version: 66.04
glider: 113
mission: 4
dive: 477
start: 12 27 108 3 23 59
data:
$ID,113
$MISSION,4
$DIVE,477
$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,-83217.023
$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
$GPS1,025847,6628.867,-6005.736,60,2.9,79,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-41.1
$GPS2,032305,6628.323,-6005.562,493,3.8,512,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.164,0.153
$KALMAN_X,15857.2,4005.6,6879.8,-128555.3,1496.4
$KALMAN_Y,-14654.0,-3701.7,-6357.7,-35352.9,-1382.9
$MHEAD_RNG_PITCHd_Wd,350.6,37333,-12.9,-7.021
$D_GRID,517
$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,19,-1.08,-145.9,0.0,0.0,0,253,0.00,0.00,-228.88,0.000,6,0.000,0.000,166,2332,3015
$GC,261,-1.08,-146.0,1.6,-0.1,41,274,7.72,2.47,0.00,0.000,4,0.214,0.072,2200,3755,3017
$GC,529,-0.19,-146.0,15.4,-19.8,88,536,0.75,2.28,0.00,0.000,6,0.198,0.044,2394,2340,3018
$GC,875,-0.19,-146.0,48.7,-8.4,149,881,0.00,2.45,0.00,0.000,4,0.000,0.073,2394,3746,3020
$GC,1019,-0.31,-146.0,62.6,-9.5,174,1026,0.10,2.28,0.00,0.000,6,0.097,0.044,2357,2341,3021
$GC,1366,-0.36,-146.0,95.3,-8.3,235,1372,0.00,2.35,0.00,0.000,4,0.000,0.060,2357,926,3020
$GC,1473,-0.36,-146.0,104.7,-8.7,246,1480,0.00,2.38,0.00,0.000,6,0.000,0.057,2357,2341,3020
$GC,1790,-0.46,-146.0,130.1,-8.1,262,1794,0.00,2.45,0.00,0.000,4,0.000,0.072,2357,3750,3020
$GC,1927,-0.63,-146.0,141.6,-8.3,268,1932,0.20,2.30,0.00,0.000,6,0.083,0.044,2287,2328,3020
$GC,2260,-0.55,-146.0,171.8,-8.7,284,2264,0.12,2.35,0.00,0.000,4,0.162,0.058,2318,929,3019
$GC,2322,-0.55,-146.0,177.0,-7.7,286,2328,0.00,2.38,0.00,0.000,6,0.000,0.056,2318,2341,3019
$GC,2638,-0.60,-146.0,201.2,-7.4,302,2642,0.00,2.45,0.00,0.000,4,0.000,0.072,2318,3748,3019
$GC,2711,-0.69,-146.0,206.5,-7.4,305,2716,0.12,2.30,0.00,0.000,6,0.096,0.044,2274,2330,3019
$GC,3028,-0.61,-146.0,236.0,-9.7,320,3033,0.12,2.35,0.00,0.000,4,0.156,0.057,2307,931,3019
$GC,3106,-0.61,-146.0,242.9,-7.9,323,3112,0.00,2.38,0.00,0.000,6,0.000,0.055,2307,2343,3019
$GC,3424,-0.66,-146.0,263.4,-6.1,339,3428,0.00,2.45,0.00,0.000,4,0.000,0.072,2307,3755,3019
$GC,3571,-0.77,-146.0,272.9,-6.6,345,3575,0.15,2.30,0.00,0.000,6,0.087,0.042,2257,2337,3019
$GC,3893,-0.68,-146.0,300.7,-9.0,361,3898,0.12,2.38,0.00,0.000,4,0.163,0.058,2288,930,3019
$GC,3965,-0.68,-146.0,307.4,-9.5,364,3970,0.00,2.40,0.00,0.000,6,0.000,0.056,2288,2350,3020
$GC,4281,-0.68,-146.0,334.2,-8.5,379,4286,0.00,2.47,0.00,0.000,4,0.000,0.074,2288,3756,3020
$GC,4378,-0.77,-146.0,342.4,-8.5,383,4382,0.00,2.30,0.00,0.000,6,0.000,0.043,2288,2340,3020
$GC,4694,-0.84,-146.0,365.7,-7.1,398,4699,0.12,2.38,0.00,0.000,4,0.105,0.057,2244,929,3020
$GC,4751,-0.72,-146.0,370.6,-8.8,400,4758,0.15,2.40,0.00,0.000,6,0.172,0.056,2280,2346,3020
$GC,5068,-0.78,-146.0,396.2,-8.3,416,5072,0.00,2.45,0.00,0.000,4,0.000,0.072,2278,3747,3020
$GC,5245,-0.89,-146.0,410.7,-8.0,420,5252,0.15,2.30,0.00,0.000,6,0.090,0.042,2229,2331,3019
$GC,5578,-0.82,-146.0,439.3,-8.4,429,5582,0.12,2.35,0.00,0.000,4,0.162,0.055,2260,935,3019
$GC,5678,-0.82,-146.0,447.6,-7.9,431,5682,0.00,2.38,0.00,0.000,6,0.000,0.054,2260,2341,3020
$GC,5993,-0.88,-146.0,472.2,-8.0,439,5997,0.00,2.47,0.00,0.000,4,0.000,0.071,2260,3756,3020
$GC,6049,-1.00,-146.0,476.6,-8.0,440,6054,0.15,2.30,0.00,0.000,6,0.099,0.041,2213,2332,3020
$GC,6363,-0.94,-146.0,503.9,-8.4,448,6366,0.00,2.33,0.00,0.000,4,0.000,0.056,2213,935,3020
$GC,6433,-0.83,-146.0,510.3,-8.5,449,6438,0.17,2.40,0.00,0.000,6,0.160,0.056,2256,2352,3020
$STATE,6772,end dive,NO_VERTICAL_VELOCITY
$STATE,6772,begin apogee
$GC,6780,-0.34,0.0,515.2,0.0,458,6915,0.35,0.00,131.52,1.220,6,0.105,0.000,2369,2528,2420
$STATE,6915,end apogee,CONTROL_FINISHED_OK
$STATE,6915,begin climb
$GC,6919,1.08,146.0,515.2,0.0,461,7176,1.05,2.78,170.40,0.972,4,0.104,0.068,2664,3929,1824
$GC,7194,0.89,146.0,499.7,7.6,467,7199,0.15,2.58,0.00,0.000,6,0.143,0.039,2630,2520,1824
$GC,7527,0.96,195.7,481.3,5.3,475,7578,0.00,2.78,45.78,1.124,4,0.000,0.067,2630,3930,1622
$GC,7623,0.96,195.7,474.8,7.4,477,7628,0.00,2.55,0.00,0.000,6,0.000,0.040,2630,2512,1622
$GC,7972,1.06,227.5,453.6,5.9,486,8004,0.12,0.00,29.73,1.113,6,0.080,0.000,2677,2512,1492
$GC,8296,1.06,227.5,427.2,8.4,494,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2512,1492
$GC,8620,1.06,227.5,399.6,8.6,502,8624,0.00,2.45,0.00,0.000,4,0.000,0.067,2677,3929,1492
$GC,8632,1.01,227.5,398.5,8.3,502,8636,0.00,2.30,0.00,0.000,6,0.000,0.041,2677,2505,1491
$GC,8954,0.96,227.5,372.6,7.9,518,8955,0.12,0.00,0.00,0.000,6,0.145,0.000,2641,2505,1492
$GC,9264,1.07,227.5,350.2,7.2,533,9268,0.10,2.42,0.00,0.000,4,0.092,0.067,2681,3931,1492
$GC,9281,1.07,227.5,348.8,7.4,534,9285,0.00,2.25,0.00,0.000,6,0.000,0.041,2681,2509,1492
$GC,9614,1.07,227.5,320.0,8.9,550,9618,0.00,2.42,0.00,0.000,4,0.000,0.069,2682,3937,1492
$GC,9670,0.95,227.5,314.4,10.4,552,9675,0.15,2.25,0.00,0.000,6,0.140,0.041,2640,2517,1492
$GC,9992,1.20,227.5,290.7,7.7,568,9996,0.17,2.28,0.00,0.000,4,0.077,0.053,2708,1116,1491
$GC,10082,1.12,227.5,283.0,8.4,572,10087,0.12,2.30,0.00,0.000,6,0.136,0.051,2676,2523,1492
$GC,10415,1.12,227.5,256.9,8.1,588,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2523,1492
$GC,10724,1.12,227.5,230.2,8.8,603,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2523,1491
$GC,11034,1.13,232.9,207.5,6.8,618,11045,0.00,2.35,5.85,0.888,4,0.000,0.070,2675,3926,1470
$GC,11053,1.14,239.7,206.1,6.8,619,11067,0.00,2.25,7.45,0.937,6,0.000,0.042,2675,2518,1442
$GC,11385,1.14,239.7,182.6,7.8,635,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2518,1442
$GC,11694,1.20,240.4,158.8,7.0,650,11699,0.08,2.45,0.00,0.000,4,0.101,0.069,2709,3937,1442
$GC,11705,1.20,240.4,157.9,7.0,650,11711,0.00,2.28,0.00,0.000,6,0.000,0.042,2709,2515,1442
$GC,12022,1.18,268.8,137.2,6.1,666,12052,0.00,2.47,24.92,1.055,4,0.000,0.071,2709,3934,1324
$GC,12076,1.12,294.0,133.9,6.2,668,12108,0.12,2.30,22.08,1.006,6,0.142,0.043,2676,2509,1220
$GC,12420,1.30,338.4,118.8,5.5,685,12464,0.15,2.40,37.53,1.027,4,0.078,0.056,2735,1107,1039
$GC,12483,1.46,338.4,113.1,9.4,687,12489,0.00,2.38,0.00,0.000,6,0.000,0.053,2735,2532,1038
$GC,12816,1.56,338.4,75.6,10.9,730,12823,0.15,2.33,0.00,0.000,4,0.076,0.054,2799,1106,1033
$GC,12943,1.43,338.4,62.0,10.1,752,12950,0.20,2.30,0.00,0.000,6,0.140,0.054,2743,2520,1033
$GC,13290,1.43,338.4,37.7,9.1,813,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2520,1031
$GC,13634,1.43,338.4,8.5,9.4,874,13640,0.00,2.35,0.00,0.000,4,0.000,0.058,2744,1108,1030
$GC,13647,1.43,338.4,8.0,7.7,876,13654,0.00,2.33,0.00,0.000,6,0.000,0.054,2744,2516,1030
$STATE,13731,end climb,SURFACE_DEPTH_REACHED
$STATE,13731,begin surface coast
$FINISH,1.1,1.025155
$STATE,13754,end surface coast,CONTROL_FINISHED_OK
$STATE,13755,begin surface
$SM_CCo,13776,203.20,0.905,1,0,145,558.30
$SM_GC,1.38,0.00,0.00,203.20,0.000,0.000,0.905,164,2343,145,-10.45,0.08,558.30
$RAFOS_CLK,859
$RAFOS,4,1230353056,4.750000,4.737778,62,60,59,57,55,51,209,190,172,228,200,156
$RAFOS,3,1230352455,4.583333,4.570833,75,60,59,59,56,54,630,148,199,160,218,185
$RAFOS,2,1230351859,4.416667,4.405278,57,54,54,52,52,51,195,177,154,207,218,168
$RAFOS,1,1230351242,4.250000,4.233889,64,59,56,53,52,48,201,168,135,152,218,119
$RAFOS,0,1230350646,4.083333,4.068333,96,64,56,54,53,53,623,211,151,198,168,134
$RAFOS_FIX,6631.249023,-5957.230469,271208,040420,2,86,2.35
$IRIDIUM_FIX,6558.99,-6001.28,230398,030342
$TT8_MAMPS,0.027612
$HUMID,1881
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,20.1,88.509
$10V_AH,10.4,40.475
$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,20.850,129.275,475.250,203.200,0.000,148.907,365.646,0.000,0.000,0.000,0.000,515.074,1605.144,9713.882,961.388,2266.143,910.183,33.356,1948.586,0.000,1737.540,1800.000,0.528,0.000
$DEVICE_MAMPS,213.993,80.535,1220.297,905.060,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.513,606.520,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31646,895
$CAP_FILE_SIZE,121198,0
$CFSIZE,260165632,215130112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,16,0
$SOUNDSPEED,1441.6
$GPS,271208,042120,6631.249,-5957.230,0,2085.5,0,-37.7