version: 66.04
glider: 113
mission: 4
dive: 480
start: 12 27 108 16 59 21
data:
$ID,113
$MISSION,4
$DIVE,480
$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,-88653.258
$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,25
$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,2.72
$_SM_ANGLEo,-34.3
$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,37305.3,-4780.8,7325.6,-136434.3,-3420.5
$KALMAN_Y,-34474.7,4418.1,-6769.8,-28131.7,3161.0
$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,-145.9,0.0,0.0,0,80,0.00,0.00,-61.17,0.000,2,0.000,0.000,165,2343,1193
$GC,84,-1.08,-146.0,3.0,-0.8,11,217,8.00,2.50,-116.97,0.000,4,0.228,0.085,2201,3754,3016
$GC,338,-0.85,-146.0,23.6,-14.7,55,345,0.20,2.33,0.00,0.000,6,0.161,0.044,2255,2323,3019
$GC,685,-0.71,-146.0,70.0,-14.4,116,691,0.10,2.35,0.00,0.000,4,0.183,0.059,2281,926,3020
$GC,860,-0.71,-146.0,92.2,-12.2,146,866,0.00,2.40,0.00,0.000,6,0.000,0.057,2281,2350,3020
$GC,1183,-0.71,-146.0,124.3,-8.8,171,1187,0.00,2.45,0.00,0.000,4,0.000,0.073,2281,3753,3020
$GC,1279,-0.80,-146.0,132.4,-8.0,175,1282,0.00,2.30,0.00,0.000,6,0.000,0.043,2281,2338,3020
$GC,1601,-0.85,-146.0,162.0,-10.4,191,1606,0.12,2.35,0.00,0.000,4,0.095,0.058,2236,937,3020
$GC,1668,-0.72,-146.0,170.8,-13.4,194,1673,0.17,2.38,0.00,0.000,6,0.175,0.058,2279,2340,3020
$GC,1995,-0.77,-146.0,202.8,-8.3,210,1999,0.00,2.45,0.00,0.000,4,0.000,0.074,2277,3750,3020
$GC,2137,-0.87,-146.0,212.8,-6.3,216,2142,0.12,2.33,0.00,0.000,6,0.098,0.044,2234,2329,3020
$GC,2459,-0.80,-146.0,241.6,-9.8,232,2464,0.12,2.53,0.00,0.000,4,0.178,0.072,2265,3745,3020
$GC,2533,-0.88,-146.0,248.4,-9.3,235,2537,0.00,2.30,0.00,0.000,6,0.000,0.044,2265,2337,3021
$GC,2855,-0.88,-146.0,278.1,-9.5,251,2858,0.00,2.35,0.00,0.000,4,0.000,0.058,2264,936,3020
$GC,2973,-0.88,-146.0,289.7,-9.6,256,2978,0.00,2.40,0.00,0.000,6,0.000,0.058,2265,2348,3020
$GC,3296,-0.93,-146.0,313.7,-6.5,272,3301,0.12,2.47,0.00,0.000,4,0.105,0.074,2220,3746,3020
$GC,3386,-0.88,-146.0,321.4,-8.9,276,3391,0.10,2.30,0.00,0.000,6,0.172,0.044,2241,2341,3020
$GC,3708,-0.88,-146.0,346.1,-7.7,292,3711,0.00,2.38,0.00,0.000,4,0.000,0.059,2241,926,3021
$GC,3809,-0.88,-146.0,354.9,-8.5,296,3813,0.00,2.40,0.00,0.000,6,0.000,0.056,2242,2341,3021
$GC,4126,-0.88,-146.0,382.0,-9.1,311,4130,0.00,2.47,0.00,0.000,4,0.000,0.073,2242,3749,3021
$GC,4256,-0.95,-146.0,394.5,-9.7,317,4260,0.00,2.30,0.00,0.000,6,0.000,0.043,2242,2338,3021
$GC,4606,-0.95,-146.0,425.7,-8.9,327,4609,0.00,2.35,0.00,0.000,4,0.000,0.058,2242,936,3021
$GC,4796,-0.95,-146.0,442.5,-8.0,331,4800,0.00,2.40,0.00,0.000,6,0.000,0.055,2242,2349,3021
$GC,5115,-0.99,-146.0,465.6,-6.8,339,5120,0.10,2.47,0.00,0.000,4,0.102,0.073,2204,3752,3021
$GC,5228,-0.99,-146.0,475.2,-9.5,341,5232,0.00,2.30,0.00,0.000,6,0.000,0.041,2204,2339,3021
$GC,5571,-0.91,-146.0,504.8,-8.8,350,5573,0.12,0.00,0.00,0.000,6,0.159,0.000,2237,2340,3022
$GC,5896,-1.21,-146.0,519.9,-1.7,358,5901,0.20,2.53,0.00,0.000,4,0.087,0.071,2161,3752,3022
$STATE,6025,end dive,NO_VERTICAL_VELOCITY
$STATE,6025,begin apogee
$GC,6038,-0.34,0.0,520.0,0.0,361,6171,0.62,0.00,129.90,1.225,6,0.095,0.000,2366,2515,2421
$STATE,6172,end apogee,CONTROL_FINISHED_OK
$STATE,6172,begin climb
$GC,6175,1.08,146.0,519.9,0.0,364,6333,1.10,2.85,140.77,1.119,4,0.114,0.068,2667,3933,1824
$GC,6581,0.85,146.0,491.9,8.8,373,6586,0.20,2.47,0.00,0.000,6,0.150,0.041,2618,2517,1825
$GC,6930,0.90,183.3,471.8,5.7,382,6972,0.00,2.70,33.67,1.131,4,0.000,0.069,2618,3920,1673
$GC,6995,0.95,219.8,467.9,5.8,383,7036,0.10,2.47,34.72,1.094,6,0.089,0.040,2651,2518,1524
$GC,7344,0.95,219.8,442.7,7.4,392,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2518,1526
$GC,7670,0.95,219.8,416.9,8.2,400,7674,0.00,2.47,0.00,0.000,4,0.000,0.069,2651,3929,1525
$GC,7681,0.95,219.8,415.9,8.2,400,7685,0.00,2.33,0.00,0.000,6,0.000,0.040,2651,2509,1525
$GC,7996,0.98,239.8,393.5,6.3,410,8019,0.00,2.55,17.83,1.103,4,0.000,0.069,2651,3942,1442
$GC,8026,0.99,252.7,391.6,6.6,411,8044,0.00,2.33,12.82,1.035,6,0.000,0.041,2651,2513,1389
$GC,8353,1.14,315.0,373.6,4.9,427,8416,0.12,2.47,52.97,1.122,4,0.080,0.055,2705,1111,1134
$GC,8423,1.09,315.0,368.6,8.0,430,8428,0.15,2.45,0.00,0.000,6,0.125,0.050,2666,2533,1133
$GC,8745,1.18,315.0,345.1,8.1,446,8750,0.10,2.33,0.00,0.000,4,0.085,0.054,2709,1110,1131
$GC,8779,1.18,315.0,341.8,9.9,447,8785,0.00,2.30,0.00,0.000,6,0.000,0.051,2709,2529,1131
$GC,9096,1.18,315.0,310.0,10.2,463,9100,0.00,2.33,0.00,0.000,4,0.000,0.056,2709,1110,1131
$GC,9112,1.18,315.0,308.2,10.5,463,9118,0.00,2.30,0.00,0.000,6,0.000,0.050,2709,2532,1130
$GC,9428,1.18,315.0,274.6,10.3,479,9432,0.00,2.33,0.00,0.000,4,0.000,0.054,2710,1117,1130
$GC,9439,1.18,315.0,273.4,10.1,479,9443,0.00,2.30,0.00,0.000,6,0.000,0.050,2709,2531,1130
$GC,9761,1.18,315.0,248.2,7.1,495,9765,0.00,2.33,0.00,0.000,4,0.000,0.054,2709,1118,1130
$GC,9772,1.18,318.3,247.3,6.9,495,9776,0.00,2.30,0.00,0.000,6,0.000,0.051,2710,2525,1129
$GC,10093,1.18,318.3,224.0,7.9,511,10097,0.00,2.38,0.00,0.000,4,0.000,0.070,2710,3929,1129
$GC,10105,1.18,318.3,223.0,8.0,511,10109,0.00,2.25,0.00,0.000,6,0.000,0.041,2709,2509,1129
$GC,10427,1.18,318.3,195.9,8.4,527,10431,0.00,2.45,0.00,0.000,4,0.000,0.071,2709,3930,1129
$GC,10450,1.18,318.3,193.7,9.3,528,10454,0.00,2.28,0.00,0.000,6,0.000,0.043,2709,2509,1129
$GC,10782,1.18,318.3,166.7,7.6,544,10787,0.00,2.47,0.00,0.000,4,0.000,0.071,2709,3936,1128
$GC,10812,1.13,318.3,164.2,8.6,545,10816,0.12,2.28,0.00,0.000,6,0.140,0.043,2676,2521,1128
$GC,11133,1.27,318.3,142.0,7.4,561,11138,0.12,2.33,0.00,0.000,4,0.084,0.057,2730,1114,1128
$GC,11144,1.37,318.3,141.0,7.6,561,11149,0.00,2.33,0.00,0.000,6,0.000,0.052,2730,2521,1129
$GC,11462,1.40,336.3,114.8,6.4,576,11485,0.00,2.40,17.12,1.032,4,0.000,0.058,2730,1116,1049
$GC,11497,1.44,366.1,112.7,6.0,577,11530,0.00,2.35,27.42,1.014,6,0.000,0.051,2730,2534,927
$GC,11851,1.50,366.1,89.5,8.4,612,11858,0.10,2.33,0.00,0.000,4,0.087,0.056,2775,1114,922
$GC,11871,1.50,366.1,87.6,9.0,615,11877,0.00,2.30,0.00,0.000,6,0.000,0.053,2775,2529,922
$GC,12218,1.40,366.1,46.9,11.7,676,12224,0.15,2.35,0.00,0.000,4,0.134,0.056,2732,1110,921
$GC,12232,1.33,366.1,45.3,12.0,678,12238,0.00,2.30,0.00,0.000,6,0.000,0.052,2732,2520,921
$GC,12578,1.41,366.1,14.3,11.5,739,12585,0.00,2.33,0.00,0.000,4,0.000,0.058,2732,1116,920
$STATE,12752,end climb,SURFACE_DEPTH_REACHED
$STATE,12752,begin surface coast
$FINISH,1.3,1.026020
$STATE,12781,end surface coast,CONTROL_FINISHED_OK
$STATE,12781,begin surface
$SM_CCo,12803,179.32,0.915,1,0,145,558.30
$SM_GC,2.07,0.00,0.00,179.32,0.000,0.000,0.915,160,2343,145,-10.47,0.08,558.30
$RAFOS_CLK,851
$RAFOS,2,1230409442,20.416666,20.400555,65,57,53,50,50,48,199,162,145,175,129,212
$RAFOS,1,1230408852,20.250000,20.236666,65,61,60,56,55,55,191,145,120,160,204,215
$RAFOS,0,1230408249,20.083334,20.069166,89,67,63,54,51,50,598,202,176,185,134,115
$RAFOS_FIX,6631.249023,-5957.230469,271208,040420,2,86,2.35
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.028379
$HUMID,1877
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,20.2,89.131
$10V_AH,10.4,40.802
$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,19.725,142.550,467.250,179.325,0.000,168.078,144.278,0.000,0.250,0.000,0.000,906.502,1421.334,9145.729,807.047,2558.378,653.690,33.359,1747.223,0.000,1632.425,1080.000,0.528,0.000
$DEVICE_MAMPS,227.799,85.137,1224.899,915.031,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.509,526.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28414,775
$CAP_FILE_SIZE,114550,0
$CFSIZE,260165632,214908928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1444.3
$GPS,271208,042120,6631.249,-5957.230,0,2085.5,0,-37.7