version: 66.04
glider: 113
mission: 4
dive: 485
start: 12 28 108 15 2 56
data:
$ID,113
$MISSION,4
$DIVE,485
$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,-97712.203
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,122224,6634.240,-6013.151,0,2105.5,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.46
$_SM_ANGLEo,-43.6
$GPS2,122224,6634.240,-6013.151,0,2105.5,0,-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,-0.168,0.148
$KALMAN_X,72611.2,-2703.0,-655.5,-149464.9,11499.6
$KALMAN_Y,-67101.8,2497.9,605.8,-16277.6,-10627.0
$MHEAD_RNG_PITCHd_Wd,349.1,26165,-12.9,-7.021
$D_GRID,521
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-5.43,0.000,2,0.000,0.000,165,2342,222
$GC,28,-1.08,-146.0,3.4,-0.0,1,201,7.97,2.50,-158.62,0.000,4,0.226,0.087,2200,3749,3017
$GC,263,-0.84,-146.0,14.7,-15.0,41,270,0.20,2.30,0.00,0.000,6,0.163,0.044,2254,2333,3019
$GC,609,-0.71,-146.0,58.4,-12.5,102,616,0.12,2.38,0.00,0.000,4,0.176,0.058,2286,926,3020
$GC,687,-0.71,-146.0,67.3,-11.4,115,693,0.00,2.40,0.00,0.000,6,0.000,0.057,2286,2346,3020
$GC,1040,-0.71,-146.0,104.9,-11.1,172,1044,0.00,2.45,0.00,0.000,4,0.000,0.073,2286,3748,3020
$GC,1120,-0.78,-146.0,113.0,-9.3,175,1126,0.00,2.30,0.00,0.000,6,0.000,0.043,2287,2341,3020
$GC,1437,-0.78,-146.0,143.3,-11.1,191,1441,0.00,2.38,0.00,0.000,4,0.000,0.058,2287,925,3020
$GC,1561,-0.78,-146.0,156.8,-10.1,196,1565,0.00,2.40,0.00,0.000,6,0.000,0.055,2286,2343,3020
$GC,1877,-0.85,-146.0,182.1,-8.7,211,1882,0.12,2.47,0.00,0.000,4,0.109,0.071,2243,3746,3020
$GC,1934,-0.85,-146.0,188.8,-12.4,213,1940,0.00,2.30,0.00,0.000,6,0.000,0.043,2243,2335,3021
$GC,2250,-0.80,-146.0,221.3,-8.1,229,2254,0.00,2.38,0.00,0.000,4,0.000,0.059,2243,929,3021
$GC,2357,-0.72,-146.0,232.8,-11.0,233,2364,0.15,2.40,0.00,0.000,6,0.172,0.056,2279,2340,3021
$GC,2675,-0.82,-146.0,261.8,-8.0,249,2679,0.00,2.47,0.00,0.000,4,0.000,0.073,2278,3746,3021
$GC,2840,-0.97,-146.0,274.4,-7.6,256,2845,0.17,2.30,0.00,0.000,6,0.089,0.042,2218,2333,3021
$GC,3162,-0.89,-146.0,309.1,-10.6,272,3167,0.10,2.38,0.00,0.000,4,0.163,0.057,2243,930,3021
$GC,3286,-0.89,-146.0,321.2,-9.4,277,3290,0.00,2.40,0.00,0.000,6,0.000,0.055,2243,2340,3021
$GC,3602,-0.89,-146.0,346.3,-8.1,292,3606,0.00,2.47,0.00,0.000,4,0.000,0.073,2243,3746,3021
$GC,3688,-0.95,-146.0,353.4,-9.3,296,3692,0.00,2.30,0.00,0.000,6,0.000,0.043,2243,2341,3021
$GC,4015,-0.95,-146.0,381.1,-8.0,312,4019,0.00,2.38,0.00,0.000,4,0.000,0.058,2243,927,3021
$GC,4181,-0.95,-146.0,395.4,-8.6,319,4185,0.00,2.42,0.00,0.000,6,0.000,0.055,2243,2352,3021
$GC,4494,-0.99,-146.0,418.6,-7.2,328,4498,0.10,2.47,0.00,0.000,4,0.107,0.071,2206,3750,3021
$GC,4607,-0.99,-146.0,429.1,-10.0,330,4611,0.00,2.33,0.00,0.000,6,0.000,0.042,2206,2327,3021
$GC,4944,-0.93,-146.0,459.5,-8.9,339,4948,0.12,2.35,0.00,0.000,4,0.161,0.056,2238,939,3021
$GC,5011,-0.93,-146.0,465.1,-8.0,340,5015,0.00,2.40,0.00,0.000,6,0.000,0.055,2239,2349,3021
$GC,5355,-0.98,-146.0,489.2,-6.9,349,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2350,3022
$GC,5679,-1.04,-146.0,512.5,-7.5,357,5684,0.12,2.42,0.00,0.000,4,0.097,0.056,2193,933,3022
$GC,5713,-1.27,-146.0,514.5,-3.5,357,5718,0.12,2.40,0.00,0.000,6,0.091,0.054,2151,2347,3023
$STATE,5879,end dive,NO_VERTICAL_VELOCITY
$STATE,5879,begin apogee
$GC,5888,-0.34,0.0,514.4,0.0,361,6023,0.65,0.00,131.93,1.212,6,0.097,0.000,2363,2522,2420
$STATE,6024,end apogee,CONTROL_FINISHED_OK
$STATE,6024,begin climb
$GC,6027,1.08,146.0,514.3,0.0,364,6173,1.08,2.72,137.85,1.122,4,0.099,0.053,2667,1120,1824
$GC,6184,0.96,156.2,506.5,6.7,367,6201,0.10,2.67,11.15,0.965,6,0.150,0.050,2646,2525,1783
$GC,6523,0.99,175.9,485.2,6.4,376,6544,0.00,0.00,19.15,1.076,6,0.000,0.000,2646,2525,1702
$GC,6846,0.99,180.9,463.0,6.9,384,6857,0.00,2.58,6.20,0.888,4,0.000,0.068,2646,3930,1683
$GC,6864,1.00,183.1,461.7,6.9,384,6873,0.00,2.45,4.07,0.709,6,0.000,0.039,2646,2518,1673
$GC,7212,1.00,184.7,437.8,7.0,393,7216,0.00,2.58,0.00,0.000,4,0.000,0.067,2645,3939,1676
$GC,7263,0.91,184.7,433.5,8.2,394,7267,0.00,2.40,0.00,0.000,6,0.000,0.040,2646,2513,1675
$GC,7576,0.92,194.3,411.8,6.7,402,7592,0.00,2.50,11.05,1.043,4,0.000,0.067,2646,3929,1627
$GC,7627,0.83,194.3,408.3,7.8,403,7632,0.12,2.35,0.00,0.000,6,0.148,0.040,2614,2512,1629
$GC,7944,1.09,245.1,391.4,5.3,415,7995,0.20,2.45,43.62,1.127,4,0.077,0.052,2694,1117,1420
$GC,8066,1.02,245.1,382.3,8.1,420,8071,0.15,2.45,0.00,0.000,6,0.137,0.051,2656,2528,1420
$GC,8383,1.08,245.1,358.4,8.0,435,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2528,1420
$GC,8692,1.16,250.9,335.7,6.8,450,8704,0.12,2.35,6.25,0.902,4,0.079,0.070,2705,3933,1397
$GC,8750,0.97,250.9,330.2,10.4,452,8757,0.22,2.28,0.00,0.000,6,0.133,0.042,2641,2513,1399
$GC,9067,1.12,257.0,309.0,6.8,468,9081,0.15,2.33,6.68,0.920,4,0.075,0.054,2705,1110,1372
$GC,9290,1.12,257.0,288.5,8.2,478,9295,0.10,2.33,0.00,0.000,6,0.139,0.051,2679,2528,1375
$GC,9617,1.14,272.5,265.4,6.5,494,9639,0.00,2.38,13.95,1.050,4,0.000,0.054,2679,1112,1309
$GC,9767,1.27,300.6,256.4,6.1,500,9800,0.12,2.30,24.55,1.072,6,0.082,0.051,2725,2522,1194
$GC,10112,1.22,300.6,230.9,9.0,517,10117,0.10,2.38,0.00,0.000,4,0.141,0.069,2696,3933,1192
$GC,10141,1.22,300.6,227.6,10.8,518,10145,0.00,2.25,0.00,0.000,6,0.000,0.043,2696,2518,1192
$GC,10463,1.30,310.6,201.2,6.7,534,10475,0.10,0.00,9.12,0.969,6,0.090,0.000,2735,2518,1153
$GC,10771,1.30,310.6,177.1,8.4,549,10775,0.00,2.42,0.00,0.000,4,0.000,0.071,2735,3929,1153
$GC,10785,1.26,310.6,175.9,9.0,549,10792,0.12,2.25,0.00,0.000,6,0.144,0.042,2701,2522,1154
$GC,11102,1.36,330.0,151.3,6.4,565,11122,0.12,0.00,17.52,1.031,6,0.083,0.000,2750,2521,1074
$GC,11431,1.36,330.0,126.2,7.2,581,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2521,1073
$GC,11741,1.36,330.0,101.7,8.2,596,11744,0.00,2.35,0.00,0.000,4,0.000,0.058,2750,1108,1072
$GC,11752,1.36,330.0,100.7,8.0,596,11756,0.00,2.35,0.00,0.000,6,0.000,0.052,2750,2531,1072
$GC,12095,1.36,330.0,74.2,7.4,653,12100,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2531,1071
$GC,12439,1.36,330.0,50.7,7.5,714,12446,0.00,2.42,0.00,0.000,4,0.000,0.071,2750,3929,1071
$GC,12464,1.36,330.0,48.5,8.1,718,12470,0.00,2.30,0.00,0.000,6,0.000,0.043,2750,2513,1070
$GC,12809,1.36,330.0,21.8,8.1,779,12816,0.00,2.50,0.00,0.000,4,0.000,0.071,2750,3930,1071
$GC,12823,1.36,330.0,20.6,8.3,781,12829,0.00,2.30,0.00,0.000,6,0.000,0.044,2749,2520,1070
$STATE,13063,end climb,SURFACE_DEPTH_REACHED
$STATE,13063,begin surface coast
$FINISH,1.6,1.025974
$STATE,13094,end surface coast,CONTROL_FINISHED_OK
$STATE,13094,begin surface
$SM_CCo,13116,216.35,0.900,2,0,144,558.30
$SM_GC,2.54,0.00,0.00,216.35,0.000,0.000,0.900,160,2329,144,-10.47,-0.31,558.30
$RAFOS_CLK,871
$RAFOS,4,1230482643,16.750000,16.734167,67,58,57,55,53,52,177,148,226,194,159,209
$RAFOS,3,1230482048,16.583334,16.568890,65,62,59,58,54,52,744,213,198,226,127,146
$RAFOS,2,1230481475,16.416666,16.409721,70,59,56,52,51,49,218,145,204,438,159,118
$RAFOS,1,1230480863,16.250000,16.239721,75,57,56,54,53,51,663,199,156,217,167,95
$RAFOS,0,1230480243,16.083334,16.067499,139,59,59,59,57,51,607,195,213,176,136,120
$RAFOS_FIX,6636.185547,-6017.841309,281208,161654,3,93,0.35
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.027612
$HUMID,1889
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,20.2,90.169
$10V_AH,10.4,41.349
$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,20.400,125.325,443.100,216.350,0.000,168.178,144.406,0.000,0.000,0.000,0.000,906.558,1528.288,9332.109,829.851,2603.056,662.091,33.361,1770.027,0.000,1676.009,1800.000,0.528,0.000
$DEVICE_MAMPS,226.265,87.438,1211.860,900.458,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.713,563.202,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28407,829
$CAP_FILE_SIZE,118222,0
$CFSIZE,260165632,214515712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1444.2
$GPS,281208,161954,6636.186,-6017.841,0,3093.0,0,-37.7