version: 66.04
glider: 113
mission: 4
dive: 472
start: 12 26 108 3 51 14
data:
$ID,113
$MISSION,4
$DIVE,472
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51576
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,558.3028
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-75454.68
$T_RSLEEP,2
$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,26
$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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$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
$GPS1,001954,6638.369,-5944.780,0,3119.7,0,-37.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-24.0
$GPS2,001954,6638.369,-5944.780,0,3119.7,0,-37.8
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.216,-0.059
$KALMAN_X,0.0,0.0,0.0,-110359.1,0.0
$KALMAN_Y,0.0,0.0,0.0,-29904.6,0.0
$MHEAD_RNG_PITCHd_Wd,292.6,43176,-12.9,-7.021
$D_GRID,739
$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,16,-1.08,-146.0,0.0,0.0,0,173,0.00,0.00,-153.30,0.000,2,0.000,0.000,163,2334,2477
$GC,177,-1.08,-146.0,3.7,-1.4,27,209,8.90,2.40,-17.73,0.000,4,0.269,0.071,2201,932,3018
$GC,339,-0.77,-146.0,31.5,-16.0,54,346,0.25,2.35,0.00,0.000,6,0.160,0.056,2270,2347,3022
$GC,686,-0.70,-146.0,72.3,-11.1,115,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2347,3022
$GC,1028,-0.70,-146.0,107.7,-9.3,165,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2348,3022
$GC,1337,-0.70,-146.0,136.6,-10.3,180,1341,0.00,2.40,0.00,0.000,4,0.000,0.058,2270,928,3022
$GC,1432,-0.70,-146.0,146.7,-10.2,184,1437,0.00,2.38,0.00,0.000,6,0.000,0.056,2270,2340,3022
$GC,1755,-0.70,-146.0,174.3,-8.9,200,1759,0.00,2.45,0.00,0.000,4,0.000,0.071,2270,3750,3022
$GC,1857,-0.77,-146.0,183.1,-8.6,204,1861,0.00,2.30,0.00,0.000,6,0.000,0.042,2270,2331,3023
$GC,2178,-0.77,-146.0,211.1,-8.1,220,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2331,3022
$GC,2488,-0.77,-146.0,236.3,-8.4,235,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2331,3022
$GC,2797,-0.84,-146.0,259.2,-7.1,250,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2331,3023
$GC,3107,-0.90,-146.0,283.0,-7.6,265,3109,0.12,0.00,0.00,0.000,6,0.097,0.000,2225,2331,3023
$GC,3417,-0.83,-146.0,310.9,-8.7,280,3421,0.12,2.35,0.00,0.000,4,0.165,0.057,2257,933,3023
$GC,3472,-0.83,-146.0,315.7,-7.9,282,3476,0.00,2.38,0.00,0.000,6,0.000,0.054,2257,2348,3023
$GC,3789,-0.88,-146.0,338.9,-7.4,297,3793,0.00,2.45,0.00,0.000,4,0.000,0.072,2257,3748,3023
$GC,3868,-0.98,-146.0,345.4,-7.8,300,3873,0.12,2.28,0.00,0.000,6,0.098,0.042,2215,2334,3023
$GC,4190,-0.90,-146.0,375.8,-9.7,316,4195,0.10,2.35,0.00,0.000,4,0.166,0.057,2241,937,3022
$GC,4230,-0.90,-146.0,379.3,-8.6,318,4234,0.00,2.38,0.00,0.000,6,0.000,0.055,2241,2350,3022
$GC,4583,-0.90,-146.0,406.6,-7.2,333,4586,0.00,2.45,0.00,0.000,4,0.000,0.072,2241,3750,3022
$GC,4695,-0.98,-146.0,414.8,-7.3,335,4699,0.00,2.30,0.00,0.000,6,0.000,0.041,2241,2326,3023
$GC,5045,-0.98,-146.0,440.8,-7.4,344,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2326,3023
$GC,5369,-0.98,-146.0,464.5,-7.3,352,5373,0.00,2.50,0.00,0.000,4,0.000,0.069,2241,3746,3024
$GC,5448,-1.07,-146.0,470.1,-6.7,353,5455,0.15,2.28,0.00,0.000,6,0.087,0.041,2190,2340,3023
$GC,5780,-0.93,-146.0,499.9,-9.2,362,5785,0.15,2.35,0.00,0.000,4,0.150,0.054,2230,937,3024
$GC,5836,-0.93,-146.0,505.0,-8.3,363,5840,0.00,2.38,0.00,0.000,6,0.000,0.054,2231,2352,3024
$GC,6149,-0.93,-146.0,528.8,-7.6,371,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2353,3024
$GC,6475,-0.93,-146.0,552.7,-7.3,379,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2352,3025
$GC,6799,-0.93,-146.0,576.2,-7.1,387,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2352,3026
$GC,7124,-0.93,-146.0,599.0,-7.0,395,7128,0.00,2.42,0.00,0.000,4,0.000,0.067,2231,3748,3026
$GC,7171,-1.01,-146.0,602.1,-6.9,396,7174,0.00,2.28,0.00,0.000,6,0.000,0.041,2231,2338,3027
$GC,7502,-1.01,-146.0,626.0,-7.2,404,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2338,3027
$GC,7826,-1.01,-146.0,649.5,-7.1,412,7830,0.00,2.47,0.00,0.000,4,0.000,0.067,2231,3748,3027
$GC,7911,-1.10,-146.0,655.9,-7.4,413,7918,0.12,2.28,0.00,0.000,6,0.096,0.041,2190,2334,3027
$GC,8244,-1.48,-146.0,667.0,-0.0,422,8249,0.25,2.50,0.00,0.000,4,0.068,0.066,2085,3746,3028
$STATE,8320,end dive,NO_VERTICAL_VELOCITY
$STATE,8320,begin apogee
$GC,8329,-0.34,0.0,667.1,0.0,423,8467,0.85,0.00,134.98,1.285,6,0.107,0.000,2357,2511,2420
$STATE,8468,end apogee,CONTROL_FINISHED_OK
$STATE,8468,begin climb
$GC,8472,1.08,146.0,666.8,0.0,427,8713,1.10,2.75,167.18,1.059,4,0.103,0.051,2664,1123,1824
$GC,8776,1.01,146.0,649.0,8.1,434,8781,0.00,2.58,0.00,0.000,6,0.000,0.049,2664,2517,1825
$GC,9091,0.88,146.0,624.8,7.8,442,9096,0.15,2.55,0.00,0.000,4,0.140,0.064,2625,3941,1825
$GC,9153,0.77,146.0,620.0,7.5,443,9157,0.00,2.40,0.00,0.000,6,0.000,0.039,2625,2517,1825
$GC,9496,0.79,162.8,598.1,6.4,452,9516,0.00,2.47,15.25,1.167,4,0.000,0.067,2625,3941,1757
$GC,9551,0.72,162.8,594.4,7.4,453,9556,0.12,2.30,0.00,0.000,6,0.143,0.040,2591,2510,1757
$GC,9899,0.97,207.1,575.8,5.5,462,9943,0.17,2.40,37.60,1.228,4,0.078,0.052,2657,1109,1576
$GC,10012,0.97,207.1,567.7,7.3,464,10016,0.00,2.33,0.00,0.000,6,0.000,0.051,2657,2533,1576
$GC,10361,1.07,207.1,542.4,7.3,473,10364,0.00,2.30,0.00,0.000,4,0.000,0.069,2657,3926,1576
$GC,10372,1.15,207.1,541.6,7.2,473,10377,0.10,2.20,0.00,0.000,6,0.093,0.039,2698,2505,1577
$GC,10692,0.98,207.1,512.0,9.7,481,10694,0.17,0.00,0.00,0.000,6,0.140,0.000,2649,2505,1576
$GC,11016,1.00,216.0,489.2,6.7,489,11030,0.00,2.45,8.77,1.058,4,0.000,0.069,2648,3926,1539
$GC,11048,1.00,216.0,486.6,7.4,489,11052,0.00,2.22,0.00,0.000,6,0.000,0.041,2649,2515,1540
$GC,11385,1.00,216.0,462.4,7.2,498,11389,0.00,2.25,0.00,0.000,4,0.000,0.053,2649,1118,1541
$GC,11396,1.00,216.0,461.6,7.1,498,11400,0.00,2.28,0.00,0.000,6,0.000,0.050,2649,2533,1541
$GC,11715,1.00,220.2,439.4,6.9,506,11722,0.00,0.00,5.18,0.878,6,0.000,0.000,2649,2533,1522
$GC,12040,1.02,237.4,418.4,6.4,514,12058,0.00,0.00,15.62,1.114,6,0.000,0.000,2648,2533,1452
$GC,12370,1.02,237.4,394.5,7.3,523,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2533,1453
$GC,12679,1.03,239.7,373.5,6.9,538,12684,0.00,0.00,3.65,0.684,6,0.000,0.000,2649,2533,1442
$GC,12989,1.08,239.7,351.1,7.3,553,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2533,1445
$GC,13297,1.15,256.7,330.9,6.4,568,13317,0.12,0.00,15.65,1.076,6,0.081,0.000,2704,2533,1373
$GC,13626,1.06,256.7,300.7,9.6,584,13628,0.15,0.00,0.00,0.000,6,0.131,0.000,2659,2534,1374
$GC,13937,1.12,260.7,279.4,6.9,599,13946,0.00,2.33,4.85,0.809,4,0.000,0.054,2659,1115,1357
$GC,13964,1.26,286.6,277.4,6.1,600,13994,0.17,2.28,22.45,1.071,6,0.074,0.049,2725,2523,1251
$GC,14314,1.14,286.6,240.8,10.7,617,14319,0.15,2.33,0.00,0.000,4,0.130,0.064,2681,3927,1251
$GC,14348,1.09,286.6,237.0,9.5,618,14352,0.00,2.22,0.00,0.000,6,0.000,0.041,2681,2508,1251
$GC,14670,1.14,286.6,212.7,7.6,634,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2508,1250
$GC,14980,1.19,286.6,189.8,7.1,649,14981,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2508,1250
$GC,15289,1.29,301.4,169.0,6.5,664,15308,0.12,0.00,13.35,1.015,6,0.075,0.000,2733,2508,1191
$GC,15619,1.22,301.4,142.1,7.8,680,15620,0.12,0.00,0.00,0.000,6,0.134,0.000,2696,2508,1191
$GC,15927,1.29,301.4,119.6,7.6,695,15931,0.00,2.28,0.00,0.000,4,0.000,0.056,2696,1115,1191
$GC,15951,1.39,301.4,117.9,7.0,696,15956,0.15,2.28,0.00,0.000,6,0.076,0.051,2755,2517,1191
$GC,16279,1.29,301.4,86.8,9.4,727,16285,0.15,0.00,0.00,0.000,6,0.140,0.000,2712,2517,1190
$GC,16624,1.36,311.6,61.7,6.7,788,16637,0.00,0.00,9.68,0.943,6,0.000,0.000,2712,2517,1149
$GC,16978,1.46,330.6,40.1,6.4,850,17001,0.15,0.00,17.15,0.983,6,0.076,0.000,2772,2517,1072
$GC,17341,1.37,330.6,7.7,9.0,914,17349,0.15,2.38,0.00,0.000,4,0.133,0.068,2729,3933,1070
$GC,17373,1.31,330.6,5.2,8.3,919,17379,0.00,2.25,0.00,0.000,6,0.000,0.042,2728,2514,1070
$STATE,17417,end climb,SURFACE_DEPTH_REACHED
$STATE,17417,begin surface coast
$FINISH,1.6,1.025939
$STATE,17452,end surface coast,CONTROL_FINISHED_OK
$STATE,17452,begin surface
$SM_CCo,17473,214.32,0.890,2,0,144,558.30
$SM_GC,2.46,0.00,0.00,214.32,0.000,0.000,0.890,157,2338,144,-10.48,-0.06,558.30
$RAFOS_CLK,1112
$RAFOS,3,1230280446,8.583333,8.568334,105,61,59,56,54,54,677,192,204,175,119,133
$RAFOS,2,1230279841,8.416667,8.400278,64,59,57,53,52,49,182,195,211,150,220,114
$RAFOS,1,1230279253,8.250000,8.236944,83,65,63,61,59,56,649,217,151,197,187,133
$RAFOS,0,1230278656,8.083333,8.071111,146,76,60,58,57,55,526,204,161,213,144,187
$RAFOS,4,1230266659,4.750000,4.738611,64,56,56,56,56,55,132,162,186,219,759,206
$RAFOS,3,1230266041,4.583333,4.566945,135,71,61,59,58,51,706,206,151,163,176,194
$RAFOS,2,1230265443,4.416667,4.400833,57,57,56,54,54,52,166,213,194,132,179,150
$RAFOS,1,1230264842,4.250000,4.233889,131,56,55,54,53,51,702,157,132,168,178,207
$RAFOS,0,1230264243,4.083333,4.067500,131,58,58,57,46,46,599,145,117,211,185,129
$RAFOS_FIX,6637.392578,-5947.351074,261208,040450,3,132,0.18
$IRIDIUM_FIX,6631.12,-5745.67,160398,040408
$TT8_MAMPS,0.028379
$HUMID,1851
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,15.20
$XPDR_PINGS,4
$24V_AH,19.5,87.482
$10V_AH,10.4,39.949
$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,21.800,108.700,471.350,214.325,0.000,168.173,143.903,0.000,1.000,0.000,0.000,906.435,1709.362,13333.033,882.233,2703.597,681.025,33.352,1899.703,0.000,1785.745,3240.000,0.529,0.000
$DEVICE_MAMPS,269.217,72.098,1284.725,890.487,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.668,637.097,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34665,933
$CAP_FILE_SIZE,129813,0
$CFSIZE,260165632,215531520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$SOUNDSPEED,1447.2
$GPS,261208,041850,6637.393,-5947.351,0,3132.3,0,-37.8