version: 66.04
glider: 113
mission: 4
dive: 483
start: 12 28 108 6 5 21
data:
$ID,113
$MISSION,4
$DIVE,483
$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,-94088.531
$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,24
$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,5.52
$_SM_ANGLEo,-68.4
$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,-0.161,0.157
$KALMAN_X,59040.9,5294.7,6859.6,-144521.8,-8641.5
$KALMAN_Y,-54561.1,-4893.0,-6339.1,-20924.6,7985.8
$MHEAD_RNG_PITCHd_Wd,352.0,34022,-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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.43,0.000,2,0.000,0.000,165,2344,225
$GC,28,-1.08,-146.0,5.6,-0.0,1,173,8.62,2.45,-127.53,0.000,4,0.258,0.088,2200,3744,3018
$GC,316,-0.86,-146.0,28.6,-15.0,51,323,0.17,2.30,0.00,0.000,6,0.160,0.044,2247,2328,3022
$GC,663,-0.71,-146.0,73.3,-12.6,112,670,0.12,2.35,0.00,0.000,4,0.173,0.059,2280,933,3022
$GC,773,-0.66,-146.0,86.4,-11.7,131,779,0.00,2.38,0.00,0.000,6,0.000,0.055,2280,2348,3022
$GC,1114,-0.66,-146.0,121.2,-9.9,164,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2348,3022
$GC,1420,-0.66,-146.0,150.2,-8.9,179,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2349,3023
$GC,1729,-0.66,-146.0,173.3,-7.0,194,1734,0.00,2.47,0.00,0.000,4,0.000,0.074,2280,3753,3023
$GC,1781,-0.76,-146.0,177.4,-8.4,196,1785,0.00,2.30,0.00,0.000,6,0.000,0.041,2280,2341,3023
$GC,2103,-0.83,-146.0,205.3,-9.6,212,2108,0.10,2.38,0.00,0.000,4,0.107,0.058,2246,933,3023
$GC,2183,-0.74,-146.0,214.1,-11.1,215,2190,0.12,2.40,0.00,0.000,6,0.171,0.058,2273,2342,3023
$GC,2499,-0.80,-146.0,238.4,-7.8,231,2504,0.00,2.47,0.00,0.000,4,0.000,0.073,2274,3752,3023
$GC,2563,-0.93,-146.0,243.7,-8.1,234,2567,0.15,2.30,0.00,0.000,6,0.098,0.043,2226,2341,3023
$GC,2896,-0.84,-146.0,277.1,-10.3,250,2901,0.12,2.40,0.00,0.000,4,0.167,0.058,2257,926,3023
$GC,2969,-0.84,-146.0,284.1,-9.2,253,2973,0.00,2.40,0.00,0.000,6,0.000,0.055,2257,2343,3023
$GC,3297,-0.84,-146.0,308.8,-7.0,269,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2343,3023
$GC,3607,-0.89,-146.0,328.9,-7.0,284,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2344,3023
$GC,3915,-0.96,-146.0,354.1,-8.7,299,3920,0.12,2.40,0.00,0.000,4,0.101,0.058,2213,938,3022
$GC,3995,-0.84,-146.0,362.3,-10.3,302,4000,0.17,2.40,0.00,0.000,6,0.160,0.057,2255,2345,3023
$GC,4312,-0.92,-146.0,384.0,-6.5,317,4316,0.00,2.47,0.00,0.000,4,0.000,0.074,2256,3748,3022
$GC,4421,-1.05,-146.0,391.4,-6.8,322,4426,0.17,2.30,0.00,0.000,6,0.083,0.042,2196,2336,3023
$GC,4765,-0.93,-146.0,423.3,-9.6,333,4770,0.15,2.38,0.00,0.000,4,0.156,0.057,2236,937,3023
$GC,4905,-0.93,-146.0,435.6,-8.7,336,4909,0.00,2.40,0.00,0.000,6,0.000,0.055,2236,2348,3023
$GC,5225,-0.93,-146.0,461.4,-8.3,344,5229,0.00,2.47,0.00,0.000,4,0.000,0.071,2236,3756,3023
$GC,5372,-1.01,-146.0,473.9,-8.9,347,5376,0.00,2.33,0.00,0.000,6,0.000,0.041,2236,2327,3023
$GC,5692,-1.01,-146.0,498.6,-7.6,355,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2327,3024
$GC,6017,-1.31,-146.0,515.7,-2.9,363,6022,0.25,2.35,0.00,0.000,4,0.083,0.054,2139,936,3024
$STATE,6151,end dive,NO_VERTICAL_VELOCITY
$STATE,6151,begin apogee
$GC,6162,-0.34,0.0,515.6,0.0,366,6295,0.70,0.00,130.10,1.210,6,0.110,0.000,2363,2526,2420
$STATE,6296,end apogee,CONTROL_FINISHED_OK
$STATE,6296,begin climb
$GC,6300,1.08,146.0,515.6,0.0,369,6468,1.08,2.78,142.40,1.100,4,0.107,0.069,2663,3932,1824
$GC,6497,0.85,146.0,505.7,8.6,373,6502,0.17,2.58,0.00,0.000,6,0.142,0.040,2623,2523,1825
$GC,6835,0.90,182.3,485.6,5.8,382,6877,0.00,2.75,33.65,1.112,4,0.000,0.069,2623,3937,1676
$GC,6900,0.90,182.3,481.4,7.2,383,6904,0.00,2.55,0.00,0.000,6,0.000,0.039,2623,2517,1677
$GC,7243,0.99,197.6,459.8,6.5,392,7264,0.12,2.65,15.02,1.065,4,0.081,0.067,2666,3933,1614
$GC,7299,0.82,197.6,454.9,9.7,393,7304,0.22,2.47,0.00,0.000,6,0.138,0.040,2610,2520,1615
$GC,7648,0.97,228.8,433.3,6.0,402,7679,0.12,0.00,28.58,1.114,6,0.077,0.000,2662,2519,1488
$GC,7973,0.97,228.8,408.9,7.4,410,7977,0.00,2.53,0.00,0.000,4,0.000,0.067,2662,3929,1490
$GC,8007,0.85,228.8,405.9,8.9,410,8014,0.17,2.38,0.00,0.000,6,0.143,0.041,2616,2507,1490
$GC,8322,1.10,284.0,388.2,5.1,423,8377,0.20,2.50,47.88,1.120,4,0.077,0.052,2693,1113,1262
$GC,8455,1.10,284.0,378.7,7.2,429,8459,0.00,2.47,0.00,0.000,6,0.000,0.051,2693,2529,1262
$GC,8782,1.06,284.0,352.4,8.5,445,8784,0.12,0.00,0.00,0.000,6,0.140,0.000,2659,2530,1261
$GC,9093,1.16,303.2,331.9,6.4,460,9116,0.10,2.42,16.95,1.068,4,0.094,0.054,2701,1110,1183
$GC,9122,1.16,303.2,329.5,7.5,461,9126,0.00,2.35,0.00,0.000,6,0.000,0.050,2701,2525,1182
$GC,9444,1.16,303.2,304.8,7.7,477,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2525,1183
$GC,9753,1.16,303.2,275.7,10.1,492,9757,0.00,2.35,0.00,0.000,4,0.000,0.054,2701,1107,1183
$GC,9764,1.16,303.2,274.4,10.3,492,9768,0.00,2.33,0.00,0.000,6,0.000,0.050,2701,2534,1183
$GC,10080,1.16,303.2,246.1,8.0,507,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2534,1183
$GC,10389,1.16,303.2,223.6,7.6,522,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2534,1183
$GC,10699,1.17,315.4,201.5,6.6,537,10715,0.00,2.35,11.18,1.010,4,0.000,0.069,2701,3937,1134
$GC,10726,1.17,315.4,199.5,7.2,537,10730,0.00,2.28,0.00,0.000,6,0.000,0.041,2701,2517,1134
$GC,11049,1.17,315.4,173.4,8.0,553,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2517,1135
$GC,11358,1.26,342.8,155.3,6.1,568,11388,0.00,2.47,23.92,1.052,4,0.000,0.070,2701,3921,1022
$GC,11412,1.26,342.8,151.2,8.1,570,11416,0.00,2.28,0.00,0.000,6,0.000,0.042,2701,2518,1021
$GC,11735,1.38,352.9,125.3,6.7,586,11750,0.12,2.28,9.65,0.956,4,0.085,0.058,2758,1116,981
$GC,11757,1.39,359.8,123.8,6.8,587,11772,0.00,2.30,7.80,0.895,6,0.000,0.051,2757,2518,953
$GC,12086,1.39,359.8,97.6,8.8,605,12092,0.00,2.33,0.00,0.000,4,0.000,0.057,2757,1110,952
$GC,12139,1.39,359.8,93.1,8.1,614,12145,0.00,2.33,0.00,0.000,6,0.000,0.052,2758,2528,951
$GC,12484,1.39,359.8,63.3,8.6,675,12490,0.00,2.38,0.00,0.000,4,0.000,0.057,2758,1108,951
$GC,12497,1.39,359.8,62.2,8.6,677,12504,0.00,2.35,0.00,0.000,6,0.000,0.052,2758,2531,951
$GC,12843,1.39,359.8,33.1,8.8,738,12849,0.00,2.38,0.00,0.000,4,0.000,0.056,2758,1116,950
$GC,12857,1.39,359.8,31.7,9.4,740,12863,0.00,2.33,0.00,0.000,6,0.000,0.052,2757,2520,950
$GC,13203,1.76,397.0,4.7,5.8,801,13244,0.20,2.45,32.53,0.999,4,0.132,0.068,2821,3924,800
$STATE,13379,end climb,NO_VERTICAL_VELOCITY
$STATE,13379,begin surface
$SM_CCo,13383,173.68,0.876,3,0,145,558.30
$SM_GC,3.46,10.45,0.00,0.00,0.167,0.000,0.000,174,2350,140,-10.37,0.28,559.28
$RAFOS_CLK,901
$RAFOS,4,1230453843,8.750000,8.734167,57,53,52,51,49,47,218,199,130,161,175,119
$RAFOS,3,1230453244,8.583333,8.567778,139,61,56,55,50,50,732,174,211,191,134,151
$RAFOS,2,1230452647,8.416667,8.401944,58,57,57,57,49,48,138,159,187,206,106,148
$RAFOS,1,1230452046,8.250000,8.235000,60,59,57,55,54,53,154,215,191,137,120,757
$RAFOS,0,1230451478,8.083333,8.077222,107,61,61,59,55,51,437,216,141,186,207,198
$RAFOS_FIX,6632.946777,-6009.860352,281208,080820,2,123,0.16
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.027612
$HUMID,1921
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,14.80
$XPDR_PINGS,3
$24V_AH,20.3,89.757
$10V_AH,10.4,41.131
$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,24.100,121.275,499.650,173.675,0.000,168.187,143.955,0.000,0.750,0.000,0.000,906.568,1508.765,9928.046,810.893,2517.496,650.390,33.371,1730.954,0.000,1597.638,1800.000,0.546,0.000
$DEVICE_MAMPS,258.479,88.205,1210.326,875.914,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.008,565.817,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28394,832
$CAP_FILE_SIZE,114146,0
$CFSIZE,260165632,214675456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$SOUNDSPEED,1444.5
$GPS,281208,082120,6632.947,-6009.860,0,2123.0,0,-37.7