version: 66.04
glider: 113
mission: 4
dive: 487
start: 12 28 108 23 41 30
data:
$ID,113
$MISSION,4
$DIVE,487
$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,-101337.85
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,201850,6635.077,-6021.769,0,3084.7,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-42.9
$GPS2,201850,6635.077,-6021.769,0,3084.7,0,-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,-0.170,0.146
$KALMAN_X,85779.1,-2380.0,-5762.0,-154322.2,15494.4
$KALMAN_Y,-79270.5,2199.4,5324.8,-11829.3,-14318.8
$MHEAD_RNG_PITCHd_Wd,348.5,20157,-12.9,-7.021
$D_GRID,500
$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,-146.0,0.0,0.0,0,153,0.00,0.00,-133.82,0.000,2,0.000,0.000,164,2336,2339
$GC,157,-1.08,-146.0,3.2,-0.5,24,199,8.80,2.38,-26.10,0.000,4,0.267,0.072,2199,934,3017
$GC,348,-0.75,-146.0,33.8,-16.8,57,355,0.28,2.38,0.00,0.000,6,0.171,0.057,2272,2347,3020
$GC,695,-0.68,-146.0,75.3,-11.5,118,701,0.00,2.45,0.00,0.000,4,0.000,0.075,2272,3746,3020
$GC,776,-0.68,-146.0,84.8,-11.2,132,782,0.00,2.30,0.00,0.000,6,0.000,0.043,2272,2333,3020
$GC,1113,-0.68,-146.0,121.0,-11.3,167,1117,0.00,2.35,0.00,0.000,4,0.000,0.059,2272,926,3020
$GC,1236,-0.61,-146.0,135.4,-11.2,172,1241,0.12,2.40,0.00,0.000,6,0.163,0.055,2304,2348,3020
$GC,1554,-0.72,-146.0,161.1,-7.1,187,1559,0.10,2.47,0.00,0.000,4,0.110,0.072,2270,3753,3020
$GC,1627,-0.78,-146.0,167.3,-9.3,190,1631,0.00,2.33,0.00,0.000,6,0.000,0.042,2270,2325,3020
$GC,1943,-0.78,-146.0,198.2,-10.4,205,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2325,3020
$GC,2253,-0.78,-146.0,230.5,-9.5,220,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2325,3020
$GC,2563,-0.83,-146.0,256.9,-8.3,235,2567,0.00,2.35,0.00,0.000,4,0.000,0.058,2270,929,3020
$GC,2642,-0.83,-146.0,263.7,-8.2,238,2646,0.00,2.42,0.00,0.000,6,0.000,0.058,2270,2351,3020
$GC,2960,-0.91,-146.0,286.0,-6.7,253,2965,0.12,2.47,0.00,0.000,4,0.097,0.072,2224,3750,3020
$GC,3049,-0.91,-146.0,293.9,-8.5,257,3053,0.00,2.33,0.00,0.000,6,0.000,0.043,2224,2329,3020
$GC,3378,-0.84,-146.0,322.7,-9.3,273,3383,0.12,2.38,0.00,0.000,4,0.170,0.058,2255,933,3020
$GC,3473,-0.84,-146.0,331.2,-8.4,277,3477,0.00,2.40,0.00,0.000,6,0.000,0.055,2255,2345,3020
$GC,3790,-0.91,-146.0,355.8,-7.1,292,3794,0.00,2.47,0.00,0.000,4,0.000,0.073,2255,3750,3020
$GC,3870,-1.03,-146.0,361.1,-6.4,295,3875,0.17,2.30,0.00,0.000,6,0.086,0.042,2197,2341,3020
$GC,4187,-0.90,-146.0,391.2,-10.0,310,4191,0.17,2.40,0.00,0.000,4,0.156,0.057,2243,931,3020
$GC,4277,-0.90,-146.0,399.7,-8.6,314,4281,0.00,2.40,0.00,0.000,6,0.000,0.054,2244,2345,3020
$GC,4620,-0.90,-146.0,424.4,-6.8,323,4624,0.00,2.47,0.00,0.000,4,0.000,0.072,2244,3749,3020
$GC,4834,-0.99,-146.0,440.2,-7.5,327,4839,0.10,2.30,0.00,0.000,6,0.103,0.041,2210,2338,3021
$GC,5171,-0.93,-146.0,468.6,-8.8,336,5176,0.10,2.38,0.00,0.000,4,0.166,0.054,2233,935,3022
$GC,5343,-0.93,-146.0,483.2,-8.7,339,5349,0.00,2.40,0.00,0.000,6,0.000,0.055,2234,2343,3022
$GC,5676,-1.44,-146.0,489.7,-0.0,348,5681,0.32,2.42,0.00,0.000,4,0.078,0.054,2113,930,3023
$STATE,5713,end dive,NO_VERTICAL_VELOCITY
$STATE,5713,begin apogee
$GC,5724,-0.34,0.0,489.6,0.0,349,5858,0.80,0.00,131.55,1.197,6,0.108,0.000,2364,2521,2420
$STATE,5859,end apogee,CONTROL_FINISHED_OK
$STATE,5859,begin climb
$GC,5863,1.08,146.0,489.5,0.0,352,6033,1.08,2.83,143.57,1.075,4,0.105,0.067,2665,3926,1824
$GC,6147,0.83,146.0,472.3,9.0,358,6152,0.20,2.50,0.00,0.000,6,0.140,0.040,2616,2521,1825
$GC,6495,0.89,184.9,452.5,5.7,367,6537,0.00,0.00,35.90,1.102,6,0.000,0.000,2616,2521,1666
$GC,6863,0.96,184.9,426.3,7.4,376,6865,0.12,0.00,0.00,0.000,6,0.075,0.000,2662,2522,1666
$GC,7189,0.90,185.9,402.4,7.0,384,7194,0.12,2.58,0.00,0.000,4,0.131,0.067,2628,3934,1665
$GC,7239,0.90,185.9,398.6,7.3,385,7243,0.00,2.40,0.00,0.000,6,0.000,0.040,2629,2508,1665
$GC,7562,0.98,197.0,376.3,6.6,401,7582,0.00,2.53,11.30,1.031,4,0.000,0.068,2629,3937,1617
$GC,7601,1.00,209.2,373.8,6.6,402,7618,0.10,2.38,12.25,1.023,6,0.085,0.040,2665,2509,1567
$GC,7935,1.00,209.2,350.8,7.6,419,7939,0.00,2.47,0.00,0.000,4,0.000,0.069,2665,3929,1568
$GC,7946,0.95,209.2,349.7,8.2,419,7953,0.10,2.30,0.00,0.000,6,0.156,0.041,2641,2511,1568
$GC,8264,1.07,248.5,329.6,5.7,435,8303,0.10,0.00,33.75,1.099,6,0.091,0.000,2680,2510,1406
$GC,8613,1.07,248.5,305.9,7.1,452,8616,0.00,2.45,0.00,0.000,4,0.000,0.069,2681,3942,1406
$GC,8664,0.95,248.5,301.3,9.6,454,8669,0.15,2.28,0.00,0.000,6,0.143,0.041,2640,2516,1407
$GC,8992,1.14,296.4,281.7,5.4,470,9040,0.15,2.42,40.38,1.085,4,0.075,0.054,2704,1117,1210
$GC,9046,1.14,296.4,277.5,7.3,472,9053,0.00,2.40,0.00,0.000,6,0.000,0.051,2704,2522,1210
$GC,9363,1.14,296.4,251.1,9.0,488,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2522,1208
$GC,9672,1.14,296.4,223.0,8.4,503,9676,0.00,2.38,0.00,0.000,4,0.000,0.071,2704,3927,1207
$GC,9689,1.14,296.4,221.5,8.2,503,9695,0.00,2.25,0.00,0.000,6,0.000,0.042,2704,2518,1208
$GC,10006,1.16,312.8,201.6,6.5,519,10028,0.00,2.45,13.90,1.022,4,0.000,0.071,2704,3933,1144
$GC,10052,1.11,312.8,197.8,8.4,521,10056,0.12,2.28,0.00,0.000,6,0.143,0.042,2669,2519,1144
$GC,10385,1.41,312.8,174.6,7.5,537,10389,0.20,2.30,0.00,0.000,4,0.076,0.054,2748,1115,1144
$GC,10469,1.41,312.8,167.3,8.9,540,10476,0.00,2.33,0.00,0.000,6,0.000,0.052,2749,2527,1143
$GC,10786,1.33,312.8,139.4,7.9,556,10791,0.10,2.42,0.00,0.000,4,0.148,0.071,2721,3937,1143
$GC,10799,1.25,312.8,138.5,7.4,556,10805,0.00,2.28,0.00,0.000,6,0.000,0.042,2722,2520,1143
$GC,11115,1.25,312.8,116.9,8.3,572,11119,0.00,2.45,0.00,0.000,4,0.000,0.071,2722,3929,1142
$GC,11127,1.25,312.8,115.8,8.4,572,11131,0.00,2.28,0.00,0.000,6,0.000,0.043,2722,2517,1142
$GC,11453,1.37,366.2,96.1,5.2,596,11506,0.00,2.53,45.95,1.035,4,0.000,0.071,2722,3937,927
$GC,11525,1.45,387.1,91.6,6.3,608,11551,0.12,2.38,20.00,0.945,6,0.087,0.042,2765,2516,841
$GC,11890,1.45,387.1,58.1,9.4,672,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2516,834
$GC,12235,1.45,387.1,25.0,9.1,733,12241,0.00,2.33,0.00,0.000,4,0.000,0.061,2770,1113,832
$GC,12254,1.45,387.1,23.3,9.0,736,12261,0.00,2.33,0.00,0.000,6,0.000,0.054,2770,2528,831
$GC,12601,1.91,599.2,2.2,-0.2,797,12620,0.22,0.00,16.85,0.972,2,0.074,0.000,2864,2529,756
$STATE,12621,end climb,SURFACE_DEPTH_REACHED
$STATE,12621,begin surface coast
$FINISH,2.1,1.025969
$STATE,12665,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12665,begin surface
$SM_CCo,12670,143.38,0.907,2,0,145,558.30
$SM_GC,2.69,8.82,0.00,0.00,0.085,0.000,0.000,167,2339,140,-10.38,-0.03,559.28
$RAFOS_CLK,847
$RAFOS,4,1230511455,0.750000,0.737500,64,63,54,51,51,49,200,218,159,144,135,1435
$RAFOS,3,1230510857,0.583333,0.571389,60,59,56,55,53,52,205,225,188,144,121,215
$RAFOS,2,1230510248,0.416667,0.402222,67,60,59,57,54,53,175,191,203,136,146,216
$RAFOS,1,1230509650,0.250000,0.236111,69,59,58,57,55,50,218,184,165,144,239,198
$RAFOS,0,1230509054,0.083333,0.070556,104,75,60,51,49,48,578,214,190,439,114,148
$RAFOS_FIX,6635.076660,-6021.768555,281208,202050,3,85,0.25
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.027612
$HUMID,1930
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,20.4,90.579
$10V_AH,10.4,41.564
$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,22.950,120.475,505.400,143.375,0.000,168.256,144.132,0.000,0.250,0.000,0.000,906.542,1455.473,9213.067,812.305,2508.893,653.378,33.362,1727.022,0.000,1590.609,1800.000,0.544,0.000
$DEVICE_MAMPS,266.916,75.166,1196.520,907.361,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.328,547.318,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28438,808
$CAP_FILE_SIZE,112462,0
$CFSIZE,260165632,214364160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$SOUNDSPEED,1444.3
$GPS,281208,201850,6635.077,-6021.769,0,3084.7,0,-37.7