version: 66.04
glider: 113
mission: 4
dive: 482
start: 12 28 108 1 42 29
data:
$ID,113
$MISSION,4
$DIVE,482
$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,-92276.695
$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,33
$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
$GPS1,002120,6632.209,-6003.703,0,2093.5,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-35.8
$GPS2,002120,6632.209,-6003.703,0,2093.5,0,-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,-0.171,0.146
$KALMAN_X,52140.7,1807.5,-1626.7,-141897.1,18873.7
$KALMAN_Y,-48184.4,-1670.4,1503.3,-23163.8,-17441.6
$MHEAD_RNG_PITCHd_Wd,348.2,34022,-12.9,-7.021
$D_GRID,540
$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,-145.9,0.0,0.0,0,161,0.00,0.00,-141.32,0.000,2,0.000,0.000,164,2330,2315
$GC,165,-1.08,-146.0,3.1,-0.6,25,208,8.80,2.55,-29.27,0.000,4,0.266,0.087,2199,3749,3017
$GC,279,-0.83,-146.0,18.9,-16.1,44,286,0.20,2.30,0.00,0.000,6,0.168,0.045,2253,2331,3020
$GC,625,-0.70,-146.0,63.4,-12.5,105,632,0.12,2.35,0.00,0.000,4,0.181,0.060,2286,933,3021
$GC,735,-0.70,-146.0,76.4,-12.6,124,741,0.00,2.38,0.00,0.000,6,0.000,0.057,2286,2347,3021
$GC,1067,-0.70,-146.0,114.5,-9.6,164,1071,0.00,2.45,0.00,0.000,4,0.000,0.074,2286,3750,3021
$GC,1190,-0.78,-146.0,126.2,-9.3,169,1197,0.00,2.30,0.00,0.000,6,0.000,0.044,2286,2340,3021
$GC,1508,-0.84,-146.0,156.6,-8.9,185,1512,0.12,2.38,0.00,0.000,4,0.100,0.058,2242,929,3021
$GC,1570,-0.71,-146.0,163.2,-10.3,188,1575,0.17,2.38,0.00,0.000,6,0.171,0.056,2284,2340,3021
$GC,1903,-0.77,-146.0,188.0,-7.1,204,1907,0.00,2.45,0.00,0.000,4,0.000,0.073,2284,3744,3021
$GC,2023,-0.88,-146.0,196.8,-8.0,209,2027,0.15,2.30,0.00,0.000,6,0.082,0.044,2233,2335,3021
$GC,2350,-0.79,-146.0,229.9,-10.1,225,2355,0.12,2.38,0.00,0.000,4,0.170,0.059,2265,936,3021
$GC,2423,-0.79,-146.0,236.7,-9.4,228,2427,0.00,2.38,0.00,0.000,6,0.000,0.055,2265,2341,3021
$GC,2745,-0.79,-146.0,266.6,-9.9,244,2749,0.00,2.47,0.00,0.000,4,0.000,0.071,2265,3752,3021
$GC,2847,-0.88,-146.0,277.1,-10.1,248,2851,0.00,2.33,0.00,0.000,6,0.000,0.043,2265,2328,3021
$GC,3170,-0.93,-146.0,309.8,-10.0,264,3174,0.12,2.35,0.00,0.000,4,0.104,0.058,2220,938,3021
$GC,3248,-0.80,-146.0,319.6,-12.8,267,3253,0.17,2.38,0.00,0.000,6,0.166,0.055,2263,2340,3021
$GC,3565,-0.87,-146.0,346.5,-7.4,282,3570,0.00,2.45,0.00,0.000,4,0.000,0.071,2262,3750,3021
$GC,3651,-0.99,-146.0,352.9,-7.7,286,3656,0.15,2.30,0.00,0.000,6,0.100,0.042,2212,2340,3022
$GC,3984,-0.90,-146.0,384.2,-9.7,302,3986,0.12,0.00,0.00,0.000,6,0.161,0.000,2244,2340,3021
$GC,4312,-0.90,-146.0,411.0,-7.9,315,4317,0.00,2.50,0.00,0.000,4,0.000,0.071,2244,3746,3021
$GC,4392,-1.00,-146.0,417.4,-7.5,316,4398,0.10,2.30,0.00,0.000,6,0.101,0.043,2211,2340,3021
$GC,4725,-0.93,-146.0,445.6,-8.4,325,4729,0.10,2.38,0.00,0.000,4,0.167,0.055,2235,931,3021
$GC,4870,-0.93,-146.0,457.5,-8.4,328,4874,0.00,2.40,0.00,0.000,6,0.000,0.054,2235,2350,3022
$GC,5184,-0.93,-146.0,480.3,-7.4,336,5188,0.00,2.45,0.00,0.000,4,0.000,0.072,2235,3745,3022
$GC,5276,-1.01,-146.0,487.5,-7.1,338,5280,0.00,2.30,0.00,0.000,6,0.000,0.041,2235,2328,3022
$GC,5607,-1.13,-146.0,511.5,-6.9,346,5612,0.15,2.33,0.00,0.000,4,0.097,0.053,2179,937,3023
$STATE,5750,end dive,NO_VERTICAL_VELOCITY
$STATE,5754,begin apogee
$GC,5764,-0.34,0.0,511.5,0.0,349,5899,0.52,0.00,131.38,1.212,6,0.095,0.000,2357,2521,2420
$STATE,5899,end apogee,CONTROL_FINISHED_OK
$STATE,5899,begin climb
$GC,5903,1.08,146.0,511.4,0.0,352,6105,1.12,2.83,152.98,1.045,4,0.110,0.066,2667,3932,1824
$GC,6272,0.84,146.0,487.3,10.3,360,6276,0.22,2.47,0.00,0.000,6,0.146,0.041,2612,2517,1824
$GC,6621,0.93,177.4,465.5,5.9,369,6652,0.10,0.00,29.23,1.115,6,0.085,0.000,2651,2517,1696
$GC,6945,0.93,177.4,441.3,7.5,377,6949,0.00,2.58,0.00,0.000,4,0.000,0.067,2650,3929,1696
$GC,6967,0.85,177.4,439.4,8.0,377,6972,0.15,2.42,0.00,0.000,6,0.143,0.040,2614,2506,1696
$GC,7305,0.99,226.0,420.1,5.4,386,7350,0.15,0.00,42.62,1.130,6,0.077,0.000,2675,2505,1498
$GC,7651,0.94,226.0,393.4,8.0,396,7656,0.15,2.53,0.00,0.000,4,0.125,0.067,2634,3936,1498
$GC,7673,0.94,226.0,391.3,8.0,397,7677,0.00,2.33,0.00,0.000,6,0.000,0.041,2634,2518,1498
$GC,8002,1.02,226.0,368.0,7.1,413,8004,0.10,0.00,0.00,0.000,6,0.092,0.000,2677,2517,1498
$GC,8310,1.02,226.0,343.1,8.0,428,8314,0.00,2.40,0.00,0.000,4,0.000,0.069,2677,3929,1498
$GC,8327,0.95,226.0,341.6,8.3,428,8334,0.15,2.25,0.00,0.000,6,0.147,0.041,2637,2513,1498
$GC,8644,1.07,240.9,319.4,6.5,444,8666,0.12,2.30,13.25,1.055,4,0.081,0.055,2691,1122,1438
$GC,8673,1.07,240.9,317.2,8.1,445,8678,0.10,2.30,0.00,0.000,6,0.145,0.051,2666,2526,1438
$GC,8994,1.14,291.7,297.7,5.3,461,9044,0.00,2.45,42.72,1.102,4,0.000,0.053,2666,1118,1230
$GC,9193,1.28,325.8,286.5,5.9,470,9228,0.17,2.28,29.48,1.064,6,0.072,0.051,2734,2520,1091
$GC,9548,1.20,325.8,253.0,9.8,487,9553,0.15,2.30,0.00,0.000,4,0.127,0.056,2690,1114,1087
$GC,9588,1.31,325.8,249.2,8.3,488,9596,0.12,2.28,0.00,0.000,6,0.082,0.051,2736,2520,1086
$GC,9904,1.24,325.8,219.4,9.5,504,9909,0.12,2.33,0.00,0.000,4,0.135,0.055,2701,1108,1085
$GC,9916,1.24,325.8,218.3,9.5,504,9922,0.00,2.30,0.00,0.000,6,0.000,0.051,2701,2521,1085
$GC,10233,1.31,337.9,195.7,6.6,520,10248,0.00,2.33,9.90,0.986,4,0.000,0.056,2701,1115,1042
$GC,10256,1.38,345.2,194.2,6.8,521,10271,0.12,2.30,8.10,0.925,6,0.084,0.051,2749,2523,1012
$GC,10591,1.31,345.2,167.9,7.9,537,10596,0.12,2.38,0.00,0.000,4,0.142,0.069,2713,3933,1011
$GC,10687,1.31,345.2,160.6,7.3,541,10691,0.00,2.25,0.00,0.000,6,0.000,0.042,2713,2522,1012
$GC,11010,1.38,345.2,136.9,7.9,557,11012,0.10,0.00,0.00,0.000,6,0.091,0.000,2755,2522,1011
$GC,11319,1.34,345.2,111.0,7.8,572,11321,0.12,0.00,0.00,0.000,6,0.143,0.000,2721,2522,1011
$GC,11640,1.43,365.5,91.3,6.3,605,11665,0.10,2.40,18.50,1.024,4,0.091,0.059,2761,1108,928
$GC,11689,1.43,365.5,87.4,8.0,613,11696,0.00,2.35,0.00,0.000,6,0.000,0.052,2761,2529,927
$GC,12035,1.43,365.5,57.5,8.7,674,12040,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2529,925
$GC,12380,1.38,365.5,26.9,8.4,735,12387,0.10,2.38,0.00,0.000,4,0.144,0.058,2734,1112,925
$GC,12394,1.38,365.5,25.6,8.6,737,12401,0.00,2.33,0.00,0.000,6,0.000,0.053,2734,2524,924
$GC,12741,1.89,564.2,5.0,0.3,798,12852,0.30,0.00,107.68,0.961,2,0.063,0.000,2855,2525,423
$STATE,12853,end climb,NO_VERTICAL_VELOCITY
$STATE,12853,begin surface
$SM_CCo,12857,76.57,0.840,1,0,144,558.30
$SM_GC,5.52,8.70,0.00,0.00,0.081,0.000,0.000,165,2344,140,-10.39,0.11,559.28
$RAFOS_CLK,860
$RAFOS,4,1230439451,4.750000,4.736389,58,56,52,52,51,50,218,194,122,174,241,135
$RAFOS,3,1230438845,4.583333,4.568056,65,61,58,57,56,55,218,172,116,162,150,198
$RAFOS,2,1230438244,4.416667,4.401111,61,56,56,51,50,50,208,191,175,220,133,165
$RAFOS,1,1230437642,4.250000,4.233889,64,63,59,51,51,50,221,142,159,195,98,179
$RAFOS,0,1230437044,4.083333,4.067778,107,59,55,51,51,50,614,218,200,155,119,176
$RAFOS_FIX,6632.208984,-6003.702637,281208,000020,2,94,0.07
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.026845
$HUMID,1920
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,20.2,89.546
$10V_AH,10.4,41.022
$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,23.775,119.550,585.825,76.575,0.000,168.284,144.618,0.000,0.000,0.000,0.000,906.406,1483.948,9232.014,818.178,2587.952,650.909,33.365,1781.246,0.000,1666.964,1800.000,0.547,0.000
$DEVICE_MAMPS,266.149,86.671,1211.860,839.865,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.519,552.623,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28422,817
$CAP_FILE_SIZE,116984,0
$CFSIZE,260165632,214749184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$SOUNDSPEED,1443.5
$GPS,281208,002120,6632.209,-6003.703,0,2093.5,0,-37.7