version: 66.04
glider: 113
mission: 4
dive: 476
start: 12 27 108 0 22 50
data:
$ID,113
$MISSION,4
$DIVE,476
$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,-82701.32
$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,27
$R_STBD_OVSHOOT,25
$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,6.31
$_SM_ANGLEo,-14.7
$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,-0.117,-0.032
$KALMAN_X,0.0,0.0,0.0,-126978.9,0.0
$KALMAN_Y,0.0,0.0,0.0,-34408.2,0.0
$MHEAD_RNG_PITCHd_Wd,292.6,31272,-27.1,-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,-1.90,-36.7,0.0,0.0,0,24,0.00,0.00,-5.55,0.000,2,0.000,0.000,169,2338,247
$GC,28,-1.97,-90.8,6.2,-0.0,1,149,6.12,2.50,-105.62,0.000,4,0.150,0.087,2001,3742,2792
$GC,405,-1.62,-90.8,73.4,-30.5,67,412,0.32,2.30,0.00,0.000,6,0.206,0.049,2080,2342,2797
$GC,749,-1.62,-90.8,137.6,-17.6,101,753,0.00,2.35,0.00,0.000,4,0.000,0.060,2080,932,2798
$GC,783,-1.56,-90.8,143.9,-18.0,102,789,0.00,2.38,0.00,0.000,6,0.000,0.057,2080,2345,2797
$GC,1099,-1.56,-90.8,196.9,-15.9,118,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2345,2797
$GC,1409,-1.56,-90.8,247.8,-16.3,133,1413,0.00,2.45,0.00,0.000,4,0.000,0.072,2080,3757,2798
$GC,1537,-1.56,-90.8,269.7,-16.8,138,1544,0.00,2.33,0.00,0.000,6,0.000,0.045,2080,2334,2797
$GC,1855,-1.62,-90.8,317.5,-14.4,154,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2334,2798
$GC,2163,-1.68,-90.8,363.0,-14.8,169,2167,0.00,2.35,0.00,0.000,4,0.000,0.060,2080,930,2798
$GC,2219,-1.68,-90.8,371.7,-16.0,171,2223,0.00,2.40,0.00,0.000,6,0.000,0.057,2080,2349,2798
$GC,2540,-1.75,-90.8,416.4,-13.4,184,2544,0.10,2.45,0.00,0.000,4,0.117,0.071,2045,3754,2798
$GC,2714,-1.70,-90.8,442.4,-14.9,188,2718,0.00,2.30,0.00,0.000,6,0.000,0.043,2045,2340,2798
$GC,3045,-1.70,-90.8,485.7,-12.9,196,3048,0.00,2.35,0.00,0.000,4,0.000,0.058,2045,929,2798
$GC,3169,-1.64,-90.8,501.9,-12.3,198,3174,0.15,2.40,0.00,0.000,6,0.192,0.056,2078,2346,2798
$GC,3502,-2.63,-144.7,518.9,-0.0,206,3504,0.62,0.00,0.00,0.000,6,0.064,0.000,1850,2346,2798
$STATE,3620,end dive,NO_VERTICAL_VELOCITY
$STATE,3620,begin apogee
$GC,3629,-0.34,0.0,518.7,0.0,209,3711,1.77,0.00,78.15,1.254,6,0.150,0.000,2363,2519,2421
$STATE,3712,end apogee,CONTROL_FINISHED_OK
$STATE,3712,begin climb
$GC,3715,2.04,144.7,518.6,0.0,211,3865,1.75,2.80,137.05,1.157,4,0.097,0.066,2882,3932,1830
$GC,3927,1.82,144.7,491.7,19.1,216,3933,0.28,2.58,0.00,0.000,6,0.181,0.042,2833,2515,1831
$GC,4277,1.82,144.7,441.1,14.4,225,4281,0.00,2.58,0.00,0.000,4,0.000,0.067,2833,3930,1832
$GC,4536,1.76,144.7,403.2,14.6,230,4543,0.00,2.33,0.00,0.000,6,0.000,0.043,2839,2509,1832
$GC,4852,1.76,144.7,366.6,11.1,245,4856,0.00,2.40,0.00,0.000,4,0.000,0.070,2839,3934,1832
$GC,5111,1.70,144.7,333.4,12.1,256,5116,0.15,2.28,0.00,0.000,6,0.183,0.044,2804,2506,1833
$GC,5433,1.86,144.7,304.8,8.7,272,5437,0.12,2.28,0.00,0.000,4,0.093,0.055,2854,1106,1833
$GC,5686,1.93,144.7,275.4,11.8,283,5690,0.00,2.33,0.00,0.000,6,0.000,0.054,2854,2526,1833
$GC,6013,1.98,144.7,237.4,11.4,299,6017,0.00,2.38,0.00,0.000,4,0.000,0.071,2854,3938,1833
$GC,6271,1.89,144.7,206.2,12.2,310,6275,0.00,2.28,0.00,0.000,6,0.000,0.043,2862,2513,1833
$GC,6592,1.89,144.7,174.6,10.3,326,6596,0.00,2.42,0.00,0.000,4,0.000,0.070,2862,3929,1833
$GC,6824,1.80,144.7,145.8,12.2,336,6828,0.17,2.28,0.00,0.000,6,0.179,0.044,2825,2512,1834
$GC,7151,1.96,144.7,119.8,7.9,352,7155,0.12,2.30,0.00,0.000,4,0.091,0.055,2879,1115,1834
$GC,7411,2.01,144.7,98.4,8.4,365,7417,0.00,2.35,0.00,0.000,6,0.000,0.054,2879,2532,1833
$GC,7756,2.01,144.7,70.4,8.0,426,7763,0.00,2.40,0.00,0.000,4,0.000,0.071,2880,3937,1833
$GC,7833,1.88,144.7,62.9,10.0,439,7841,0.17,2.28,0.00,0.000,6,0.183,0.043,2847,2517,1832
$GC,8180,2.00,154.6,39.4,5.7,500,8199,0.10,2.45,10.00,0.948,4,0.098,0.071,2882,3929,1788
$GC,8455,1.88,154.6,17.8,7.3,548,8462,0.20,2.25,0.00,0.000,6,0.180,0.045,2843,2524,1790
$STATE,8775,end climb,SURFACE_DEPTH_REACHED
$STATE,8775,begin surface coast
$FINISH,1.1,1.026041
$STATE,8822,end surface coast,CONTROL_FINISHED_OK
$STATE,8822,begin surface
$SM_CCo,8842,354.98,0.872,1,1,163,553.64
$SM_CCo,9206,13.25,0.629,1,0,145,558.30
$SM_GC,1.52,0.00,0.00,13.25,0.000,0.000,0.629,165,2333,145,-10.44,-0.20,558.30
$RAFOS_CLK,629
$RAFOS,4,1230338651,0.750000,0.736389,59,59,58,57,56,53,119,196,215,226,144,173
$RAFOS,3,1230338054,0.583333,0.570556,63,62,56,52,52,51,215,203,640,140,127,231
$RAFOS,2,1230337442,0.416667,0.400556,61,57,52,51,47,45,204,179,154,137,163,220
$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,1844
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,20.5,88.293
$10V_AH,10.4,40.389
$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,20.050,72.025,225.200,368.225,0.000,168.288,143.806,0.000,0.000,0.000,0.000,906.473,1167.754,6054.030,740.287,2284.812,572.729,33.344,1449.949,0.000,1372.741,1080.000,0.528,0.000
$DEVICE_MAMPS,206.323,86.671,1254.045,872.079,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.862,416.194,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22149,613
$CAP_FILE_SIZE,83457,8
$CFSIZE,260165632,215265280
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
$SOUNDSPEED,1442.7
$GPS,271208,025847,6628.867,-6005.736,60,2.9,79,-37.7