version: 66.04
glider: 113
mission: 4
dive: 475
start: 12 26 108 19 39 44
data:
$ID,113
$MISSION,4
$DIVE,475
$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,-80889.578
$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,34
$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
$GPS1,161144,6638.925,-6001.025,0,2094.5,0,-37.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-14.2
$GPS2,161144,6638.925,-6001.025,0,2094.5,0,-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,-123272.9,0.0
$KALMAN_Y,0.0,0.0,0.0,-33404.0,0.0
$MHEAD_RNG_PITCHd_Wd,292.6,31272,-12.9,-7.021
$D_GRID,601
$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,-145.9,0.0,0.0,0,180,0.00,0.00,-161.05,0.000,2,0.000,0.000,159,2319,2395
$GC,184,-1.08,-145.9,3.3,-8.1,29,221,8.82,2.58,-22.17,0.000,4,0.266,0.086,2197,3753,3017
$GC,448,-0.82,-145.9,49.9,-16.8,75,455,0.22,2.30,0.00,0.000,6,0.166,0.045,2257,2336,3021
$GC,795,-0.73,-145.9,89.7,-10.5,136,801,0.00,2.33,0.00,0.000,4,0.000,0.059,2258,934,3022
$GC,974,-0.64,-145.9,108.4,-10.0,156,981,0.15,2.35,0.00,0.000,6,0.162,0.056,2296,2339,3022
$GC,1290,-0.74,-145.9,134.2,-8.1,172,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2339,3022
$GC,1600,-0.84,-146.0,156.2,-6.8,187,1604,0.15,2.45,0.00,0.000,4,0.091,0.071,2243,3745,3022
$GC,1662,-0.84,-146.0,162.3,-9.9,189,1668,0.00,2.30,0.00,0.000,6,0.000,0.043,2243,2328,3022
$GC,1978,-0.77,-146.0,194.6,-10.6,205,1983,0.10,2.35,0.00,0.000,4,0.181,0.058,2267,929,3022
$GC,2088,-0.77,-146.0,205.5,-10.1,210,2092,0.00,2.38,0.00,0.000,6,0.000,0.054,2267,2345,3022
$GC,2415,-0.77,-146.0,236.0,-9.1,226,2419,0.00,2.45,0.00,0.000,4,0.000,0.071,2267,3755,3022
$GC,2455,-0.85,-146.0,239.8,-9.2,228,2459,0.00,2.30,0.00,0.000,6,0.000,0.042,2267,2335,3022
$GC,2789,-0.85,-146.0,269.3,-8.5,244,2793,0.00,2.35,0.00,0.000,4,0.000,0.058,2267,925,3023
$GC,2872,-0.85,-146.0,277.0,-9.2,247,2879,0.00,2.38,0.00,0.000,6,0.000,0.054,2267,2340,3023
$GC,3189,-0.91,-146.0,302.3,-7.6,263,3194,0.12,2.47,0.00,0.000,4,0.098,0.069,2221,3753,3023
$GC,3308,-0.85,-146.0,313.7,-9.5,268,3312,0.12,2.30,0.00,0.000,6,0.167,0.042,2251,2338,3023
$GC,3624,-0.85,-146.0,340.1,-8.3,283,3628,0.00,2.35,0.00,0.000,4,0.000,0.058,2251,931,3023
$GC,3663,-0.85,-146.0,343.6,-8.9,284,3669,0.00,2.38,0.00,0.000,6,0.000,0.054,2251,2342,3023
$GC,3979,-0.85,-146.0,370.2,-8.4,300,3983,0.00,2.45,0.00,0.000,4,0.000,0.070,2249,3750,3023
$GC,4080,-0.91,-146.0,379.0,-8.5,304,4086,0.00,2.30,0.00,0.000,6,0.000,0.043,2249,2335,3023
$GC,4396,-0.91,-146.0,403.4,-7.3,319,4400,0.00,2.35,0.00,0.000,4,0.000,0.058,2248,931,3023
$GC,4475,-0.91,-146.0,409.5,-7.3,320,4479,0.00,2.38,0.00,0.000,6,0.000,0.054,2249,2343,3023
$GC,4814,-0.91,-146.0,433.1,-7.0,329,4818,0.00,2.45,0.00,0.000,4,0.000,0.071,2249,3746,3023
$GC,4921,-1.00,-146.0,440.9,-7.4,331,4926,0.12,2.30,0.00,0.000,6,0.108,0.042,2206,2334,3023
$GC,5264,-0.90,-146.0,472.3,-9.2,340,5269,0.12,2.53,0.00,0.000,4,0.157,0.069,2235,3753,3023
$GC,5305,-0.95,-146.0,475.8,-7.9,341,5309,0.00,2.30,0.00,0.000,6,0.000,0.042,2235,2337,3023
$GC,5635,-0.95,-146.0,501.0,-7.2,349,5639,0.00,2.35,0.00,0.000,4,0.000,0.056,2235,926,3023
$GC,5765,-0.95,-146.0,510.8,-7.5,351,5771,0.00,2.40,0.00,0.000,6,0.000,0.054,2235,2354,3024
$GC,6097,-0.95,-146.0,535.7,-7.8,360,6101,0.00,2.42,0.00,0.000,4,0.000,0.069,2235,3745,3024
$STATE,6352,end dive,NO_VERTICAL_VELOCITY
$STATE,6352,begin apogee
$GC,6362,-0.34,0.0,545.2,0.0,365,6496,0.38,0.00,130.77,1.233,6,0.104,0.000,2362,2513,2421
$STATE,6496,end apogee,CONTROL_FINISHED_OK
$STATE,6496,begin climb
$GC,6500,1.08,146.0,545.1,0.0,369,6701,1.10,2.70,154.73,1.059,4,0.103,0.054,2666,1118,1825
$GC,6713,0.95,146.0,535.5,7.3,374,6719,0.10,2.65,0.00,0.000,6,0.146,0.049,2646,2515,1825
$GC,7033,0.90,146.0,511.8,7.7,382,7038,0.00,2.58,0.00,0.000,4,0.000,0.067,2645,3940,1827
$GC,7101,0.73,146.0,505.4,9.3,383,7106,0.22,2.42,0.00,0.000,6,0.143,0.040,2589,2514,1827
$GC,7440,0.95,146.0,482.5,7.3,392,7444,0.17,2.47,0.00,0.000,4,0.073,0.068,2654,3934,1826
$GC,7546,0.77,146.0,473.7,8.7,394,7551,0.20,2.28,0.00,0.000,6,0.145,0.041,2598,2512,1826
$GC,7860,1.03,213.1,458.4,4.7,402,7921,0.20,2.40,55.85,1.176,4,0.067,0.053,2679,1115,1551
$GC,7929,1.05,228.5,454.3,6.5,403,7949,0.00,2.42,14.80,1.041,6,0.000,0.050,2679,2525,1488
$GC,8270,1.12,228.5,428.8,7.7,412,8274,0.00,2.28,0.00,0.000,4,0.000,0.053,2679,1112,1490
$GC,8372,1.08,228.5,420.5,8.0,414,8376,0.00,2.28,0.00,0.000,6,0.000,0.051,2678,2530,1490
$GC,8692,1.02,228.5,392.6,8.9,424,8696,0.00,2.33,0.00,0.000,4,0.000,0.069,2679,3931,1491
$GC,8726,0.87,228.5,389.1,10.4,425,8731,0.20,2.22,0.00,0.000,6,0.142,0.042,2622,2522,1491
$GC,9044,1.17,248.5,368.5,6.3,440,9067,0.20,2.47,17.58,1.101,4,0.071,0.070,2705,3940,1407
$GC,9219,0.95,248.5,352.6,9.8,447,9225,0.22,2.25,0.00,0.000,6,0.137,0.042,2639,2510,1409
$GC,9536,1.14,307.5,335.6,5.0,463,9589,0.15,0.00,49.97,1.118,6,0.075,0.000,2704,2508,1166
$GC,9884,1.15,312.7,311.0,6.8,480,9894,0.00,2.40,5.12,0.823,4,0.000,0.070,2704,3939,1145
$GC,9907,1.15,312.7,309.2,7.3,481,9910,0.00,2.25,0.00,0.000,6,0.000,0.042,2704,2511,1147
$GC,10234,1.15,312.7,283.0,8.6,497,10238,0.00,2.25,0.00,0.000,4,0.000,0.056,2704,1112,1148
$GC,10251,1.15,312.7,281.6,8.7,497,10257,0.00,2.28,0.00,0.000,6,0.000,0.051,2704,2521,1147
$GC,10567,1.15,312.7,257.5,7.1,513,10570,0.00,2.35,0.00,0.000,4,0.000,0.067,2705,3930,1147
$GC,10591,1.09,312.7,255.8,7.5,514,10596,0.12,2.25,0.00,0.000,6,0.146,0.042,2669,2511,1147
$GC,10919,1.26,353.5,236.9,5.6,530,10962,0.15,2.35,35.85,1.091,4,0.074,0.057,2732,1108,977
$GC,10975,1.26,353.5,232.6,7.9,532,10979,0.10,2.35,0.00,0.000,6,0.144,0.051,2707,2522,975
$GC,11291,1.26,353.5,207.9,8.1,547,11294,0.00,2.30,0.00,0.000,4,0.000,0.058,2707,1110,973
$GC,11308,1.32,353.5,206.5,8.2,547,11314,0.00,2.28,0.00,0.000,6,0.000,0.051,2707,2520,973
$GC,11625,1.38,353.5,182.0,7.1,563,11630,0.12,2.30,0.00,0.000,4,0.079,0.055,2760,1117,972
$GC,11637,1.43,353.5,181.0,7.3,563,11644,0.00,2.30,0.00,0.000,6,0.000,0.051,2760,2534,971
$GC,11954,1.31,353.5,150.0,10.6,579,11959,0.15,2.35,0.00,0.000,4,0.137,0.056,2718,1114,971
$GC,11984,1.31,353.5,147.3,8.7,580,11988,0.00,2.30,0.00,0.000,6,0.000,0.052,2717,2521,971
$GC,12305,1.31,359.8,120.8,6.8,596,12312,0.00,0.00,5.05,0.806,6,0.000,0.000,2717,2521,953
$GC,12615,1.36,359.8,103.8,7.3,611,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2521,954
$GC,12949,1.44,359.8,71.9,8.0,665,12956,0.12,2.35,0.00,0.000,4,0.083,0.056,2772,1118,954
$GC,12969,1.44,359.8,70.2,7.7,668,12975,0.10,2.33,0.00,0.000,6,0.145,0.053,2748,2527,954
$GC,13315,1.44,359.8,47.1,7.5,729,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2527,954
$GC,13661,1.48,395.6,22.4,5.8,790,13702,0.00,2.45,31.80,1.002,4,0.000,0.071,2748,3922,807
$GC,13738,1.46,414.2,13.6,6.4,803,13762,0.00,2.28,17.62,0.937,6,0.000,0.042,2748,2507,731
$STATE,14013,end climb,NO_VERTICAL_VELOCITY
$STATE,14013,begin surface
$SM_CCo,14017,133.68,0.918,1,0,145,558.30
$SM_GC,6.39,9.07,0.00,0.00,0.139,0.000,0.000,169,2344,142,-10.39,0.11,558.79
$RAFOS_CLK,933
$RAFOS,4,1230324257,20.750000,20.738056,64,57,57,55,53,52,212,197,222,136,124,169
$RAFOS,3,1230323643,20.583334,20.567499,70,56,51,50,50,50,207,176,189,153,118,218
$RAFOS,2,1230323045,20.416666,20.401388,60,59,57,55,54,51,113,214,150,167,133,189
$RAFOS,1,1230322444,20.250000,20.234444,62,61,57,55,54,52,209,218,119,151,162,134
$RAFOS,0,1230321856,20.083334,20.071112,136,67,66,65,64,60,554,192,153,114,217,168
$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,1921
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,14.80
$XPDR_PINGS,1
$24V_AH,20.1,88.117
$10V_AH,10.4,40.292
$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,23.050,141.925,519.150,133.675,0.000,168.116,143.559,0.000,0.250,0.000,0.000,906.427,1546.666,10217.150,846.987,2720.927,654.802,33.367,1873.334,0.000,1788.796,1800.000,0.545,0.000
$DEVICE_MAMPS,266.149,85.904,1233.336,918.099,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.822,577.219,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31624,852
$CAP_FILE_SIZE,125302,0
$CFSIZE,260165632,215298048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$SOUNDSPEED,1444.4
$GPS,261208,161144,6638.925,-6001.025,0,2094.5,0,-37.8