version: 66.04
glider: 113
mission: 4
dive: 61
start: 9 16 108 8 55 21
data:
$ID,113
$MISSION,4
$DIVE,61
$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,-3
$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,1
$HD_A,0.0031999999
$HD_B,0.014
$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,275
$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,-23134.078
$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,36
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2500
$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
$GPS1,084907,6655.818,-5740.540,38,1.1,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.1
$GPS2,085427,6655.739,-5740.420,10,1.5,10,-37.6
$SPEED_LIMITS,0.122,0.186
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.185,0.019
$KALMAN_X,4245.3,-554.2,1584.5,40173.9,-2357.5
$KALMAN_Y,-9137.7,914.7,-5136.4,18257.1,9429.1
$MHEAD_RNG_PITCHd_Wd,63.0,40173,-14.2,-7.021
$D_GRID,815
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.16,-146.0,0.0,0.0,0,129,0.00,0.00,-109.55,0.000,2,0.000,0.000,162,2337,3068
$GC,132,-1.16,-146.0,4.1,-4.2,17,146,8.32,2.40,-0.80,0.000,4,0.261,0.077,2178,3747,3098
$GC,399,-0.92,-146.0,53.5,-12.7,64,406,0.22,2.20,0.00,0.000,6,0.167,0.040,2240,2338,3104
$GC,744,-0.92,-146.0,86.5,-9.3,125,751,0.00,2.33,0.00,0.000,4,0.000,0.068,2240,3753,3107
$GC,835,-0.92,-146.0,95.6,-10.2,141,841,0.00,2.20,0.00,0.000,6,0.000,0.039,2240,2328,3108
$GC,1154,-0.92,-146.0,125.5,-9.5,163,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2328,3108
$GC,1463,-0.92,-146.0,152.6,-8.0,178,1467,0.00,2.33,0.00,0.000,4,0.000,0.070,2240,3745,3107
$GC,1512,-0.99,-146.0,156.6,-7.6,180,1516,0.00,2.17,0.00,0.000,6,0.000,0.041,2240,2333,3107
$GC,1839,-1.04,-146.0,181.2,-7.4,196,1841,0.12,0.00,0.00,0.000,6,0.104,0.000,2198,2333,3106
$GC,2148,-0.97,-146.0,209.6,-9.3,211,2149,0.12,0.00,0.00,0.000,6,0.172,0.000,2229,2332,3105
$GC,2457,-0.97,-146.0,233.0,-7.1,226,2461,0.00,2.33,0.00,0.000,4,0.000,0.071,2229,3753,3105
$GC,2506,-1.05,-146.0,236.7,-7.9,228,2511,0.08,2.20,0.00,0.000,6,0.090,0.041,2195,2343,3105
$GC,2832,-1.00,-146.0,263.1,-8.1,244,2834,0.10,0.00,0.00,0.000,6,0.172,0.000,2218,2342,3104
$GC,3141,-1.00,-146.0,285.7,-7.5,259,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2342,3104
$GC,3450,-1.00,-146.0,308.1,-7.1,274,3454,0.00,2.28,0.00,0.000,4,0.000,0.067,2218,3749,3104
$GC,3505,-1.09,-146.0,312.2,-7.5,276,3510,0.00,2.20,0.00,0.000,6,0.000,0.040,2218,2337,3104
$GC,3827,-1.14,-146.0,334.3,-6.7,292,3832,0.12,2.30,0.00,0.000,4,0.109,0.067,2176,3753,3103
$GC,3866,-1.07,-146.0,337.4,-8.1,294,3870,0.10,2.17,0.00,0.000,6,0.170,0.041,2200,2333,3103
$GC,4196,-1.07,-146.0,362.2,-7.2,310,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2333,3103
$GC,4506,-1.07,-146.0,383.8,-6.8,325,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2331,3104
$GC,4813,-1.07,-146.0,406.0,-7.3,338,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2331,3104
$GC,5138,-1.07,-146.0,429.4,-7.2,346,5142,0.00,2.28,0.00,0.000,4,0.000,0.068,2200,3746,3104
$GC,5210,-1.07,-146.0,435.0,-7.9,347,5214,0.00,2.17,0.00,0.000,6,0.000,0.039,2200,2340,3104
$GC,5553,-1.07,-146.0,459.8,-7.2,356,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2340,3104
$GC,5878,-1.07,-146.0,483.3,-7.1,364,5881,0.00,2.28,0.00,0.000,4,0.000,0.068,2200,3746,3105
$GC,5922,-1.07,-146.0,486.5,-7.7,365,5926,0.00,2.15,0.00,0.000,6,0.000,0.039,2200,2333,3105
$GC,6251,-1.07,-146.0,508.7,-6.6,373,6255,0.00,2.15,0.00,0.000,4,0.000,0.053,2200,935,3105
$GC,6299,-1.07,-146.0,512.2,-7.4,374,6304,0.00,2.22,0.00,0.000,6,0.000,0.050,2200,2344,3105
$GC,6624,-1.07,-146.0,534.8,-7.1,382,6628,0.00,2.22,0.00,0.000,4,0.000,0.066,2200,3747,3105
$GC,6684,-1.13,-146.0,539.2,-7.5,383,6688,0.00,2.17,0.00,0.000,6,0.000,0.039,2200,2336,3105
$GC,6996,-1.13,-146.0,562.5,-7.6,391,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2336,3105
$GC,7321,-1.13,-146.0,587.2,-7.5,399,7325,0.00,2.28,0.00,0.000,4,0.000,0.067,2200,3744,3105
$GC,7371,-1.18,-146.0,591.1,-7.9,400,7376,0.05,2.17,0.00,0.000,6,0.076,0.040,2162,2334,3105
$GC,7695,-1.09,-146.0,618.7,-8.6,408,7697,0.15,0.00,0.00,0.000,6,0.163,0.000,2202,2332,3105
$GC,8020,-1.09,-146.0,641.9,-7.0,416,8024,0.00,2.30,0.00,0.000,4,0.000,0.071,2201,3751,3105
$GC,8092,-1.16,-146.0,647.0,-7.0,417,8096,0.00,2.15,0.00,0.000,6,0.000,0.040,2202,2337,3105
$GC,8434,-1.16,-146.0,669.4,-6.5,426,8438,0.00,2.28,0.00,0.000,4,0.000,0.068,2202,3742,3105
$GC,8478,-1.23,-146.0,672.4,-7.0,427,8482,0.12,2.15,0.00,0.000,6,0.099,0.040,2156,2329,3105
$GC,8807,-1.13,-146.0,699.6,-8.4,435,8809,0.15,0.00,0.00,0.000,6,0.169,0.000,2195,2327,3105
$GC,9131,-1.13,-146.0,721.7,-6.7,443,9135,0.00,2.28,0.00,0.000,4,0.000,0.069,2194,3742,3105
$GC,9176,-1.18,-146.0,724.9,-7.8,444,9180,0.00,2.15,0.00,0.000,6,0.000,0.040,2195,2330,3104
$GC,9506,-1.18,-146.0,747.9,-7.0,452,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2330,3104
$GC,9830,-1.18,-146.0,769.9,-6.8,460,9834,0.00,2.30,0.00,0.000,4,0.000,0.068,2194,3746,3104
$GC,9896,-1.25,-146.0,774.8,-7.2,461,9901,0.08,2.17,0.00,0.000,6,0.097,0.040,2161,2339,3105
$GC,10245,-1.16,-146.0,803.1,-8.3,470,10247,0.10,0.00,0.00,0.000,6,0.173,0.000,2185,2337,3104
$STATE,10446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10446,begin apogee
$GC,10450,-0.34,0.0,817.5,7.1,475,10582,0.57,0.00,128.88,1.429,6,0.155,0.000,2363,2527,2500
$STATE,10583,end apogee,CONTROL_FINISHED_OK
$STATE,10583,begin climb
$GC,10584,1.16,146.0,819.5,0.0,478,10724,1.08,2.62,131.93,1.335,4,0.106,0.054,2690,1125,1904
$GC,10735,0.91,146.0,807.3,10.5,481,10741,0.22,2.50,0.00,0.000,6,0.151,0.049,2633,2528,1904
$GC,11078,0.82,146.0,777.0,8.6,490,11082,0.00,2.38,0.00,0.000,4,0.000,0.067,2633,3934,1902
$GC,11139,0.62,146.0,771.2,10.2,491,11143,0.22,2.28,0.00,0.000,6,0.152,0.041,2572,2519,1901
$GC,11451,0.77,184.0,752.6,5.7,499,11495,0.12,2.53,32.72,1.351,4,0.087,0.069,2618,3923,1749
$GC,11511,0.69,184.0,747.9,8.6,500,11516,0.08,2.33,0.00,0.000,6,0.144,0.041,2586,2522,1748
$GC,11824,0.79,195.7,726.9,6.6,508,11838,0.10,0.00,11.07,1.241,6,0.092,0.000,2623,2522,1702
$GC,12149,0.79,195.7,700.5,8.0,516,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2522,1701
$GC,12473,0.79,195.7,674.5,8.0,524,12475,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2522,1700
$GC,12798,0.79,195.7,648.1,8.1,532,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2522,1700
$GC,13126,0.79,195.7,621.9,7.9,540,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2522,1699
$GC,13448,0.79,195.7,595.5,8.3,548,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2522,1699
$GC,13773,0.79,195.7,567.5,8.8,556,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2521,1699
$GC,14099,0.79,195.7,538.3,8.9,564,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2521,1699
$GC,14423,0.79,195.7,510.0,8.7,572,14427,0.00,2.30,0.00,0.000,4,0.000,0.071,2623,3934,1699
$GC,14444,0.74,195.7,508.1,9.2,572,14449,0.08,2.22,0.00,0.000,6,0.148,0.041,2598,2508,1699
$GC,14792,0.82,195.7,482.3,7.2,581,14796,0.00,2.17,0.00,0.000,4,0.000,0.054,2598,1110,1699
$GC,14820,0.97,205.7,480.4,6.7,581,14837,0.17,2.22,9.32,1.142,6,0.078,0.049,2665,2530,1661
$GC,15161,0.85,205.7,445.1,10.6,590,15165,0.17,2.25,0.00,0.000,4,0.143,0.065,2614,3928,1660
$GC,15199,0.85,205.7,441.1,10.6,591,15203,0.00,2.17,0.00,0.000,6,0.000,0.041,2614,2519,1660
$GC,15527,0.85,205.7,413.1,8.6,599,15532,0.00,2.20,0.00,0.000,4,0.000,0.054,2614,1113,1661
$GC,15543,0.92,205.7,411.7,8.5,599,15547,0.00,2.22,0.00,0.000,6,0.000,0.048,2613,2513,1660
$GC,15859,0.98,205.7,385.2,8.3,611,15863,0.12,2.20,0.00,0.000,4,0.087,0.052,2663,1118,1660
$GC,15868,0.98,205.7,384.1,8.5,611,15873,0.00,2.22,0.00,0.000,6,0.000,0.048,2664,2517,1660
$GC,16189,0.86,205.7,351.4,9.9,627,16194,0.15,2.25,0.00,0.000,4,0.147,0.064,2621,3926,1660
$GC,16232,0.81,205.7,347.3,8.8,629,16236,0.00,2.15,0.00,0.000,6,0.000,0.040,2621,2519,1660
$GC,16558,0.81,205.7,321.8,7.8,645,16562,0.00,2.17,0.00,0.000,4,0.000,0.054,2621,1118,1661
$GC,16569,0.86,205.7,320.9,7.9,645,16573,0.00,2.20,0.00,0.000,6,0.000,0.048,2621,2527,1660
$GC,16889,0.86,205.7,296.9,7.4,661,16893,0.00,2.20,0.00,0.000,4,0.000,0.052,2621,1118,1660
$GC,16916,0.94,205.7,294.8,7.2,662,16920,0.00,2.22,0.00,0.000,6,0.000,0.048,2621,2523,1661
$GC,17243,0.99,205.7,271.3,7.2,678,17244,0.10,0.00,0.00,0.000,6,0.091,0.000,2663,2523,1660
$GC,17552,0.92,205.7,242.7,9.3,693,17554,0.12,0.00,0.00,0.000,6,0.145,0.000,2628,2523,1661
$GC,17861,0.92,205.7,219.7,7.6,708,17862,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2523,1661
$GC,18170,0.92,205.7,195.4,7.9,723,18174,0.00,2.20,0.00,0.000,4,0.000,0.053,2628,1118,1661
$GC,18197,1.01,205.7,193.2,7.8,724,18202,0.10,2.22,0.00,0.000,6,0.097,0.048,2665,2547,1661
$GC,18524,0.95,205.7,161.9,9.4,740,18526,0.10,0.00,0.00,0.000,6,0.147,0.000,2639,2547,1662
$GC,18832,0.96,206.4,139.4,7.0,755,18836,0.00,2.22,0.00,0.000,4,0.000,0.053,2639,1112,1662
$GC,18860,1.07,219.1,137.6,6.6,756,18878,0.12,2.20,12.55,1.012,6,0.091,0.048,2688,2528,1605
$GC,19185,0.98,219.1,109.4,8.3,772,19189,0.15,2.25,0.00,0.000,4,0.142,0.065,2645,3924,1604
$GC,19217,0.98,219.1,106.6,7.8,773,19221,0.00,2.20,0.00,0.000,6,0.000,0.040,2645,2515,1604
$GC,19551,1.07,236.8,84.9,6.4,818,19570,0.08,0.00,15.25,1.012,6,0.109,0.000,2679,2515,1534
$GC,19906,1.07,236.8,57.7,7.4,881,19913,0.00,2.33,0.00,0.000,4,0.000,0.069,2679,3923,1532
$GC,19918,1.07,236.8,56.9,7.4,883,19926,0.00,2.17,0.00,0.000,6,0.000,0.041,2679,2522,1532
$GC,20262,1.07,236.8,32.2,7.1,944,20268,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2522,1532
$GC,20605,1.24,272.4,10.3,5.8,1005,20643,0.10,2.45,28.38,1.025,4,0.094,0.071,2719,3922,1388
$GC,20666,1.18,272.4,5.8,7.8,1015,20675,0.12,2.25,0.00,0.000,6,0.156,0.041,2687,2513,1387
$STATE,20723,end climb,SURFACE_DEPTH_REACHED
$STATE,20724,begin surface coast
$FINISH,0.7,1.005192
$STATE,20759,end surface coast,CONTROL_FINISHED_OK
$STATE,20759,begin surface
$SM_CCo,20773,1.20,0.132,0,0,1378,275.23
$SM_GC,2.23,0.00,0.00,1.20,0.000,0.000,0.132,162,2332,1378,-10.46,-0.20,275.23
$RAFOS_CLK,1153
$RAFOS,4,1221569052,12.750000,12.736667,56,56,54,52,52,49,132,200,150,175,216,120
$RAFOS,3,1221568442,12.583333,12.567223,131,68,55,54,54,53,891,122,151,203,175,221
$RAFOS,2,1221567874,12.416667,12.409445,67,67,52,51,48,46,154,196,178,120,219,136
$RAFOS,1,1221567264,12.250000,12.240000,61,58,57,56,56,55,241,184,199,220,82,135
$RAFOS,0,1221566648,12.083333,12.068889,64,58,57,52,52,48,132,222,192,209,170,154
$RAFOS,4,1221554643,8.750000,8.734167,72,62,56,55,53,50,212,193,165,182,125,152
$RAFOS_FIX,6621.395508,-5904.438477,160908,121212,4,81,7.25
$IRIDIUM_FIX,6631.12,-5748.60,111297,020217
$TT8_MAMPS,0.027612
$HUMID,1920
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.0,18.140
$10V_AH,10.6,6.248
$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,21.175,140.050,370.100,1.200,0.000,25.227,31.551,153.033,0.000,0.000,0.000,11.593,2109.011,16222.501,532.374,1937.464,370.801,33.340,1595.722,0.000,1917.758,1800.000,0.528,0.000
$DEVICE_MAMPS,260.780,77.467,1428.921,131.924,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.294,705.732,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37806,1031
$CAP_FILE_SIZE,147001,0
$CFSIZE,260165632,247734272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.5
$CURRENT,0.009,292.6,1
$GPS,160908,144408,6658.142,-5737.435,27,1.0,27,-37.7