version: 66.04
glider: 113
mission: 4
dive: 42
start: 9 11 108 2 52 51
data:
$ID,113
$MISSION,4
$DIVE,42
$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,412
$T_MISSION,470
$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,100
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$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,375
$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,-22817.68
$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,2330
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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,2610
$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
$GPS1,024638,6647.325,-5943.474,28,1.1,28,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-65.9
$GPS2,025226,6647.308,-5943.396,11,1.3,11,-38.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,107.2,25259,-14.7,-8.010
$D_GRID,878
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.20,-146.0,0.0,0.0,0,140,0.00,0.00,-121.43,0.000,2,0.000,0.000,165,2319,2785
$GC,143,-1.20,-146.0,3.3,-3.4,19,170,8.50,2.47,-12.15,0.000,4,0.271,0.084,2165,3739,3208
$GC,328,-0.95,-146.0,43.5,-15.9,51,335,0.25,2.25,0.00,0.000,6,0.177,0.044,2231,2326,3213
$GC,671,-0.95,-146.0,83.4,-10.4,112,678,0.00,2.38,0.00,0.000,4,0.000,0.074,2231,3748,3216
$GC,722,-0.95,-146.0,88.9,-10.9,121,729,0.00,2.22,0.00,0.000,6,0.000,0.043,2231,2329,3216
$GC,1052,-0.95,-146.0,122.5,-9.6,161,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2329,3216
$GC,1371,-0.95,-146.0,151.7,-8.9,191,1375,0.00,2.22,0.00,0.000,4,0.000,0.058,2231,922,3215
$GC,1393,-0.95,-146.0,153.7,-9.1,193,1397,0.00,2.25,0.00,0.000,6,0.000,0.053,2231,2344,3216
$GC,1723,-1.00,-146.0,183.0,-9.3,224,1726,0.00,2.28,0.00,0.000,4,0.000,0.073,2231,3740,3215
$GC,1757,-1.10,-146.0,186.2,-9.7,227,1761,0.12,2.20,0.00,0.000,6,0.114,0.044,2190,2323,3215
$GC,2086,-1.03,-146.0,224.0,-10.8,258,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2322,3215
$GC,2404,-1.03,-146.0,256.3,-9.5,288,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2322,3214
$GC,2722,-1.03,-146.0,285.3,-8.8,318,2726,0.00,2.20,0.00,0.000,4,0.000,0.058,2190,924,3213
$GC,2738,-0.98,-146.0,286.9,-9.2,319,2745,0.10,2.25,0.00,0.000,6,0.170,0.054,2221,2324,3213
$GC,3063,-1.07,-146.0,312.0,-7.4,350,3067,0.00,2.30,0.00,0.000,4,0.000,0.072,2221,3746,3212
$GC,3089,-1.18,-146.0,314.1,-7.9,352,3097,0.15,2.20,0.00,0.000,6,0.110,0.043,2169,2321,3212
$GC,3416,-1.10,-146.0,346.5,-9.9,383,3420,0.12,2.33,0.00,0.000,4,0.176,0.072,2200,3741,3212
$GC,3443,-1.10,-146.0,349.3,-9.7,385,3447,0.00,2.17,0.00,0.000,6,0.000,0.044,2200,2321,3212
$GC,3772,-1.10,-146.0,377.0,-8.4,416,3776,0.00,2.33,0.00,0.000,4,0.000,0.071,2200,3746,3212
$GC,3810,-1.17,-146.0,380.3,-8.5,419,3817,0.00,2.22,0.00,0.000,6,0.000,0.043,2200,2327,3212
$GC,4131,-1.22,-146.0,407.3,-8.4,444,4136,0.12,2.30,0.00,0.000,4,0.107,0.071,2158,3736,3212
$GC,4175,-1.16,-146.0,411.8,-10.2,445,4180,0.12,2.17,0.00,0.000,6,0.178,0.044,2188,2324,3212
$GC,4498,-1.16,-146.0,441.0,-9.0,453,4502,0.00,2.30,0.00,0.000,4,0.000,0.074,2188,3735,3212
$GC,4513,-1.16,-146.0,442.4,-8.8,453,4518,0.00,2.20,0.00,0.000,6,0.000,0.042,2188,2326,3212
$GC,4827,-1.16,-146.0,468.6,-8.2,461,4831,0.00,2.33,0.00,0.000,4,0.000,0.074,2189,3746,3212
$GC,4853,-1.16,-146.0,471.0,-9.1,461,4858,0.00,2.20,0.00,0.000,6,0.000,0.042,2188,2336,3212
$GC,5195,-1.16,-146.0,500.1,-8.5,470,5199,0.00,2.30,0.00,0.000,4,0.000,0.073,2188,3743,3212
$GC,5227,-1.16,-146.0,503.0,-8.8,470,5233,0.00,2.20,0.00,0.000,6,0.000,0.043,2188,2335,3212
$GC,5565,-1.16,-146.0,531.3,-8.3,479,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2334,3213
$GC,5890,-1.16,-146.0,557.4,-8.1,487,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2334,3213
$GC,6214,-1.16,-146.0,583.9,-8.2,495,6218,0.00,2.30,0.00,0.000,4,0.000,0.074,2188,3745,3213
$GC,6235,-1.21,-146.0,585.6,-8.1,495,6240,0.00,2.20,0.00,0.000,6,0.000,0.042,2188,2332,3213
$GC,6584,-1.21,-146.0,613.1,-8.0,504,6588,0.00,2.30,0.00,0.000,4,0.000,0.073,2188,3743,3213
$GC,6616,-1.28,-146.0,615.8,-8.1,504,6621,0.10,2.20,0.00,0.000,6,0.091,0.042,2147,2333,3213
$GC,6952,-1.18,-146.0,647.8,-9.6,513,6957,0.12,2.30,0.00,0.000,4,0.177,0.071,2177,3746,3213
$GC,6978,-1.18,-146.0,650.2,-9.6,513,6983,0.00,2.20,0.00,0.000,6,0.000,0.042,2177,2333,3213
$GC,7315,-1.18,-146.0,677.9,-8.1,522,7319,0.00,2.28,0.00,0.000,4,0.000,0.071,2177,3745,3213
$GC,7346,-1.18,-146.0,680.7,-8.8,522,7351,0.00,2.20,0.00,0.000,6,0.000,0.042,2177,2331,3213
$GC,7684,-1.18,-146.0,708.7,-8.3,531,7688,0.00,2.30,0.00,0.000,4,0.000,0.070,2177,3748,3214
$GC,7699,-1.18,-146.0,710.2,-8.3,531,7703,0.00,2.20,0.00,0.000,6,0.000,0.042,2177,2331,3213
$GC,8013,-1.18,-146.0,735.1,-8.0,539,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2331,3213
$GC,8337,-1.18,-146.0,761.2,-7.9,547,8341,0.00,2.30,0.00,0.000,4,0.000,0.071,2177,3742,3214
$GC,8376,-1.23,-146.0,764.4,-8.0,547,8383,0.00,2.17,0.00,0.000,6,0.000,0.043,2177,2323,3213
$GC,8707,-1.23,-146.0,790.0,-7.8,556,8710,0.00,2.33,0.00,0.000,4,0.000,0.074,2177,3744,3213
$GC,8727,-1.23,-146.0,791.8,-8.8,556,8732,0.00,2.20,0.00,0.000,6,0.000,0.042,2177,2332,3213
$GC,9076,-1.23,-146.0,818.8,-7.6,565,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2331,3214
$GC,9401,-1.23,-146.0,843.9,-7.9,573,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2332,3214
$GC,9725,-1.23,-146.0,870.0,-8.1,581,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2331,3214
$STATE,9845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9846,begin apogee
$GC,9850,-0.34,0.0,880.4,8.4,584,9984,0.60,0.00,130.88,1.495,6,0.156,0.000,2364,2577,2610
$STATE,9984,end apogee,CONTROL_FINISHED_OK
$STATE,9985,begin climb
$GC,9986,1.20,146.0,883.6,0.0,587,10137,1.12,2.65,137.38,1.383,4,0.106,0.074,2695,3936,2014
$GC,10200,0.78,146.0,864.5,13.7,592,10205,0.35,2.33,0.00,0.000,6,0.161,0.043,2607,2588,2013
$GC,10541,0.80,157.8,837.8,7.6,601,10555,0.00,0.00,11.38,1.286,6,0.000,0.000,2607,2588,1966
$GC,10866,0.82,174.9,813.8,7.4,609,10884,0.00,0.00,16.17,1.355,6,0.000,0.000,2607,2587,1896
$GC,11191,0.84,187.8,789.1,7.5,617,11205,0.00,0.00,12.45,1.317,6,0.000,0.000,2607,2587,1844
$GC,11516,0.85,194.8,763.8,7.7,625,11526,0.00,0.00,7.65,1.203,6,0.000,0.000,2607,2587,1815
$GC,11841,0.86,205.1,738.9,7.6,633,11856,0.00,2.33,10.00,1.269,4,0.000,0.056,2607,1170,1774
$GC,11889,0.97,219.8,735.4,7.4,634,11909,0.15,2.33,14.32,1.312,6,0.089,0.053,2660,2581,1714
$GC,12251,0.85,219.8,696.9,10.9,643,12253,0.15,0.00,0.00,0.000,6,0.156,0.000,2621,2582,1712
$GC,12575,0.85,219.8,667.3,9.1,651,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2582,1712
$GC,12900,0.85,219.8,638.8,8.6,659,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2582,1711
$GC,13225,0.85,219.8,611.9,8.1,667,13229,0.00,2.28,0.00,0.000,4,0.000,0.056,2620,1156,1711
$GC,13265,0.96,243.7,608.9,7.1,667,13294,0.10,2.28,20.85,1.325,6,0.105,0.051,2657,2584,1616
$GC,13601,0.88,243.7,577.0,9.5,676,13603,0.12,0.00,0.00,0.000,6,0.154,0.000,2625,2585,1614
$GC,13926,0.90,255.7,552.1,7.5,684,13942,0.00,2.33,11.07,1.217,4,0.000,0.055,2625,1162,1567
$GC,13992,1.02,281.5,547.2,7.0,685,14022,0.12,2.30,22.88,1.269,6,0.097,0.051,2669,2579,1462
$GC,14335,0.94,281.5,512.3,10.3,694,14339,0.12,2.30,0.00,0.000,4,0.152,0.055,2637,1158,1459
$GC,14395,1.04,286.8,507.2,7.8,695,14406,0.10,2.30,5.80,1.012,6,0.100,0.051,2673,2580,1440
$GC,14743,0.96,286.8,470.4,11.0,704,14745,0.12,0.00,0.00,0.000,6,0.153,0.000,2640,2580,1439
$GC,15068,0.96,286.8,441.0,9.2,712,15072,0.00,2.28,0.00,0.000,4,0.000,0.056,2640,1161,1439
$GC,15168,1.05,286.8,431.9,8.4,714,15172,0.05,2.30,0.00,0.000,6,0.099,0.051,2667,2580,1440
$GC,15486,1.00,286.8,397.2,11.0,722,15490,0.00,2.25,0.00,0.000,4,0.000,0.056,2667,1166,1440
$GC,15524,1.00,286.8,392.7,10.3,725,15531,0.00,2.28,0.00,0.000,6,0.000,0.052,2668,2580,1439
$GC,15849,1.00,286.8,357.1,10.8,756,15853,0.00,2.25,0.00,0.000,4,0.000,0.056,2667,1165,1439
$GC,15882,1.00,286.8,353.5,9.9,759,15887,0.00,2.25,0.00,0.000,6,0.000,0.051,2667,2587,1440
$GC,16213,1.00,286.8,319.1,10.2,790,16217,0.00,2.25,0.00,0.000,4,0.000,0.056,2667,1168,1440
$GC,16250,1.00,286.8,315.1,9.7,793,16257,0.00,2.28,0.00,0.000,6,0.000,0.052,2668,2585,1440
$GC,16576,1.00,286.8,282.8,10.2,824,16577,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2584,1440
$GC,16893,1.00,286.8,251.1,9.7,854,16897,0.00,2.25,0.00,0.000,4,0.000,0.056,2667,1162,1440
$GC,16972,1.05,286.8,243.8,8.8,861,16976,0.00,2.25,0.00,0.000,6,0.000,0.051,2667,2590,1440
$GC,17302,1.05,286.8,212.3,9.3,892,17306,0.00,2.25,0.00,0.000,4,0.000,0.056,2668,1159,1440
$GC,17336,1.10,286.8,209.2,9.3,895,17340,0.00,2.25,0.00,0.000,6,0.000,0.052,2667,2588,1441
$GC,17666,1.10,286.8,179.6,8.3,926,17667,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2588,1441
$GC,17985,1.15,289.4,153.9,7.9,956,17997,0.00,2.30,3.88,0.754,4,0.000,0.057,2668,1166,1430
$GC,18024,1.28,308.9,150.8,7.3,959,18048,0.15,2.25,17.30,1.095,6,0.094,0.052,2722,2593,1350
$GC,18373,1.20,308.9,112.4,10.9,992,18375,0.12,0.00,0.00,0.000,6,0.155,0.000,2689,2593,1348
$GC,18702,1.25,317.0,83.7,7.7,1039,18716,0.00,2.33,8.10,0.993,4,0.000,0.057,2689,1157,1317
$GC,18767,1.37,332.4,79.0,7.4,1050,18788,0.15,2.30,13.68,1.043,6,0.096,0.053,2743,2584,1254
$GC,19126,1.28,332.4,40.5,10.9,1113,19132,0.12,0.00,0.00,0.000,6,0.162,0.000,2712,2585,1252
$GC,19469,1.46,368.0,13.9,6.6,1174,19508,0.15,2.40,29.62,1.063,4,0.090,0.059,2770,1160,1108
$GC,19553,1.46,368.0,6.8,8.5,1188,19560,0.00,2.35,0.00,0.000,6,0.000,0.053,2770,2583,1105
$STATE,19614,end climb,SURFACE_DEPTH_REACHED
$STATE,19614,begin surface coast
$FINISH,0.5,1.019133
$STATE,19639,end surface coast,CONTROL_FINISHED_OK
$STATE,19639,begin surface
$SM_CCo,19654,4.43,0.758,0,0,1081,375.06
$SM_GC,2.34,0.00,0.00,4.43,0.000,0.000,0.758,164,2315,1081,-10.45,-0.42,375.06
$RAFOS_CLK,1106
$RAFOS,1,1221120842,8.250000,8.233889,63,54,52,52,49,47,194,214,120,154,164,138
$RAFOS,0,1221120243,8.083333,8.067500,62,59,51,51,51,49,212,191,178,122,158,97
$RAFOS,4,1221108278,4.750000,4.743889,64,59,58,56,52,45,119,221,174,192,137,153
$RAFOS,3,1221107662,4.583333,4.572778,105,59,54,53,51,51,627,198,207,141,223,168
$RAFOS,2,1221107053,4.416667,4.403611,68,55,54,53,51,51,200,178,209,133,167,220
$RAFOS,1,1221106481,4.250000,4.244722,66,57,53,52,51,50,174,195,159,117,214,146
$RAFOS,0,1221105865,4.083333,4.073611,59,55,53,50,50,49,210,148,196,115,1027,964
$RAFOS_FIX,6623.322266,-5747.925781,110908,040452,4,76,16.51
$IRIDIUM_FIX,6620.33,-5948.93,051297,212148
$TT8_MAMPS,0.027612
$HUMID,1924
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,21.6,14.706
$10V_AH,10.6,4.703
$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,21.175,151.025,473.400,4.425,0.000,31.429,38.302,171.200,0.000,0.000,0.000,12.937,2370.905,14510.257,661.995,2129.105,411.862,0.000,1819.603,0.000,2105.673,2520.000,0.529,0.000
$DEVICE_MAMPS,270.751,84.370,1494.883,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.039,825.606,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44145,1203
$CAP_FILE_SIZE,153603,0
$CFSIZE,260165632,249151488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.3
$CURRENT,0.189,172.5,1
$GPS,110908,082308,6645.996,-5935.947,39,0.9,39,-37.9