version: 66.04
glider: 113
mission: 4
dive: 479
start: 12 27 108 12 25 13
data:
$ID,113
$MISSION,4
$DIVE,479
$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,-86841.492
$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,31
$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
$GPS1,042120,6631.249,-5957.230,0,2085.5,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-15.6
$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,-0.169,0.148
$KALMAN_X,29887.6,731.7,-5614.9,-133654.1,14845.6
$KALMAN_Y,-27619.8,-676.2,5188.9,-30562.5,-13719.2
$MHEAD_RNG_PITCHd_Wd,348.9,38994,-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,16,-1.08,-146.0,0.0,0.0,0,160,0.00,0.00,-140.32,0.000,2,0.000,0.000,158,2330,2275
$GC,164,-1.08,-146.0,3.0,-0.5,25,223,8.57,0.00,-43.45,0.000,6,0.255,0.000,2197,2330,3015
$GC,563,-0.77,-146.0,58.5,-17.6,95,569,0.22,2.53,0.00,0.000,4,0.183,0.073,2261,3752,3019
$GC,611,-0.68,-146.0,65.9,-14.9,103,618,0.12,2.30,0.00,0.000,6,0.167,0.044,2292,2336,3019
$GC,960,-0.73,-146.0,104.3,-10.4,159,964,0.00,2.33,0.00,0.000,4,0.000,0.060,2292,932,3020
$GC,1028,-0.73,-146.0,111.1,-9.6,162,1031,0.00,2.38,0.00,0.000,6,0.000,0.055,2292,2349,3020
$GC,1361,-0.80,-146.0,140.4,-8.7,178,1366,0.12,2.45,0.00,0.000,4,0.100,0.074,2248,3744,3020
$GC,1447,-0.80,-146.0,148.9,-10.3,182,1451,0.00,2.30,0.00,0.000,6,0.000,0.044,2248,2329,3020
$GC,1775,-0.75,-146.0,185.3,-11.3,198,1777,0.12,0.00,0.00,0.000,6,0.184,0.000,2278,2329,3020
$GC,2084,-0.81,-146.0,211.8,-7.9,213,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2329,3020
$GC,2395,-0.89,-146.0,234.3,-6.7,228,2397,0.15,0.00,0.00,0.000,6,0.100,0.000,2229,2329,3020
$GC,2703,-0.79,-146.0,264.6,-10.8,243,2708,0.15,2.55,0.00,0.000,4,0.173,0.071,2267,3745,3020
$GC,2799,-0.88,-146.0,274.0,-9.4,247,2804,0.10,2.30,0.00,0.000,6,0.098,0.044,2234,2341,3020
$GC,3116,-0.82,-146.0,309.6,-11.1,262,3121,0.10,2.40,0.00,0.000,4,0.182,0.058,2257,923,3020
$GC,3195,-0.82,-146.0,317.7,-9.4,265,3201,0.00,2.40,0.00,0.000,6,0.000,0.056,2257,2343,3020
$GC,3511,-0.82,-146.0,341.3,-6.4,281,3515,0.00,2.40,0.00,0.000,4,0.000,0.058,2257,923,3020
$GC,3580,-0.82,-146.0,346.3,-7.6,284,3584,0.00,2.40,0.00,0.000,6,0.000,0.057,2257,2340,3020
$GC,3908,-0.82,-146.0,369.4,-7.7,300,3912,0.00,2.47,0.00,0.000,4,0.000,0.072,2257,3755,3020
$GC,3997,-0.92,-146.0,376.5,-7.4,304,4002,0.00,2.33,0.00,0.000,6,0.000,0.042,2257,2323,3020
$GC,4325,-0.98,-146.0,399.6,-7.1,320,4330,0.12,2.35,0.00,0.000,4,0.103,0.057,2214,928,3020
$GC,4460,-0.87,-146.0,411.6,-9.3,324,4465,0.15,2.40,0.00,0.000,6,0.167,0.056,2249,2343,3020
$GC,4785,-0.87,-146.0,435.4,-7.2,332,4789,0.00,2.47,0.00,0.000,4,0.000,0.074,2249,3749,3020
$GC,4887,-0.96,-146.0,442.9,-7.8,334,4890,0.00,2.30,0.00,0.000,6,0.000,0.042,2248,2335,3020
$GC,5201,-1.01,-146.0,465.0,-6.9,342,5206,0.12,2.35,0.00,0.000,4,0.111,0.056,2203,939,3020
$GC,5291,-0.91,-146.0,473.7,-9.4,344,5296,0.15,2.40,0.00,0.000,6,0.160,0.056,2240,2354,3020
$GC,5611,-0.91,-146.0,499.3,-8.1,352,5615,0.00,2.45,0.00,0.000,4,0.000,0.071,2240,3752,3020
$GC,5690,-0.99,-146.0,505.9,-8.4,353,5696,0.00,2.30,0.00,0.000,6,0.000,0.041,2240,2335,3020
$GC,6023,-1.34,-146.0,520.1,-0.1,362,6028,0.28,2.38,0.00,0.000,4,0.077,0.056,2136,931,3021
$STATE,6138,end dive,NO_VERTICAL_VELOCITY
$STATE,6138,begin apogee
$GC,6148,-0.34,0.0,520.1,0.0,364,6282,0.70,0.00,130.65,1.225,6,0.107,0.000,2363,2520,2420
$STATE,6283,end apogee,CONTROL_FINISHED_OK
$STATE,6283,begin climb
$GC,6286,1.08,146.0,520.0,0.0,368,6473,1.10,2.72,149.48,1.073,4,0.111,0.054,2667,1117,1825
$GC,6529,0.98,146.0,512.7,7.5,373,6534,0.00,2.62,0.00,0.000,6,0.000,0.052,2667,2528,1825
$GC,6868,0.85,146.0,487.9,7.9,382,6870,0.17,0.00,0.00,0.000,6,0.142,0.000,2622,2528,1825
$GC,7192,0.90,182.7,468.1,5.8,390,7231,0.00,0.00,32.80,1.144,6,0.000,0.000,2623,2528,1675
$GC,7557,0.96,183.8,445.0,7.0,399,7559,0.10,0.00,0.00,0.000,6,0.091,0.000,2662,2528,1678
$GC,7882,0.91,183.8,420.9,7.2,407,7887,0.12,2.38,0.00,0.000,4,0.137,0.069,2626,3936,1678
$GC,7923,0.91,184.4,418.2,7.0,408,7932,0.00,2.25,3.35,0.635,6,0.000,0.041,2627,2516,1668
$GC,8253,1.00,201.0,397.7,6.5,416,8276,0.10,2.42,15.25,1.104,4,0.090,0.070,2667,3938,1599
$GC,8283,1.00,201.0,395.4,8.1,417,8287,0.00,2.28,0.00,0.000,6,0.000,0.041,2667,2514,1599
$GC,8610,1.00,201.0,368.0,8.4,433,8614,0.00,2.42,0.00,0.000,4,0.000,0.070,2667,3941,1601
$GC,8621,1.00,201.0,366.9,8.3,433,8625,0.00,2.25,0.00,0.000,6,0.000,0.041,2667,2515,1601
$GC,8943,1.01,207.1,343.1,6.8,449,8951,0.00,0.00,6.57,0.941,6,0.000,0.000,2667,2515,1575
$GC,9253,1.01,207.1,320.4,7.7,464,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2515,1576
$GC,9561,1.01,207.1,297.0,7.7,479,9565,0.00,2.45,0.00,0.000,4,0.000,0.071,2667,3937,1576
$GC,9572,1.01,207.1,296.1,7.6,479,9579,0.00,2.28,0.00,0.000,6,0.000,0.041,2667,2508,1576
$GC,9889,1.02,211.4,273.2,6.9,495,9899,0.00,2.45,4.95,0.839,4,0.000,0.073,2667,3941,1559
$GC,9906,1.02,211.4,271.8,7.1,496,9910,0.00,2.28,0.00,0.000,6,0.000,0.041,2667,2512,1559
$GC,10239,1.05,237.3,249.5,6.1,512,10263,0.00,0.00,22.67,1.098,6,0.000,0.000,2667,2512,1452
$GC,10569,1.15,267.6,229.6,6.0,528,10601,0.00,2.50,25.62,1.090,4,0.000,0.071,2667,3929,1329
$GC,10609,1.26,303.7,227.1,5.8,530,10647,0.15,2.28,31.62,1.049,6,0.076,0.041,2723,2521,1181
$GC,10960,1.26,303.7,197.1,8.8,546,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2521,1176
$GC,11265,1.26,303.7,169.2,8.9,561,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2521,1175
$GC,11576,1.26,303.7,144.3,8.0,576,11581,0.00,2.42,0.00,0.000,4,0.000,0.072,2723,3937,1174
$GC,11588,1.26,303.7,143.2,8.1,576,11595,0.00,2.28,0.00,0.000,6,0.000,0.043,2725,2511,1174
$GC,11904,1.26,303.7,116.9,8.3,592,11909,0.00,2.45,0.00,0.000,4,0.000,0.072,2725,3932,1173
$GC,11995,1.17,303.7,109.1,9.4,596,12000,0.15,2.28,0.00,0.000,6,0.145,0.043,2684,2513,1173
$GC,12326,1.41,303.7,86.7,8.1,635,12333,0.20,2.30,0.00,0.000,4,0.078,0.055,2762,1116,1173
$GC,12414,1.29,303.7,79.4,8.6,650,12421,0.17,2.33,0.00,0.000,6,0.137,0.053,2714,2523,1173
$GC,12761,1.46,381.5,60.4,4.4,711,12832,0.15,2.53,65.50,1.015,4,0.081,0.058,2772,1112,864
$GC,12863,1.46,381.5,52.0,9.0,728,12869,0.00,2.42,0.00,0.000,6,0.000,0.053,2772,2518,860
$GC,13208,1.40,381.5,17.1,9.3,789,13215,0.12,2.33,0.00,0.000,4,0.142,0.059,2738,1108,855
$GC,13239,1.40,381.5,14.4,8.3,794,13245,0.00,2.30,0.00,0.000,6,0.000,0.054,2737,2522,854
$STATE,13435,end climb,SURFACE_DEPTH_REACHED
$STATE,13435,begin surface coast
$FINISH,2.1,1.026029
$STATE,13537,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13537,begin surface
$SM_CCo,13541,163.18,0.922,1,0,145,558.30
$SM_GC,2.41,8.25,0.00,0.00,0.070,0.000,0.000,164,2343,142,-10.37,0.08,558.79
$RAFOS_CLK,901
$RAFOS,0,1230393844,16.083334,16.067778,104,69,59,55,52,52,610,213,177,194,150,167
$RAFOS,4,1230381843,12.750000,12.734167,64,59,57,54,52,51,160,191,206,136,172,145
$RAFOS,3,1230381244,12.583333,12.567778,65,64,58,52,51,50,213,195,119,169,152,183
$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,1898
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,15.00
$XPDR_PINGS,8
$24V_AH,20.2,88.924
$10V_AH,10.4,40.695
$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,22.000,115.175,488.475,163.175,0.000,168.074,144.328,0.000,2.000,0.000,0.000,906.472,1496.220,9927.707,839.089,2541.725,643.584,33.358,1761.870,0.000,1621.864,1080.000,0.546,0.000
$DEVICE_MAMPS,255.411,73.632,1224.899,921.934,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.098,574.061,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31604,847
$CAP_FILE_SIZE,114924,0
$CFSIZE,260165632,214978560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1443.6
$GPS,271208,042120,6631.249,-5957.230,0,2085.5,0,-37.7