version: 66.04
glider: 113
mission: 4
dive: 492
start: 12 29 108 22 15 48
data:
$ID,113
$MISSION,4
$DIVE,492
$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,-103285.19
$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
$GPS1,220707,6624.970,-6045.076,35,1.7,40,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-10.4
$GPS2,221526,6624.793,-6045.173,12,1.8,29,-37.7
$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,105.3,185315,-8.0,-7.021
$D_GRID,401
$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,-291.9,0.0,0.0,0,218,0.00,0.00,-197.85,0.000,6,0.000,0.000,163,2342,3610
$GC,223,-0.94,-291.9,0.9,0.0,36,236,7.40,2.58,0.00,0.000,4,0.128,0.058,2229,933,3612
$GC,492,-0.83,-291.9,0.8,0.0,83,499,0.10,2.55,0.00,0.000,6,0.166,0.054,2253,2342,3613
$GC,838,-0.72,-291.9,0.8,-0.2,144,845,0.10,2.53,0.00,0.000,4,0.175,0.058,2278,935,3614
$GC,1101,-0.62,-291.9,0.8,0.0,190,1107,0.10,2.45,0.00,0.000,6,0.160,0.054,2300,2346,3614
$GC,1448,-0.51,-291.9,0.8,-0.1,251,1454,0.10,2.45,0.00,0.000,4,0.162,0.058,2327,939,3614
$GC,1710,-0.40,-291.9,0.9,0.2,297,1717,0.10,2.40,0.00,0.000,6,0.171,0.054,2350,2348,3614
$GC,2058,-0.29,-291.9,0.7,0.1,358,2064,0.10,2.42,0.00,0.000,4,0.175,0.057,2377,939,3614
$GC,2320,-0.18,-291.9,0.7,0.2,404,2326,0.00,2.40,0.00,0.000,6,0.000,0.056,2377,2350,3614
$GC,2666,-0.07,-291.9,0.9,-0.1,465,2672,0.17,2.45,0.00,0.000,4,0.156,0.058,2425,934,3614
$GC,2928,0.04,-291.9,0.8,0.1,511,2934,0.00,2.40,0.00,0.000,6,0.000,0.054,2426,2350,3614
$GC,3274,0.16,-291.9,0.8,0.1,572,3281,0.17,2.45,0.00,0.000,4,0.158,0.058,2474,935,3614
$GC,3537,0.26,-291.9,0.8,0.0,618,3543,0.00,2.40,0.00,0.000,6,0.000,0.054,2474,2352,3614
$GC,3883,0.38,-291.9,0.8,0.2,679,3890,0.15,2.45,0.00,0.000,4,0.156,0.058,2516,933,3614
$GC,4145,0.48,-291.9,0.9,-0.0,725,4152,0.10,2.38,0.00,0.000,6,0.167,0.054,2540,2340,3614
$GC,4492,0.59,-291.9,0.8,0.2,786,4499,0.10,2.42,0.00,0.000,4,0.178,0.058,2566,940,3614
$GC,4755,0.71,-291.9,0.8,0.1,832,4762,0.10,2.38,0.00,0.000,6,0.168,0.054,2588,2341,3614
$GC,5102,0.82,-291.9,0.8,0.9,893,5108,0.10,2.42,0.00,0.000,4,0.169,0.058,2613,937,3614
$GC,5364,0.93,-291.9,0.8,-0.0,939,5371,0.10,2.40,0.00,0.000,6,0.168,0.054,2637,2352,3614
$GC,5710,1.03,-291.9,0.9,0.1,1000,5717,0.10,2.45,0.00,0.000,4,0.173,0.058,2664,933,3614
$GC,5973,1.14,-291.9,0.7,-0.2,1046,5979,0.00,2.40,0.00,0.000,6,0.000,0.055,2664,2340,3614
$GC,6319,1.25,-291.9,0.8,-0.1,1107,6326,0.15,2.45,0.00,0.000,4,0.162,0.060,2706,937,3614
$GC,6585,1.36,-291.9,0.8,-0.2,1153,6592,0.10,2.40,0.00,0.000,6,0.166,0.056,2730,2344,3614
$GC,6932,1.47,-291.9,0.8,0.0,1214,6939,0.10,2.45,0.00,0.000,4,0.181,0.058,2756,932,3614
$GC,7194,1.47,-291.9,0.7,0.2,1260,7200,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2341,3614
$GC,7540,1.47,-291.9,0.7,0.1,1321,7546,0.00,2.42,0.00,0.000,4,0.000,0.059,2756,929,3614
$GC,7802,1.47,-291.9,0.8,0.0,1367,7808,0.00,2.42,0.00,0.000,6,0.000,0.054,2756,2353,3614
$GC,8148,1.47,-291.9,0.8,-0.0,1428,8154,0.00,2.45,0.00,0.000,4,0.000,0.059,2756,932,3614
$GC,8410,1.47,-291.9,0.7,0.2,1474,8416,0.00,2.42,0.00,0.000,6,0.000,0.055,2756,2352,3614
$GC,8757,1.47,-291.9,0.8,-0.0,1535,8763,0.00,2.42,0.00,0.000,4,0.000,0.058,2756,939,3614
$GC,9018,1.47,-291.9,0.8,0.2,1581,9024,0.00,2.40,0.00,0.000,6,0.000,0.056,2756,2341,3614
$GC,9365,1.47,-291.9,0.8,-0.0,1642,9371,0.00,2.42,0.00,0.000,4,0.000,0.059,2756,930,3614
$GC,9628,1.47,-291.9,0.9,0.0,1688,9635,0.00,2.40,0.00,0.000,6,0.000,0.053,2756,2343,3614
$GC,9975,1.47,-291.9,0.8,0.1,1749,9981,0.00,2.42,0.00,0.000,4,0.000,0.060,2756,939,3614
$GC,10236,1.47,-291.9,0.9,-0.2,1795,10243,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2350,3614
$GC,10583,1.47,-291.9,0.8,-0.1,1856,10589,0.00,2.42,0.00,0.000,4,0.000,0.058,2756,940,3614
$GC,10844,1.47,-291.9,0.8,0.0,1902,10851,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2348,3614
$GC,11191,1.47,-291.9,0.8,-0.1,1963,11197,0.00,2.42,0.00,0.000,4,0.000,0.058,2756,936,3615
$GC,11453,1.47,-291.9,0.9,-0.2,2009,11460,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2341,3615
$GC,11800,1.47,-291.9,0.8,-0.1,2070,11806,0.00,2.42,0.00,0.000,4,0.000,0.059,2756,932,3615
$GC,12064,1.47,-291.9,0.8,0.2,2116,12070,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2341,3615
$GC,12410,1.47,-291.9,0.8,0.1,2177,12416,0.00,2.42,0.00,0.000,4,0.000,0.058,2756,932,3615
$GC,12672,1.47,-291.9,0.8,-0.0,2223,12679,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2341,3615
$GC,13019,1.47,-291.9,0.8,-0.0,2284,13025,0.00,2.42,0.00,0.000,4,0.000,0.060,2756,939,3615
$GC,13281,1.47,-291.9,0.8,-0.1,2330,13288,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2343,3615
$GC,13628,1.47,-291.9,0.8,-0.2,2391,13635,0.00,2.42,0.00,0.000,4,0.000,0.059,2756,936,3615
$GC,13890,1.47,-291.9,0.8,0.2,2437,13896,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2341,3615
$GC,14236,1.47,-291.9,0.8,-0.0,2498,14243,0.00,2.42,0.00,0.000,4,0.000,0.059,2756,936,3615
$GC,14499,1.47,-291.9,0.8,-0.3,2544,14505,0.00,2.40,0.00,0.000,6,0.000,0.054,2756,2341,3615
$GC,14845,1.47,-291.9,0.8,0.1,2605,14852,0.00,2.42,0.00,0.000,4,0.000,0.059,2756,936,3615
$STATE,15007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15010,begin apogee
$FREEZE,0.72,-6.563,-0.296
$GC,15022,-0.34,0.0,0.8,0.0,2634,15033,1.15,0.00,7.90,0.879,2,0.071,0.000,2356,2528,3549
$STATE,15035,end apogee,SURFACE_DEPTH_REACHED
$STATE,15035,begin surface coast
$FREEZE,0.80,-6.549,-0.296
$FREEZE,0.83,-6.575,-0.297
$FINISH,0.8,1.003532
$STATE,15046,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15046,begin surface
$SM_CCo,15066,262.65,0.879,0,0,1502,225.19
$SM_GC,0.80,0.00,0.00,262.65,0.000,0.000,0.879,155,2339,1502,-10.49,-0.03,225.19
$RAFOS_CLK,890
$RAFOS,4,1230597844,0.750000,0.734444,66,66,66,62,51,50,137,198,217,160,177,233
$RAFOS,3,1230597246,0.583333,0.568333,67,59,53,51,50,50,209,222,122,192,166,154
$RAFOS,2,1230596644,0.416667,0.401111,72,63,60,59,54,52,209,185,129,172,227,149
$RAFOS,1,1230596042,0.250000,0.233889,66,65,55,54,52,52,215,161,198,120,136,187
$RAFOS,0,1230595444,0.083333,0.067778,63,60,59,56,50,50,223,189,156,208,133,146
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6604.29,-6042.06,250398,171759
$TT8_MAMPS,0.027612
$HUMID,1865
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,91.396
$10V_AH,10.4,42.224
$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,16.975,121.950,7.900,262.650,0.000,25.828,31.729,238.603,0.000,0.000,0.000,31.041,3971.419,6591.414,600.767,3844.152,802.873,0.000,2366.692,0.000,3807.088,1800.000,0.546,0.000
$DEVICE_MAMPS,181.012,62.127,878.982,878.982,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1942.768,2158.842,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,84863,2637
$CAP_FILE_SIZE,176795,0
$CFSIZE,260165632,214654976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,301208,023258,6621.785,-6047.059,29,3.2,48,-37.6