version: 66.04
glider: 113
mission: 4
dive: 473
start: 12 26 108 9 29 48
data:
$ID,113
$MISSION,4
$DIVE,473
$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,-77266.242
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,041850,6637.393,-5947.351,0,3132.3,0,-37.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-34.6
$GPS2,041850,6637.393,-5947.351,0,3132.3,0,-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,-0.217,-0.059
$KALMAN_X,0.0,0.0,0.0,-114916.5,0.0
$KALMAN_Y,0.0,0.0,0.0,-31139.6,0.0
$MHEAD_RNG_PITCHd_Wd,292.6,41649,-12.9,-7.021
$D_GRID,705
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,155,0.00,0.00,-136.10,0.000,2,0.000,0.000,157,2338,2282
$GC,159,-1.08,-146.0,3.1,-0.6,24,207,8.85,2.50,-30.33,0.000,4,0.268,0.085,2198,3746,3017
$GC,232,-0.75,-146.0,12.3,-14.3,36,239,0.28,2.28,0.00,0.000,6,0.166,0.044,2272,2328,3019
$GC,579,-0.66,-146.0,54.2,-11.6,97,585,0.00,2.30,0.00,0.000,4,0.000,0.059,2273,939,3021
$GC,620,-0.55,-146.0,59.3,-12.1,104,627,0.17,2.35,0.00,0.000,6,0.163,0.056,2319,2350,3021
$GC,967,-0.67,-146.0,88.5,-8.6,165,974,0.12,2.42,0.00,0.000,4,0.098,0.072,2274,3743,3021
$GC,1009,-0.72,-146.0,92.7,-9.9,172,1016,0.00,2.28,0.00,0.000,6,0.000,0.043,2274,2330,3021
$GC,1333,-0.72,-146.0,124.9,-9.4,197,1337,0.00,2.33,0.00,0.000,4,0.000,0.058,2273,927,3021
$GC,1384,-0.72,-146.0,129.9,-9.5,199,1388,0.00,2.38,0.00,0.000,6,0.000,0.054,2274,2352,3021
$GC,1711,-0.72,-146.0,156.8,-8.2,215,1715,0.00,2.42,0.00,0.000,4,0.000,0.071,2274,3750,3021
$GC,1757,-0.80,-146.0,160.6,-8.0,217,1761,0.00,2.28,0.00,0.000,6,0.000,0.042,2274,2340,3021
$GC,2090,-0.80,-146.0,188.2,-8.1,233,2095,0.00,2.33,0.00,0.000,4,0.000,0.058,2274,935,3020
$GC,2124,-0.80,-146.0,191.2,-8.4,234,2128,0.00,2.35,0.00,0.000,6,0.000,0.055,2274,2340,3021
$GC,2447,-0.84,-146.0,216.8,-8.1,250,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2340,3021
$GC,2755,-0.90,-146.0,242.7,-8.5,265,2757,0.12,0.00,0.00,0.000,6,0.100,0.000,2229,2340,3021
$GC,3065,-0.81,-146.0,273.0,-9.7,280,3069,0.12,2.45,0.00,0.000,4,0.166,0.071,2259,3742,3021
$GC,3166,-0.90,-146.0,282.2,-8.8,284,3170,0.00,2.30,0.00,0.000,6,0.000,0.044,2259,2328,3021
$GC,3488,-0.95,-146.0,310.7,-8.9,300,3490,0.12,0.00,0.00,0.000,6,0.111,0.000,2217,2329,3021
$GC,3798,-0.85,-146.0,341.1,-9.3,315,3802,0.12,2.35,0.00,0.000,4,0.159,0.057,2250,933,3021
$GC,3867,-0.85,-146.0,347.1,-8.4,318,3871,0.00,2.38,0.00,0.000,6,0.000,0.054,2249,2346,3021
$GC,4194,-0.85,-146.0,373.3,-7.9,334,4198,0.00,2.45,0.00,0.000,4,0.000,0.072,2250,3747,3021
$GC,4258,-0.94,-146.0,378.4,-8.5,337,4261,0.00,2.28,0.00,0.000,6,0.000,0.042,2250,2340,3021
$GC,4610,-0.94,-146.0,407.6,-8.3,352,4614,0.00,2.33,0.00,0.000,4,0.000,0.056,2250,936,3022
$GC,4649,-0.94,-146.0,411.1,-8.9,352,4655,0.00,2.38,0.00,0.000,6,0.000,0.054,2250,2350,3021
$GC,4981,-1.00,-146.0,436.6,-7.4,361,4986,0.12,2.45,0.00,0.000,4,0.106,0.071,2204,3746,3021
$GC,5055,-1.00,-146.0,443.3,-9.7,362,5059,0.00,2.28,0.00,0.000,6,0.000,0.041,2204,2340,3021
$GC,5392,-0.91,-146.0,473.6,-9.0,371,5394,0.12,0.00,0.00,0.000,6,0.157,0.000,2238,2340,3022
$GC,5717,-0.91,-146.0,497.9,-7.3,379,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2340,3022
$GC,6043,-0.91,-146.0,521.9,-7.4,387,6047,0.00,2.50,0.00,0.000,4,0.000,0.069,2238,3756,3023
$GC,6093,-1.00,-146.0,525.9,-7.6,388,6098,0.00,2.30,0.00,0.000,6,0.000,0.041,2237,2334,3022
$GC,6413,-1.04,-146.0,547.9,-7.1,396,6415,0.12,0.00,0.00,0.000,6,0.100,0.000,2193,2334,3023
$GC,6739,-0.93,-146.0,576.8,-9.3,404,6744,0.15,2.53,0.00,0.000,4,0.150,0.068,2232,3756,3023
$GC,6876,-0.99,-146.0,589.2,-9.8,407,6880,0.00,2.30,0.00,0.000,6,0.000,0.040,2232,2329,3023
$GC,7202,-1.16,-146.0,612.3,-7.4,415,7207,0.17,2.35,0.00,0.000,4,0.090,0.056,2168,932,3025
$STATE,7345,end dive,NO_VERTICAL_VELOCITY
$STATE,7348,begin apogee
$GC,7358,-0.34,0.0,612.3,0.0,418,7495,0.57,0.00,133.25,1.259,6,0.100,0.000,2362,2523,2420
$STATE,7495,end apogee,CONTROL_FINISHED_OK
$STATE,7495,begin climb
$GC,7499,1.08,146.0,611.8,0.0,421,7750,1.08,2.83,169.77,1.016,4,0.097,0.064,2665,3927,1824
$GC,7836,0.83,146.0,593.3,9.7,429,7841,0.20,2.50,0.00,0.000,6,0.148,0.040,2617,2523,1825
$GC,8161,0.91,207.6,575.1,4.9,437,8220,0.00,0.00,57.22,1.174,6,0.000,0.000,2617,2524,1573
$GC,8526,1.04,244.0,553.9,5.8,446,8567,0.15,2.78,34.40,1.153,4,0.072,0.066,2675,3933,1425
$GC,8574,1.06,261.6,550.2,6.4,447,8598,0.00,2.55,18.73,1.077,6,0.000,0.040,2675,2515,1354
$GC,8937,1.01,261.6,519.7,8.5,456,8941,0.00,2.42,0.00,0.000,4,0.000,0.054,2675,1114,1353
$GC,8948,1.01,261.6,518.5,8.4,456,8952,0.00,2.42,0.00,0.000,6,0.000,0.047,2675,2522,1353
$GC,9263,0.96,261.6,493.3,8.0,464,9265,0.12,0.00,0.00,0.000,6,0.140,0.000,2640,2523,1352
$GC,9587,1.04,268.8,471.4,6.8,472,9602,0.08,2.38,7.15,0.992,4,0.104,0.054,2677,1107,1324
$GC,9614,1.04,268.8,469.2,8.4,472,9618,0.00,2.30,0.00,0.000,6,0.000,0.050,2677,2530,1325
$GC,9951,1.04,268.8,439.3,9.0,481,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2531,1326
$GC,10277,1.04,268.8,412.1,8.4,489,10280,0.00,2.33,0.00,0.000,4,0.000,0.067,2677,3929,1326
$GC,10288,1.04,268.8,411.0,8.2,489,10292,0.00,2.22,0.00,0.000,6,0.000,0.039,2677,2512,1326
$GC,10611,1.04,268.8,385.1,8.3,501,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2512,1326
$GC,10919,1.04,268.8,359.1,8.1,516,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2512,1326
$GC,11228,1.04,268.8,334.4,8.2,531,11232,0.00,2.42,0.00,0.000,4,0.000,0.067,2677,3931,1326
$GC,11267,0.95,268.8,331.0,9.1,532,11274,0.15,2.25,0.00,0.000,6,0.141,0.041,2636,2517,1325
$GC,11585,1.25,269.5,310.0,7.0,548,11589,0.20,2.30,0.00,0.000,4,0.071,0.051,2719,1107,1325
$GC,11624,1.33,269.5,306.7,8.3,549,11630,0.00,2.33,0.00,0.000,6,0.000,0.050,2719,2528,1326
$GC,11940,1.22,269.5,278.9,8.5,565,11944,0.00,2.33,0.00,0.000,4,0.000,0.054,2719,1120,1326
$GC,12059,1.15,269.5,269.0,8.2,570,12063,0.15,2.30,0.00,0.000,6,0.128,0.051,2678,2521,1325
$GC,12380,1.18,295.1,247.2,6.2,586,12409,0.00,2.45,22.70,1.084,4,0.000,0.068,2678,3931,1217
$GC,12457,1.21,313.7,242.3,6.4,589,12479,0.00,2.25,16.85,1.032,6,0.000,0.041,2678,2516,1141
$GC,12798,1.32,327.3,221.9,6.6,606,12820,0.15,2.33,12.55,1.014,4,0.074,0.057,2736,1116,1085
$GC,12833,1.26,327.3,218.9,8.7,607,12838,0.12,2.28,0.00,0.000,6,0.141,0.050,2702,2522,1085
$GC,13150,1.31,327.3,194.6,7.6,622,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2522,1084
$GC,13458,1.31,327.3,171.7,7.3,637,13462,0.00,2.38,0.00,0.000,4,0.000,0.069,2702,3936,1083
$GC,13476,1.31,327.3,170.3,7.9,637,13482,0.00,2.25,0.00,0.000,6,0.000,0.042,2702,2518,1083
$GC,13792,1.36,327.3,146.7,7.1,653,13794,0.12,0.00,0.00,0.000,6,0.085,0.000,2751,2517,1082
$GC,14101,1.27,327.3,118.5,9.3,668,14106,0.15,2.45,0.00,0.000,4,0.138,0.069,2708,3934,1082
$GC,14135,1.27,327.3,115.5,8.5,669,14142,0.00,2.28,0.00,0.000,6,0.000,0.042,2708,2511,1082
$GC,14462,1.39,353.5,94.4,6.1,697,14493,0.12,2.33,22.85,1.029,4,0.081,0.058,2760,1110,977
$GC,14501,1.39,353.5,91.4,7.3,703,14508,0.10,2.33,0.00,0.000,6,0.140,0.051,2735,2519,976
$GC,14847,1.39,353.5,64.7,7.4,764,14853,0.00,2.35,0.00,0.000,4,0.000,0.069,2735,3930,975
$GC,14883,1.39,353.5,61.8,8.1,770,14889,0.00,2.25,0.00,0.000,6,0.000,0.043,2735,2511,975
$GC,15227,1.41,364.3,37.4,6.7,831,15246,0.00,2.33,9.95,0.938,4,0.000,0.058,2735,1110,934
$GC,15259,1.48,381.6,35.4,6.4,836,15283,0.00,2.33,16.62,0.963,6,0.000,0.053,2735,2532,864
$GC,15623,1.56,401.7,6.1,6.3,900,15648,0.15,2.33,17.58,0.963,4,0.078,0.051,2798,1112,782
$STATE,15663,end climb,SURFACE_DEPTH_REACHED
$STATE,15663,begin surface coast
$FINISH,1.5,1.025668
$STATE,15681,end surface coast,CONTROL_FINISHED_OK
$STATE,15681,begin surface
$SM_CCo,15704,147.73,0.904,1,0,144,558.30
$SM_GC,1.69,0.00,0.00,147.73,0.000,0.000,0.904,157,2345,144,-10.48,0.14,558.30
$RAFOS_CLK,1013
$RAFOS,4,1230295456,12.750000,12.737778,60,58,56,55,49,47,161,143,208,188,222,172
$RAFOS,3,1230294848,12.583333,12.568889,139,57,56,55,54,51,688,173,212,149,135,198
$RAFOS,2,1230294250,12.416667,12.402778,71,58,57,55,53,50,195,177,220,139,120,162
$RAFOS,1,1230293654,12.250000,12.237223,107,53,52,50,48,48,646,202,130,143,224,181
$RAFOS,0,1230293046,12.083333,12.068334,153,58,56,55,52,52,561,114,174,154,213,200
$RAFOS_FIX,6637.662598,-5953.748047,261208,121233,3,133,0.16
$IRIDIUM_FIX,6631.12,-5745.67,160398,040408
$TT8_MAMPS,0.028379
$HUMID,1885
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,15.00
$XPDR_PINGS,2
$24V_AH,19.7,87.699
$10V_AH,10.4,40.064
$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,21.825,142.050,539.625,147.725,0.000,168.147,144.034,0.000,0.500,0.000,0.000,906.300,1637.382,11567.209,904.345,2672.046,678.575,33.360,1925.048,0.000,1750.707,1800.000,0.528,0.000
$DEVICE_MAMPS,267.683,85.137,1258.647,904.293,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.239,617.983,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31547,910
$CAP_FILE_SIZE,129143,0
$CFSIZE,260165632,215457792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$SOUNDSPEED,1445.5
$GPS,261208,121933,6637.663,-5953.748,0,3133.0,0,-37.8