version: 66.04
glider: 113
mission: 4
dive: 478
start: 12 27 108 8 0 33
data:
$ID,113
$MISSION,4
$DIVE,478
$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,-85028.75
$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,21
$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
$GPS1,042120,6631.249,-5957.230,0,2085.5,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-15.0
$GPS2,042120,6631.249,-5957.230,0,2085.5,0,-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,-0.163,0.154
$KALMAN_X,22469.9,4917.6,851.5,-130976.0,-3234.5
$KALMAN_Y,-20765.0,-4544.4,-786.9,-33105.3,2989.1
$MHEAD_RNG_PITCHd_Wd,351.2,38994,-12.9,-7.021
$D_GRID,578
$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,17,-1.08,-146.0,0.0,0.0,0,172,0.00,0.00,-151.95,0.000,2,0.000,0.000,164,2341,2237
$GC,175,-1.08,-146.0,3.4,-7.8,27,224,9.12,2.40,-31.65,0.000,4,0.279,0.072,2200,931,3019
$GC,261,-0.76,-146.0,12.8,-12.4,41,268,0.25,2.35,0.00,0.000,6,0.176,0.055,2266,2351,3021
$GC,607,-0.67,-146.0,51.4,-10.2,102,614,0.10,2.40,0.00,0.000,4,0.184,0.070,2289,3743,3022
$GC,717,-0.72,-146.0,62.3,-9.5,121,724,0.00,2.28,0.00,0.000,6,0.000,0.041,2289,2323,3022
$GC,1063,-0.77,-146.0,96.1,-8.1,182,1070,0.00,2.30,0.00,0.000,4,0.000,0.055,2289,926,3023
$GC,1133,-0.77,-146.0,102.1,-8.5,191,1137,0.00,2.35,0.00,0.000,6,0.000,0.054,2289,2342,3023
$GC,1466,-0.84,-146.0,130.6,-8.8,207,1471,0.12,2.45,0.00,0.000,4,0.107,0.071,2244,3748,3023
$GC,1561,-0.84,-146.0,140.8,-11.3,211,1565,0.00,2.28,0.00,0.000,6,0.000,0.042,2244,2342,3023
$GC,1884,-0.77,-146.0,174.4,-10.3,227,1889,0.10,2.50,0.00,0.000,4,0.184,0.072,2268,3750,3023
$GC,1947,-0.86,-146.0,180.3,-9.6,230,1951,0.00,2.28,0.00,0.000,6,0.000,0.043,2268,2336,3023
$GC,2280,-0.86,-146.0,210.1,-8.7,246,2284,0.00,2.35,0.00,0.000,4,0.000,0.059,2268,928,3023
$GC,2348,-0.86,-146.0,216.3,-8.9,249,2352,0.00,2.38,0.00,0.000,6,0.000,0.055,2268,2339,3023
$GC,2670,-0.90,-146.0,241.3,-7.7,265,2675,0.12,2.47,0.00,0.000,4,0.097,0.071,2221,3751,3023
$GC,2756,-0.83,-146.0,249.7,-10.1,269,2761,0.15,2.30,0.00,0.000,6,0.169,0.043,2257,2327,3023
$GC,3088,-0.83,-146.0,279.7,-8.9,285,3092,0.00,2.33,0.00,0.000,4,0.000,0.058,2257,934,3023
$GC,3184,-0.83,-146.0,289.1,-9.1,289,3188,0.00,2.38,0.00,0.000,6,0.000,0.055,2257,2341,3023
$GC,3512,-0.83,-146.0,315.6,-7.2,305,3517,0.00,2.45,0.00,0.000,4,0.000,0.071,2257,3745,3023
$GC,3716,-0.91,-146.0,329.5,-6.8,314,3720,0.00,2.30,0.00,0.000,6,0.000,0.043,2257,2334,3023
$GC,4044,-0.95,-146.0,351.9,-7.5,330,4049,0.12,2.38,0.00,0.000,4,0.102,0.057,2214,926,3023
$GC,4152,-0.81,-146.0,362.5,-10.3,335,4157,0.17,2.40,0.00,0.000,6,0.163,0.055,2257,2347,3023
$GC,4480,-0.88,-146.0,387.0,-7.2,351,4484,0.00,2.45,0.00,0.000,4,0.000,0.073,2257,3745,3023
$GC,4581,-0.99,-146.0,394.6,-7.1,355,4588,0.15,2.30,0.00,0.000,6,0.090,0.041,2205,2326,3023
$GC,4894,-0.90,-146.0,423.0,-9.1,365,4899,0.12,2.35,0.00,0.000,4,0.156,0.057,2238,937,3023
$GC,5059,-0.90,-146.0,436.6,-7.9,368,5063,0.00,2.38,0.00,0.000,6,0.000,0.055,2238,2341,3023
$GC,5397,-0.90,-146.0,461.4,-7.3,377,5401,0.00,2.47,0.00,0.000,4,0.000,0.071,2238,3755,3023
$GC,5493,-0.99,-146.0,468.8,-8.0,379,5497,0.00,2.30,0.00,0.000,6,0.000,0.041,2238,2336,3024
$GC,5812,-0.99,-146.0,492.2,-7.2,387,5816,0.00,2.35,0.00,0.000,4,0.000,0.056,2238,928,3023
$GC,5907,-0.99,-146.0,500.0,-7.8,389,5911,0.00,2.40,0.00,0.000,6,0.000,0.054,2238,2354,3023
$GC,6233,-1.46,-146.0,509.1,-0.0,397,6238,0.35,2.42,0.00,0.000,4,0.074,0.054,2106,929,3025
$STATE,6308,end dive,NO_VERTICAL_VELOCITY
$STATE,6308,begin apogee
$GC,6319,-0.34,0.0,509.1,0.0,398,6454,0.80,0.00,131.55,1.213,6,0.105,0.000,2364,2527,2420
$STATE,6454,end apogee,CONTROL_FINISHED_OK
$STATE,6454,begin climb
$GC,6459,1.08,146.0,508.9,0.0,402,6607,1.08,2.83,139.00,1.121,4,0.104,0.068,2665,3926,1824
$GC,6740,0.86,146.0,490.8,8.7,408,6745,0.17,2.50,0.00,0.000,6,0.143,0.041,2624,2516,1824
$GC,7083,0.92,192.6,472.0,5.4,417,7134,0.00,2.80,42.42,1.123,4,0.000,0.066,2624,3934,1634
$GC,7158,0.97,230.6,467.9,5.7,418,7201,0.10,2.55,36.80,1.081,6,0.090,0.039,2656,2514,1480
$GC,7534,1.01,254.6,444.0,6.2,428,7558,0.00,0.00,22.70,1.081,6,0.000,0.000,2656,2515,1382
$GC,7858,1.13,304.1,426.1,5.3,436,7910,0.10,2.60,45.90,1.106,4,0.084,0.054,2695,1116,1179
$GC,7917,1.13,304.1,422.0,7.5,437,7921,0.00,2.60,0.00,0.000,6,0.000,0.048,2695,2523,1179
$GC,8241,1.13,304.1,394.0,9.3,447,8245,0.00,2.47,0.00,0.000,4,0.000,0.054,2695,1111,1177
$GC,8274,1.13,304.1,390.7,9.1,448,8281,0.00,2.42,0.00,0.000,6,0.000,0.048,2695,2522,1176
$GC,8590,1.13,304.1,365.4,7.3,464,8594,0.00,2.35,0.00,0.000,4,0.000,0.054,2695,1114,1176
$GC,8602,1.13,304.1,364.6,7.2,464,8606,0.00,2.33,0.00,0.000,6,0.000,0.049,2695,2524,1176
$GC,8923,1.13,304.1,340.0,8.2,480,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2524,1176
$GC,9232,1.13,304.1,313.9,8.4,495,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2524,1175
$GC,9543,1.13,304.1,288.2,8.7,510,9546,0.00,2.33,0.00,0.000,4,0.000,0.053,2695,1106,1176
$GC,9554,1.13,304.1,287.0,8.9,510,9558,0.00,2.33,0.00,0.000,6,0.000,0.051,2695,2529,1175
$GC,9875,1.13,304.1,259.5,8.0,526,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2529,1175
$GC,10185,1.13,304.1,234.8,7.9,541,10188,0.00,2.38,0.00,0.000,4,0.000,0.072,2695,3927,1176
$GC,10197,1.13,304.1,233.7,8.1,541,10201,0.00,2.25,0.00,0.000,6,0.000,0.041,2695,2504,1175
$GC,10518,1.13,304.1,208.7,7.8,557,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2504,1175
$GC,10828,1.22,326.3,186.6,6.3,572,10853,0.00,2.50,18.92,1.062,4,0.000,0.071,2695,3929,1089
$GC,10868,1.31,358.7,184.3,5.9,573,10904,0.10,2.28,29.20,1.044,6,0.091,0.042,2734,2513,957
$GC,11229,1.31,358.7,156.7,10.0,591,11233,0.00,2.28,0.00,0.000,4,0.000,0.058,2734,1110,951
$GC,11252,1.31,358.7,153.8,11.5,592,11256,0.00,2.30,0.00,0.000,6,0.000,0.052,2734,2531,951
$GC,11586,1.31,361.3,124.9,6.9,608,11590,0.00,2.33,0.00,0.000,4,0.000,0.057,2734,1117,950
$GC,11599,1.31,364.9,124.0,6.9,608,11611,0.00,2.30,5.25,0.813,6,0.000,0.053,2734,2529,932
$GC,11925,1.31,364.9,94.4,9.4,630,11931,0.00,2.35,0.00,0.000,4,0.000,0.057,2734,1110,932
$GC,11945,1.37,364.9,92.8,8.7,633,11951,0.00,2.30,0.00,0.000,6,0.000,0.052,2734,2518,932
$GC,12291,1.43,364.9,69.0,7.6,694,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2518,931
$GC,12636,1.52,370.7,43.1,6.8,755,12650,0.12,2.33,6.45,0.864,4,0.082,0.058,2788,1111,908
$GC,12674,1.52,370.7,39.3,9.0,761,12680,0.00,2.33,0.00,0.000,6,0.000,0.052,2787,2526,908
$GC,13020,1.45,370.7,4.4,10.6,822,13026,0.15,0.00,0.00,0.000,6,0.141,0.000,2746,2526,907
$STATE,13047,end climb,SURFACE_DEPTH_REACHED
$STATE,13047,begin surface coast
$FINISH,1.4,1.026033
$STATE,13070,end surface coast,CONTROL_FINISHED_OK
$STATE,13071,begin surface
$SM_CCo,13091,178.57,0.908,2,0,144,558.30
$SM_GC,1.87,0.00,0.00,178.57,0.000,0.000,0.908,158,2329,144,-10.47,-0.31,558.30
$RAFOS_CLK,865
$RAFOS,4,1230367458,8.750000,8.738334,63,59,56,54,53,52,178,213,146,225,134,201
$RAFOS,3,1230366842,8.583333,8.567223,67,59,51,50,48,47,202,217,236,188,146,164
$RAFOS,2,1230366253,8.416667,8.403611,70,64,59,54,50,48,178,214,188,143,134,224
$RAFOS,1,1230365645,8.250000,8.234722,61,58,56,51,48,48,226,204,190,160,171,140
$RAFOS,0,1230365042,8.083333,8.067223,123,63,59,57,50,48,658,198,219,169,131,232
$RAFOS_FIX,6631.249023,-5957.230469,271208,040420,2,86,2.35
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.027612
$HUMID,1888
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,15.10
$XPDR_PINGS,3
$24V_AH,20.4,88.718
$10V_AH,10.4,40.585
$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,21.050,129.750,478.200,178.575,0.000,168.051,144.110,0.000,0.750,0.000,0.000,906.450,1503.009,9295.217,822.520,2602.242,655.244,33.366,1785.963,0.000,1682.414,1800.000,0.530,0.000
$DEVICE_MAMPS,279.188,72.865,1213.394,908.128,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.112,564.224,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31620,831
$CAP_FILE_SIZE,115550,0
$CFSIZE,260165632,215056384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1443.7
$GPS,271208,042120,6631.249,-5957.230,0,2085.5,0,-37.7