version: 66.04
glider: 113
mission: 4
dive: 481
start: 12 27 108 21 19 9
data:
$ID,113
$MISSION,4
$DIVE,481
$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,-90465.023
$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,32
$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
$GPS1,042120,6631.249,-5957.230,0,2085.5,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-44.3
$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,-0.169,0.147
$KALMAN_X,44723.0,-3913.4,-4380.0,-139111.2,15891.9
$KALMAN_Y,-41329.6,3616.5,4047.7,-25588.0,-14686.1
$MHEAD_RNG_PITCHd_Wd,348.7,38994,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,181,0.00,0.00,-161.40,0.000,2,0.000,0.000,160,2343,2519
$GC,185,-1.08,-146.0,3.6,-4.8,29,215,8.88,0.00,-15.73,0.000,6,0.269,0.000,2200,2343,3018
$GC,555,-0.76,-146.0,60.6,-17.1,94,561,0.22,2.45,0.00,0.000,4,0.171,0.072,2261,3743,3021
$GC,637,-0.76,-146.0,71.8,-12.9,108,643,0.00,2.28,0.00,0.000,6,0.000,0.044,2261,2343,3021
$GC,978,-0.70,-146.0,113.6,-12.5,155,983,0.10,2.38,0.00,0.000,4,0.174,0.058,2286,930,3022
$GC,1068,-0.70,-146.0,124.0,-10.8,159,1073,0.00,2.38,0.00,0.000,6,0.000,0.055,2286,2342,3022
$GC,1391,-0.76,-146.0,152.7,-8.1,175,1395,0.00,2.45,0.00,0.000,4,0.000,0.073,2285,3748,3022
$GC,1465,-0.89,-146.0,158.9,-8.6,178,1469,0.15,2.30,0.00,0.000,6,0.088,0.044,2234,2337,3022
$GC,1786,-0.79,-146.0,192.8,-10.3,194,1791,0.12,2.38,0.00,0.000,4,0.177,0.058,2265,932,3022
$GC,1859,-0.79,-146.0,200.1,-9.1,197,1863,0.00,2.38,0.00,0.000,6,0.000,0.054,2265,2342,3022
$GC,2176,-0.79,-146.0,225.3,-7.7,212,2180,0.00,2.45,0.00,0.000,4,0.000,0.073,2263,3745,3022
$GC,2266,-0.85,-146.0,232.7,-8.0,216,2270,0.00,2.30,0.00,0.000,6,0.000,0.043,2263,2331,3022
$GC,2593,-0.85,-146.0,258.4,-7.4,232,2597,0.00,2.35,0.00,0.000,4,0.000,0.058,2263,926,3022
$GC,2695,-0.85,-146.0,266.5,-8.3,236,2700,0.00,2.40,0.00,0.000,6,0.000,0.055,2263,2346,3022
$GC,3011,-0.85,-146.0,289.9,-7.8,251,3015,0.00,2.47,0.00,0.000,4,0.000,0.073,2262,3755,3022
$GC,3086,-0.94,-146.0,296.0,-8.2,254,3090,0.12,2.30,0.00,0.000,6,0.109,0.043,2221,2333,3022
$GC,3407,-0.86,-146.0,326.4,-9.1,270,3412,0.12,2.38,0.00,0.000,4,0.167,0.058,2253,932,3022
$GC,3515,-0.86,-146.0,336.3,-9.2,275,3519,0.00,2.40,0.00,0.000,6,0.000,0.056,2253,2348,3022
$GC,3843,-0.90,-146.0,366.2,-8.8,291,3847,0.00,2.47,0.00,0.000,4,0.000,0.074,2253,3755,3022
$GC,3955,-1.01,-146.0,375.3,-7.9,296,3960,0.15,2.30,0.00,0.000,6,0.097,0.041,2204,2337,3022
$GC,4283,-0.92,-146.0,403.5,-8.5,311,4287,0.12,2.38,0.00,0.000,4,0.153,0.058,2237,931,3022
$GC,4463,-0.92,-146.0,418.4,-8.1,315,4467,0.00,2.40,0.00,0.000,6,0.000,0.055,2237,2345,3022
$GC,4788,-0.92,-146.0,440.9,-6.8,323,4793,0.00,2.47,0.00,0.000,4,0.000,0.072,2237,3751,3022
$GC,5013,-1.00,-146.0,456.8,-7.3,328,5017,0.00,2.30,0.00,0.000,6,0.000,0.041,2237,2334,3022
$GC,5339,-1.00,-146.0,479.7,-6.8,336,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2334,3023
$GC,5663,-1.05,-146.0,503.2,-7.6,344,5668,0.12,2.53,0.00,0.000,4,0.104,0.069,2192,3755,3023
$GC,5749,-0.97,-146.0,511.3,-9.1,346,5754,0.15,2.30,0.00,0.000,6,0.155,0.041,2228,2335,3023
$STATE,5948,end dive,NO_VERTICAL_VELOCITY
$STATE,5948,begin apogee
$GC,5957,-0.34,0.0,513.6,0.0,351,6092,0.43,0.00,132.00,1.213,6,0.107,0.000,2367,2530,2420
$STATE,6093,end apogee,CONTROL_FINISHED_OK
$STATE,6093,begin climb
$GC,6096,1.08,146.0,513.5,0.0,354,6298,1.08,2.78,153.30,1.044,4,0.105,0.054,2665,1120,1824
$GC,6355,0.99,150.4,501.3,6.9,360,6366,0.00,2.60,5.47,0.812,6,0.000,0.051,2665,2521,1807
$GC,6674,0.88,150.4,478.4,7.4,368,6679,0.15,2.58,0.00,0.000,4,0.141,0.067,2627,3936,1808
$GC,6720,0.79,151.0,475.2,7.0,369,6725,0.00,2.42,0.00,0.000,6,0.000,0.041,2627,2522,1809
$GC,7040,0.86,200.6,458.0,5.3,377,7090,0.00,2.67,44.62,1.140,4,0.000,0.069,2627,3927,1602
$GC,7126,0.86,204.0,452.9,6.9,379,7136,0.00,2.50,5.03,0.788,6,0.000,0.040,2627,2512,1589
$GC,7451,0.94,215.2,432.4,6.6,387,7470,0.00,2.65,11.57,1.035,4,0.000,0.067,2627,3936,1542
$GC,7679,0.94,215.2,413.2,8.6,392,7683,0.00,2.35,0.00,0.000,6,0.000,0.041,2627,2512,1543
$GC,8000,1.05,222.0,390.9,6.8,403,8015,0.12,2.50,7.35,0.962,4,0.082,0.068,2678,3940,1515
$GC,8038,0.89,222.0,387.5,9.8,404,8045,0.20,2.30,0.00,0.000,6,0.141,0.041,2623,2508,1515
$GC,8356,1.02,237.6,366.9,6.5,420,8378,0.12,2.45,14.07,1.075,4,0.078,0.070,2677,3938,1451
$GC,8505,0.92,237.6,352.7,10.2,426,8510,0.17,2.25,0.00,0.000,6,0.142,0.041,2627,2516,1452
$GC,8822,1.18,237.6,329.4,7.3,441,8827,0.20,2.42,0.00,0.000,4,0.074,0.069,2708,3937,1452
$GC,8924,0.97,237.6,319.7,9.9,445,8931,0.22,2.25,0.00,0.000,6,0.137,0.042,2643,2522,1452
$GC,9241,1.16,299.4,302.9,4.9,461,9299,0.15,2.40,51.90,1.108,4,0.077,0.055,2704,1116,1199
$GC,9306,1.17,307.0,298.6,6.8,463,9322,0.00,2.42,8.10,0.894,6,0.000,0.051,2704,2534,1167
$GC,9632,1.17,307.0,273.5,8.0,479,9636,0.00,2.30,0.00,0.000,4,0.000,0.054,2704,1115,1164
$GC,9645,1.17,307.0,272.5,8.0,479,9649,0.00,2.28,0.00,0.000,6,0.000,0.051,2704,2523,1165
$GC,9966,1.17,307.0,248.5,7.4,495,9970,0.00,2.33,0.00,0.000,4,0.000,0.055,2704,1107,1164
$GC,9977,1.17,307.0,247.6,7.6,495,9981,0.00,2.30,0.00,0.000,6,0.000,0.051,2704,2521,1164
$GC,10300,1.17,307.0,221.9,8.0,511,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2522,1164
$GC,10609,1.22,346.1,203.0,5.7,526,10647,0.00,0.00,32.83,1.075,6,0.000,0.000,2704,2522,1008
$GC,10958,1.27,346.1,172.6,10.9,543,10962,0.00,2.33,0.00,0.000,4,0.000,0.057,2704,1110,1006
$GC,10982,1.36,346.1,170.0,10.8,544,10987,0.10,2.30,0.00,0.000,6,0.089,0.052,2746,2526,1005
$GC,11315,1.36,346.1,134.3,9.6,560,11319,0.00,2.35,0.00,0.000,4,0.000,0.057,2746,1108,1005
$GC,11327,1.36,346.1,133.3,9.1,560,11333,0.00,2.33,0.00,0.000,6,0.000,0.051,2746,2531,1004
$GC,11643,1.36,346.1,108.9,7.5,576,11648,0.00,2.38,0.00,0.000,4,0.000,0.072,2746,3930,1003
$GC,11661,1.28,346.1,107.5,8.0,576,11668,0.12,2.25,0.00,0.000,6,0.153,0.042,2713,2520,1003
$GC,11997,1.40,356.8,84.7,6.7,622,12010,0.10,0.00,9.55,0.954,6,0.089,0.000,2758,2520,965
$GC,12349,1.40,356.8,53.9,10.2,684,12354,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2520,965
$GC,12693,1.40,356.8,23.7,8.7,745,12700,0.00,2.33,0.00,0.000,4,0.000,0.060,2758,1119,964
$GC,12707,1.40,356.8,22.4,8.8,747,12713,0.00,2.33,0.00,0.000,6,0.000,0.054,2758,2523,964
$STATE,12941,end climb,SURFACE_DEPTH_REACHED
$STATE,12942,begin surface coast
$FINISH,1.4,1.025391
$STATE,12965,end surface coast,CONTROL_FINISHED_OK
$STATE,12965,begin surface
$SM_CCo,12987,191.65,0.907,2,0,144,558.30
$SM_GC,1.85,0.00,0.00,191.65,0.000,0.000,0.907,164,2329,144,-10.45,-0.31,558.30
$RAFOS_CLK,858
$RAFOS,4,1230425043,0.750000,0.734167,58,58,56,54,52,51,117,158,209,193,220,176
$RAFOS,3,1230424454,0.583333,0.570556,64,59,55,55,54,51,658,195,211,183,162,151
$RAFOS,2,1230423855,0.416667,0.404167,65,64,59,53,49,48,214,184,163,172,117,1372
$RAFOS,1,1230423251,0.250000,0.236389,69,64,60,57,51,49,194,161,213,182,228,145
$RAFOS,0,1230422650,0.083333,0.069444,123,60,58,55,52,51,587,181,207,164,142,130
$RAFOS_FIX,6632.208984,-6003.702637,281208,000020,2,94,0.07
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.028379
$HUMID,1879
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,20.1,89.338
$10V_AH,10.4,40.913
$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,21.050,125.125,475.800,191.650,0.000,168.143,144.374,0.000,0.000,0.000,0.000,906.500,1472.364,9164.658,850.554,2651.313,658.105,33.357,1832.380,0.000,1725.269,1800.000,0.528,0.000
$DEVICE_MAMPS,269.217,74.399,1212.627,907.361,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.930,538.635,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28429,793
$CAP_FILE_SIZE,117370,0
$CFSIZE,260165632,214827008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$SOUNDSPEED,1444.5
$GPS,281208,002120,6632.209,-6003.703,0,2093.5,0,-37.7