version: 66.04
glider: 113
mission: 4
dive: 474
start: 12 26 108 14 37 31
data:
$ID,113
$MISSION,4
$DIVE,474
$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,-79077.883
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,121933,6637.663,-5953.748,0,3133.0,0,-37.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-41.9
$GPS2,121933,6637.663,-5953.748,0,3133.0,0,-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,-119264.3,0.0
$KALMAN_Y,0.0,0.0,0.0,-32317.7,0.0
$MHEAD_RNG_PITCHd_Wd,292.6,36963,-12.9,-7.021
$D_GRID,650
$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,15,-1.08,-146.0,0.0,0.0,0,159,0.00,0.00,-140.27,0.000,2,0.000,0.000,157,2346,2332
$GC,163,-1.08,-146.0,3.1,-0.7,25,205,8.93,2.45,-25.98,0.000,4,0.271,0.082,2197,3750,3017
$GC,317,-0.81,-146.0,25.5,-16.0,51,324,0.22,2.28,0.00,0.000,6,0.176,0.044,2257,2340,3020
$GC,664,-0.67,-146.0,70.8,-13.1,112,671,0.12,2.35,0.00,0.000,4,0.178,0.058,2290,932,3022
$GC,854,-0.67,-146.0,91.9,-10.5,145,860,0.00,2.35,0.00,0.000,6,0.000,0.056,2290,2340,3022
$GC,1187,-0.67,-146.0,121.9,-8.6,172,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2340,3022
$GC,1497,-0.73,-146.0,148.8,-8.7,187,1501,0.00,2.38,0.00,0.000,4,0.000,0.058,2290,926,3022
$GC,1547,-0.73,-146.0,153.7,-9.7,189,1551,0.00,2.38,0.00,0.000,6,0.000,0.055,2290,2343,3022
$GC,1875,-0.81,-146.0,182.4,-8.5,205,1880,0.12,2.40,0.00,0.000,4,0.097,0.058,2246,926,3022
$GC,1920,-0.70,-146.0,187.0,-11.0,207,1925,0.15,2.38,0.00,0.000,6,0.173,0.054,2281,2346,3022
$GC,2242,-0.76,-146.0,213.5,-7.8,223,2247,0.00,2.45,0.00,0.000,4,0.000,0.074,2281,3752,3022
$GC,2316,-0.88,-146.0,219.2,-7.7,226,2321,0.15,2.30,0.00,0.000,6,0.087,0.042,2231,2326,3022
$GC,2632,-0.78,-146.0,250.7,-9.8,241,2637,0.15,2.35,0.00,0.000,4,0.160,0.058,2271,929,3022
$GC,2695,-0.78,-146.0,256.1,-8.3,244,2699,0.00,2.38,0.00,0.000,6,0.000,0.054,2271,2346,3023
$GC,3022,-0.84,-146.0,281.3,-7.7,260,3026,0.00,2.45,0.00,0.000,4,0.000,0.072,2271,3753,3022
$GC,3102,-0.95,-146.0,287.5,-7.8,263,3109,0.15,2.28,0.00,0.000,6,0.085,0.042,2220,2343,3023
$GC,3419,-0.85,-146.0,320.0,-10.3,279,3423,0.12,2.38,0.00,0.000,4,0.161,0.057,2253,928,3023
$GC,3469,-0.85,-146.0,325.0,-9.8,281,3472,0.00,2.38,0.00,0.000,6,0.000,0.055,2253,2341,3023
$GC,3791,-0.85,-146.0,352.1,-8.2,297,3795,0.00,2.45,0.00,0.000,4,0.000,0.071,2253,3746,3022
$GC,3869,-0.93,-146.0,358.7,-7.9,300,3876,0.00,2.30,0.00,0.000,6,0.000,0.043,2253,2327,3023
$GC,4185,-0.93,-146.0,382.3,-7.2,316,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2327,3023
$GC,4495,-0.98,-146.0,404.2,-7.3,330,4500,0.12,2.55,0.00,0.000,4,0.104,0.070,2209,3756,3023
$GC,4546,-0.93,-146.0,408.9,-9.6,331,4551,0.12,2.30,0.00,0.000,6,0.160,0.042,2239,2338,3023
$GC,4860,-0.93,-146.0,434.1,-8.0,339,4864,0.00,2.35,0.00,0.000,4,0.000,0.057,2239,926,3023
$GC,4899,-0.93,-146.0,437.6,-8.3,339,4906,0.00,2.40,0.00,0.000,6,0.000,0.054,2239,2354,3022
$GC,5234,-0.93,-146.0,464.1,-8.1,348,5238,0.00,2.42,0.00,0.000,4,0.000,0.071,2239,3745,3023
$GC,5346,-0.99,-146.0,473.9,-8.5,350,5350,0.00,2.28,0.00,0.000,6,0.000,0.041,2239,2338,3023
$GC,5690,-0.99,-146.0,498.8,-7.0,359,5694,0.00,2.35,0.00,0.000,4,0.000,0.056,2239,926,3023
$GC,5740,-0.99,-146.0,502.9,-7.6,360,5744,0.00,2.38,0.00,0.000,6,0.000,0.053,2239,2342,3023
$GC,6065,-0.99,-146.0,526.3,-7.2,368,6069,0.00,2.45,0.00,0.000,4,0.000,0.070,2239,3753,3023
$GC,6127,-1.07,-146.0,531.1,-7.7,369,6132,0.15,2.28,0.00,0.000,6,0.094,0.040,2190,2338,3023
$GC,6470,-0.96,-146.0,562.4,-9.2,378,6475,0.15,2.50,0.00,0.000,4,0.153,0.068,2230,3748,3024
$GC,6516,-1.03,-146.0,566.3,-8.5,379,6520,0.00,2.28,0.00,0.000,6,0.000,0.041,2230,2335,3025
$GC,6841,-1.44,-146.0,580.9,-1.5,387,6846,0.30,2.50,0.00,0.000,4,0.067,0.068,2110,3749,3025
$STATE,6970,end dive,NO_VERTICAL_VELOCITY
$STATE,6970,begin apogee
$GC,6983,-0.34,0.0,580.9,0.0,390,7117,0.80,0.00,131.18,1.249,6,0.108,0.000,2363,2515,2421
$STATE,7118,end apogee,CONTROL_FINISHED_OK
$STATE,7118,begin climb
$GC,7122,1.08,146.0,580.8,0.0,393,7278,1.08,2.88,143.10,1.143,4,0.107,0.067,2664,3923,1825
$GC,7285,1.00,146.0,573.5,7.3,397,7290,0.00,2.60,0.00,0.000,6,0.000,0.039,2664,2522,1825
$GC,7613,0.86,146.0,549.4,7.3,405,7618,0.17,2.60,0.00,0.000,4,0.143,0.067,2618,3930,1826
$GC,7675,0.81,146.0,544.7,7.2,406,7680,0.00,2.42,0.00,0.000,6,0.000,0.040,2619,2510,1827
$GC,8019,0.85,176.9,524.2,6.0,415,8053,0.00,2.62,27.17,1.166,4,0.000,0.068,2619,3937,1699
$GC,8072,0.85,176.9,520.8,7.2,416,8076,0.00,2.38,0.00,0.000,6,0.000,0.040,2619,2518,1700
$GC,8386,0.95,207.8,502.2,6.0,424,8420,0.10,2.53,26.67,1.168,4,0.096,0.068,2662,3940,1573
$GC,8438,0.84,207.8,497.9,9.3,425,8443,0.17,2.30,0.00,0.000,6,0.144,0.041,2614,2519,1573
$GC,8752,0.94,212.0,476.5,6.9,433,8763,0.10,2.25,5.03,0.863,4,0.087,0.054,2661,1113,1555
$GC,8770,1.00,212.0,475.1,7.0,433,8774,0.00,2.28,0.00,0.000,6,0.000,0.050,2661,2525,1556
$GC,9119,1.00,212.0,446.9,7.9,442,9122,0.00,2.33,0.00,0.000,4,0.000,0.069,2661,3927,1559
$GC,9165,0.86,212.0,442.8,9.0,443,9170,0.15,2.22,0.00,0.000,6,0.147,0.041,2620,2509,1559
$GC,9490,0.99,238.2,422.8,6.1,451,9515,0.12,0.00,22.75,1.142,6,0.084,0.000,2671,2508,1449
$GC,9795,0.99,238.2,397.0,8.7,459,9799,0.00,2.38,0.00,0.000,4,0.000,0.068,2672,3928,1452
$GC,9869,0.87,238.2,389.9,8.9,462,9873,0.17,2.22,0.00,0.000,6,0.143,0.041,2625,2510,1452
$GC,10192,1.06,284.7,371.1,5.4,478,10235,0.15,0.00,39.42,1.130,6,0.076,0.000,2690,2508,1259
$GC,10544,1.06,284.7,344.0,8.0,495,10548,0.10,2.38,0.00,0.000,4,0.137,0.067,2663,3928,1259
$GC,10571,1.06,284.7,341.7,8.1,496,10575,0.00,2.22,0.00,0.000,6,0.000,0.041,2663,2508,1259
$GC,10894,1.16,291.4,319.7,6.8,512,10908,0.10,2.30,6.75,0.926,4,0.084,0.054,2706,1117,1231
$GC,10915,1.16,291.4,318.1,7.1,513,10919,0.00,2.28,0.00,0.000,6,0.000,0.050,2706,2528,1232
$GC,11248,1.16,291.4,290.4,8.4,529,11252,0.00,2.33,0.00,0.000,4,0.000,0.068,2707,3926,1234
$GC,11289,1.02,291.4,286.5,10.5,530,11296,0.17,2.22,0.00,0.000,6,0.135,0.041,2656,2516,1234
$GC,11605,1.15,300.8,265.9,6.7,546,11620,0.12,2.28,9.27,0.999,4,0.078,0.055,2707,1115,1193
$GC,11632,1.15,300.8,263.7,8.2,547,11636,0.00,2.30,0.00,0.000,6,0.000,0.050,2707,2531,1194
$GC,11960,1.15,300.8,236.2,8.5,563,11963,0.00,2.35,0.00,0.000,4,0.000,0.070,2707,3929,1195
$GC,11988,1.07,300.8,233.5,10.0,564,11993,0.15,2.25,0.00,0.000,6,0.136,0.041,2665,2508,1196
$GC,12311,1.23,305.8,211.9,6.9,580,12322,0.15,2.25,5.45,0.854,4,0.081,0.054,2722,1110,1174
$GC,12367,1.33,305.8,207.0,8.1,582,12374,0.00,2.30,0.00,0.000,6,0.000,0.052,2722,2522,1176
$GC,12684,1.42,305.8,180.8,8.2,598,12689,0.08,2.33,0.00,0.000,4,0.107,0.054,2761,1114,1176
$GC,12753,1.25,305.8,174.7,9.6,601,12758,0.20,2.33,0.00,0.000,6,0.140,0.052,2706,2530,1176
$GC,13075,1.26,310.7,151.7,6.9,617,13085,0.00,2.35,5.90,0.871,4,0.000,0.071,2706,3927,1153
$GC,13132,1.21,310.7,147.2,7.8,619,13138,0.00,2.25,0.00,0.000,6,0.000,0.042,2706,2514,1155
$GC,13448,1.21,310.7,125.0,7.1,635,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2514,1156
$GC,13758,1.26,310.7,102.6,7.2,650,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2514,1156
$GC,14092,1.33,321.1,80.5,6.7,704,14110,0.00,2.47,10.43,0.967,4,0.000,0.072,2705,3931,1110
$GC,14135,1.34,322.9,77.5,7.0,711,14141,0.00,2.28,0.00,0.000,6,0.000,0.043,2705,2516,1110
$GC,14480,1.42,322.9,53.7,7.7,772,14489,0.15,2.35,2.88,0.496,4,0.075,0.058,2769,1109,1104
$GC,14525,1.42,322.9,49.5,9.5,779,14531,0.10,2.33,0.00,0.000,6,0.150,0.053,2745,2526,1105
$GC,14871,1.42,322.9,17.0,9.0,840,14877,0.00,2.40,0.00,0.000,4,0.000,0.071,2745,3927,1106
$GC,14930,1.30,323.6,13.1,7.0,850,14937,0.10,2.28,0.00,0.000,6,0.148,0.044,2718,2517,1106
$STATE,15183,end climb,SURFACE_DEPTH_REACHED
$STATE,15183,begin surface coast
$FINISH,1.7,1.025970
$STATE,15274,end surface coast,CONTROL_FINISHED_OK
$STATE,15274,begin surface
$SM_CCo,15294,220.48,0.903,2,0,144,558.30
$SM_GC,1.72,0.00,0.00,220.48,0.000,0.000,0.903,159,2320,144,-10.47,-0.57,558.30
$RAFOS_CLK,995
$RAFOS,4,1230309857,16.750000,16.738056,62,59,58,57,50,48,199,217,177,122,228,77
$RAFOS,3,1230309260,16.583334,16.572222,60,55,55,53,51,51,219,209,122,142,184,151
$RAFOS,2,1230308677,16.416666,16.410278,60,59,52,52,51,51,218,198,138,178,150,115
$RAFOS,1,1230308069,16.250000,16.241388,82,66,66,53,52,51,579,217,204,184,145,163
$RAFOS,0,1230307478,16.083334,16.077223,107,63,57,56,51,51,395,198,161,182,127,151
$RAFOS_FIX,6638.924805,-6001.024902,261208,161644,2,94,0.42
$IRIDIUM_FIX,6631.12,-5745.67,160398,040408
$TT8_MAMPS,0.027612
$HUMID,1880
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,20.1,87.908
$10V_AH,10.4,40.179
$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,22.875,160.750,436.000,220.475,0.000,168.092,143.704,0.000,0.250,0.000,0.000,906.377,1685.893,11188.238,871.128,2697.369,684.684,33.359,1874.074,0.000,1778.963,1800.000,0.529,0.000
$DEVICE_MAMPS,270.751,82.069,1249.443,902.759,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.764,620.353,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34717,911
$CAP_FILE_SIZE,135898,0
$CFSIZE,260165632,215359488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1444.9
$GPS,261208,161144,6638.925,-6001.025,0,2094.5,0,-37.8