FINISH,0.7,1.005347
$STATE,15080,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15080,begin surface
$SM_CCo,15099,263.70,0.887,0,0,1502,225.19
$SM_GC,0.67,0.00,0.00,263.70,0.000,0.000,0.887,158,2340,1502,-10.48,0.00,225.19
$RAFOS_CLK,902
$RAFOS,1,1230668046,20.250000,20.235001,61,60,58,58,56,49,220,190,208,142,168,126
$RAFOS,0,1230667444,20.083334,20.067778,60,58,53,52,51,50,222,123,197,156,166,208
$RAFOS,4,1230655445,16.750000,16.734722,72,66,60,53,51,49,203,222,169,191,137,125
$RAFOS,3,1230654843,16.583334,16.567499,66,61,58,56,54,52,202,161,116,215,129,145
$RAFOS,2,1230654245,16.416666,16.401388,65,60,56,54,51,50,208,195,126,182,165,156
$RAFOS,1,1230653655,16.250000,16.237499,61,60,58,57,55,53,206,188,163,148,120,216
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6543.17,-6051.03,260398,161626
$TT8_MAMPS,0.029146
$HUMID,1850
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.3,91.760
$10V_AH,10.4,42.736
$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,16.925,123.200,7.850,263.700,0.000,89.607,140.470,251.090,0.000,0.000,0.000,35.597,3977.736,6720.471,603.275,3858.258,1007.589,0.000,2374.570,0.000,3813.722,2520.000,0.545,0.000
$DEVICE_MAMPS,174.876,65.195,884.351,887.419,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1946.299,2241.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88105,2642
$CAP_FILE_SIZE,181016,0
$CFSIZE,260165632,214278144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,301208,203152,6609.052,-6058.638,41,4.9,60,-37.3