version: 66.04
glider: 113
mission: 4
dive: 493
start: 12 30 108 2 41 39
data:
$ID,113
$MISSION,4
$DIVE,493
$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,-103322.26
$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,18
$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
$GPS1,023258,6621.785,-6047.059,29,3.2,48,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-10.4
$GPS2,024117,6621.720,-6047.042,15,2.9,34,-37.6
$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,103.7,188796,-8.0,-7.021
$D_GRID,391
$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,-291.9,0.0,0.0,0,221,0.00,0.00,-197.90,0.000,6,0.000,0.000,155,2339,3610
$GC,226,-0.94,-291.9,0.7,0.1,36,239,7.43,2.58,0.00,0.000,4,0.127,0.059,2227,937,3612
$GC,495,-0.83,-291.9,0.7,0.2,83,502,0.12,2.58,0.00,0.000,6,0.151,0.055,2257,2351,3613
$GC,841,-0.72,-291.9,0.8,-0.3,144,848,0.10,2.58,0.00,0.000,4,0.168,0.059,2283,931,3613
$GC,1104,-0.61,-291.9,0.8,0.1,190,1110,0.00,2.50,0.00,0.000,6,0.000,0.054,2283,2355,3613
$GC,1451,-0.50,-291.9,0.8,-0.0,251,1457,0.17,2.50,0.00,0.000,4,0.153,0.059,2333,937,3613
$GC,1713,-0.39,-291.9,0.7,0.1,297,1720,0.00,2.40,0.00,0.000,6,0.000,0.054,2333,2340,3613
$GC,2061,-0.28,-291.9,0.8,-0.1,358,2067,0.15,2.45,0.00,0.000,4,0.164,0.059,2373,934,3613
$GC,2322,-0.18,-291.9,0.8,-0.1,404,2330,0.10,2.40,0.00,0.000,6,0.168,0.054,2395,2346,3613
$GC,2670,-0.07,-291.9,0.7,0.2,465,2677,0.10,2.45,0.00,0.000,4,0.168,0.059,2421,931,3613
$GC,2933,0.04,-291.9,0.8,0.1,511,2940,0.10,2.40,0.00,0.000,6,0.168,0.054,2446,2341,3613
$GC,3280,0.15,-291.9,0.8,-0.0,572,3287,0.10,2.42,0.00,0.000,4,0.174,0.060,2472,941,3613
$GC,3543,0.26,-291.9,0.7,0.1,618,3549,0.00,2.40,0.00,0.000,6,0.000,0.055,2472,2351,3613
$GC,3889,0.37,-291.9,0.7,-0.0,679,3896,0.17,2.47,0.00,0.000,4,0.154,0.060,2521,932,3613
$GC,4152,0.48,-291.9,0.8,-0.4,725,4159,0.00,2.40,0.00,0.000,6,0.000,0.054,2521,2341,3613
$GC,4499,0.59,-291.9,0.8,0.0,786,4506,0.17,2.45,0.00,0.000,4,0.156,0.060,2569,940,3613
$GC,4762,0.70,-291.9,0.8,-0.1,832,4768,0.00,2.40,0.00,0.000,6,0.000,0.055,2569,2348,3613
$GC,5108,0.81,-291.9,0.8,-0.0,893,5115,0.17,2.47,0.00,0.000,4,0.154,0.059,2618,931,3613
$GC,5371,0.92,-291.9,0.7,0.0,939,5377,0.00,2.40,0.00,0.000,6,0.000,0.054,2618,2340,3613
$GC,5717,1.03,-291.9,0.9,-0.1,1000,5724,0.15,2.45,0.00,0.000,4,0.166,0.059,2660,937,3613
$GC,5979,1.13,-291.9,0.8,0.0,1046,5986,0.00,2.40,0.00,0.000,6,0.000,0.056,2661,2341,3613
$GC,6327,1.25,-291.9,0.7,0.2,1107,6334,0.17,2.45,0.00,0.000,4,0.163,0.060,2709,942,3613
$GC,6589,1.35,-291.9,0.7,0.3,1153,6596,0.00,2.40,0.00,0.000,6,0.000,0.055,2710,2350,3613
$GC,6936,1.35,-291.9,0.8,-0.0,1214,6942,0.00,2.45,0.00,0.000,4,0.000,0.061,2709,932,3613
$GC,7199,1.46,-291.9,0.8,-0.1,1260,7205,0.17,2.42,0.00,0.000,6,0.152,0.055,2754,2350,3613
$GC,7546,1.46,-291.9,0.7,0.3,1321,7552,0.00,2.45,0.00,0.000,4,0.000,0.060,2754,932,3613
$GC,7807,1.46,-291.9,0.8,-0.2,1367,7813,0.00,2.42,0.00,0.000,6,0.000,0.055,2754,2349,3613
$GC,8153,1.46,-291.9,0.8,-0.2,1428,8160,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,936,3613
$GC,8416,1.46,-291.9,0.8,-0.0,1474,8422,0.00,2.40,0.00,0.000,6,0.000,0.055,2754,2340,3613
$GC,8762,1.46,-291.9,0.8,0.2,1535,8769,0.00,2.42,0.00,0.000,4,0.000,0.061,2754,942,3613
$GC,9025,1.46,-291.9,0.8,0.2,1581,9031,0.00,2.40,0.00,0.000,6,0.000,0.055,2754,2343,3613
$GC,9372,1.46,-291.9,0.8,-0.1,1642,9378,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,930,3613
$GC,9634,1.46,-291.9,0.8,-0.1,1688,9641,0.00,2.42,0.00,0.000,6,0.000,0.055,2754,2343,3613
$GC,9981,1.46,-291.9,0.8,0.1,1749,9987,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,930,3612
$GC,10243,1.46,-291.9,0.8,0.1,1795,10250,0.00,2.42,0.00,0.000,6,0.000,0.055,2754,2346,3613
$GC,10589,1.46,-291.9,0.7,-0.0,1856,10596,0.00,2.42,0.00,0.000,4,0.000,0.060,2754,942,3613
$GC,10851,1.46,-291.9,0.8,-0.1,1902,10857,0.00,2.40,0.00,0.000,6,0.000,0.055,2754,2342,3613
$GC,11198,1.46,-291.9,0.8,0.1,1963,11204,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,931,3613
$GC,11461,1.46,-291.9,0.8,-0.1,2009,11467,0.00,2.42,0.00,0.000,6,0.000,0.054,2754,2346,3613
$GC,11808,1.46,-291.9,0.7,-0.0,2070,11814,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,932,3613
$GC,12070,1.46,-291.9,0.8,-0.7,2116,12076,0.00,2.42,0.00,0.000,6,0.000,0.054,2754,2348,3613
$GC,12416,1.46,-291.9,0.8,0.0,2177,12423,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,933,3613
$GC,12678,1.46,-291.9,0.7,0.0,2223,12684,0.00,2.42,0.00,0.000,6,0.000,0.056,2754,2346,3613
$GC,13024,1.46,-291.9,0.8,0.1,2284,13031,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,933,3613
$GC,13287,1.46,-291.9,0.7,0.3,2330,13293,0.00,2.42,0.00,0.000,6,0.000,0.055,2754,2348,3613
$GC,13634,1.46,-291.9,0.8,0.1,2391,13640,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,934,3613
$GC,13896,1.46,-291.9,0.7,-0.1,2437,13903,0.00,2.42,0.00,0.000,6,0.000,0.056,2754,2346,3613
$GC,14243,1.46,-291.9,0.7,0.1,2498,14249,0.00,2.45,0.00,0.000,4,0.000,0.061,2754,934,3613
$GC,14505,1.46,-291.9,0.7,0.1,2544,14511,0.00,2.42,0.00,0.000,6,0.000,0.055,2754,2345,3613
$GC,14851,1.46,-291.9,0.8,0.3,2605,14858,0.00,2.45,0.00,0.000,4,0.000,0.060,2754,932,3613
$STATE,15009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15009,begin apogee
$FREEZE,0.65,-6.466,-0.311
$GC,15023,-0.34,0.0,0.7,0.1,2633,15035,1.15,0.00,7.93,0.883,2,0.071,0.000,2355,2522,3547
$STATE,15036,end apogee,SURFACE_DEPTH_REACHED
$STATE,15036,begin surface coast
$FREEZE,0.77,-6.472,-0.311
$FREEZE,0.79,-6.462,-0.311
$FREEZE,0.75,-6.467,-0.311
$FREEZE,0.78,-6.461,-0.311
$FREEZE,0.66,-6.468,-0.311
$FREEZE,0.83,-6.447,-0.311
$FREEZE,0.80,-6.466,-0.311
$FREEZE,0.75,-6.473,-0.311
$FREEZE,0.75,-6.467,-0.311
$FREEZE,0.73,-6.465,-0.311
$FINISH,0.7,1.003775
$STATE,15094,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15094,begin surface
$SM_CCo,15114,262.23,0.882,0,0,1501,225.19
$SM_GC,0.77,0.00,0.00,262.23,0.000,0.000,0.882,155,2332,1501,-10.49,-0.23,225.19
$RAFOS_CLK,884
$RAFOS,4,1230612243,4.750000,4.734167,76,57,55,54,53,53,200,158,167,211,125,140
$RAFOS,3,1230611645,4.583333,4.568056,67,65,55,55,54,53,208,229,165,176,154,133
$RAFOS,2,1230611046,4.416667,4.401667,63,55,54,53,53,51,193,211,168,127,232,136
$RAFOS,1,1230610443,4.250000,4.234167,60,55,51,51,48,48,161,181,209,221,193,772
$RAFOS,0,1230609845,4.083333,4.068056,58,58,56,55,52,50,209,218,187,120,153,162
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6558.99,-6049.94,250398,222249
$TT8_MAMPS,0.028379
$HUMID,1888
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.3,91.481
$10V_AH,10.4,42.350
$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,16.925,122.725,7.925,262.225,0.000,24.126,33.415,230.750,0.000,0.000,0.000,36.444,4040.982,6548.497,604.228,3863.086,800.839,0.000,2376.741,0.000,3818.178,1800.000,0.545,0.000
$DEVICE_MAMPS,174.109,63.661,882.817,882.050,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1947.637,2177.896,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,84932,2644
$CAP_FILE_SIZE,179552,0
$CFSIZE,260165632,214573056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,301208,065926,6618.298,-6048.727,38,1.8,38,-37.5