version: 66.04
glider: 113
mission: 4
dive: 111
start: 9 28 108 23 53 57
data:
$ID,113
$MISSION,4
$DIVE,111
$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,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,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,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,-24047.34
$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
$GPS1,234556,6641.991,-6014.790,39,1.2,39,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.7
$GPS2,235302,6641.988,-6014.819,8,1.1,8,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.205,-0.092
$KALMAN_X,14432.1,-145.2,-46.6,-102314.4,106.3
$KALMAN_Y,-5018.0,675.1,-489.7,-18861.8,1414.4
$MHEAD_RNG_PITCHd_Wd,283.8,20644,-12.9,-7.021
$D_GRID,539
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,125,0.00,0.00,-107.53,0.000,2,0.000,0.000,159,2341,2801
$GC,128,-1.08,-146.0,3.6,-3.4,19,153,8.75,2.42,-6.93,0.000,4,0.268,0.084,2191,3746,3021
$GC,407,-0.74,-146.0,50.6,-13.2,68,414,0.30,2.25,0.00,0.000,6,0.165,0.044,2276,2324,3024
$GC,751,-0.74,-146.0,83.0,-9.3,129,757,0.00,2.38,0.00,0.000,4,0.000,0.071,2276,3746,3026
$GC,791,-0.74,-146.0,86.4,-8.7,136,797,0.00,2.20,0.00,0.000,6,0.000,0.042,2276,2343,3026
$GC,1120,-0.74,-146.0,113.1,-8.0,173,1124,0.00,2.25,0.00,0.000,4,0.000,0.058,2276,926,3027
$GC,1165,-0.74,-146.0,116.9,-8.6,175,1169,0.00,2.28,0.00,0.000,6,0.000,0.052,2277,2350,3026
$GC,1496,-0.74,-146.0,140.5,-7.2,191,1499,0.00,2.30,0.00,0.000,4,0.000,0.071,2276,3751,3027
$GC,1556,-0.82,-146.0,145.0,-7.4,193,1563,0.00,2.22,0.00,0.000,6,0.000,0.043,2276,2344,3026
$GC,1872,-0.87,-146.0,167.1,-6.9,209,1877,0.12,2.25,0.00,0.000,4,0.107,0.058,2233,929,3026
$GC,1979,-0.74,-146.0,176.6,-9.0,214,1984,0.17,2.28,0.00,0.000,6,0.173,0.055,2279,2347,3026
$GC,2306,-0.83,-146.0,197.6,-6.7,230,2310,0.10,2.33,0.00,0.000,4,0.117,0.074,2245,3751,3025
$GC,2417,-0.83,-146.0,206.7,-8.4,235,2421,0.00,2.22,0.00,0.000,6,0.000,0.044,2246,2327,3025
$GC,2748,-0.83,-146.0,232.6,-7.4,251,2751,0.00,2.22,0.00,0.000,4,0.000,0.060,2245,927,3024
$GC,2803,-0.76,-146.0,237.0,-7.4,253,2808,0.10,2.28,0.00,0.000,6,0.184,0.054,2269,2353,3025
$GC,3124,-0.84,-146.0,256.2,-5.8,269,3128,0.00,2.30,0.00,0.000,4,0.000,0.072,2269,3753,3024
$GC,3225,-0.97,-146.0,262.5,-6.3,273,3229,0.15,2.20,0.00,0.000,6,0.095,0.043,2217,2340,3023
$GC,3540,-0.89,-146.0,286.8,-7.8,288,3541,0.10,0.00,0.00,0.000,6,0.167,0.000,2242,2340,3024
$GC,3849,-0.89,-146.0,308.5,-7.0,303,3853,0.00,2.35,0.00,0.000,4,0.000,0.074,2242,3751,3024
$GC,3916,-0.95,-146.0,313.3,-7.1,306,3920,0.00,2.22,0.00,0.000,6,0.000,0.044,2242,2329,3024
$GC,4248,-0.95,-146.0,336.2,-6.9,322,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2329,3023
$GC,4557,-0.95,-146.0,358.1,-7.0,337,4561,0.00,2.38,0.00,0.000,4,0.000,0.075,2242,3755,3023
$GC,4618,-1.02,-146.0,362.4,-7.2,339,4625,0.12,2.20,0.00,0.000,6,0.098,0.044,2199,2341,3023
$GC,4933,-0.93,-146.0,387.0,-7.7,355,4935,0.15,0.00,0.00,0.000,6,0.161,0.000,2240,2340,3023
$GC,5242,-0.93,-146.0,406.0,-6.0,368,5246,0.00,2.33,0.00,0.000,4,0.000,0.074,2240,3743,3023
$GC,5297,-1.00,-146.0,409.5,-6.5,369,5301,0.00,2.20,0.00,0.000,6,0.000,0.043,2240,2331,3023
$GC,5615,-1.05,-146.0,428.7,-6.1,377,5617,0.12,0.00,0.00,0.000,6,0.101,0.000,2197,2331,3024
$GC,5940,-0.95,-146.0,452.8,-7.4,385,5945,0.12,2.35,0.00,0.000,4,0.164,0.073,2229,3753,3024
$GC,6000,-1.00,-146.0,457.1,-7.1,386,6005,0.00,2.20,0.00,0.000,6,0.000,0.042,2229,2331,3024
$GC,6313,-1.00,-146.0,478.1,-6.7,394,6317,0.00,2.20,0.00,0.000,4,0.000,0.056,2229,932,3024
$GC,6363,-1.00,-146.0,481.5,-6.8,395,6367,0.00,2.25,0.00,0.000,6,0.000,0.052,2229,2349,3024
$GC,6687,-1.00,-146.0,500.8,-5.6,403,6691,0.00,2.28,0.00,0.000,4,0.000,0.069,2229,3756,3024
$GC,6742,-1.05,-146.0,504.2,-7.1,404,6746,0.00,2.20,0.00,0.000,6,0.000,0.041,2229,2334,3024
$GC,7060,-1.05,-146.0,524.3,-6.3,412,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2333,3024
$STATE,7301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7302,begin apogee
$GC,7306,-0.34,0.0,540.0,6.4,418,7436,0.45,0.00,126.47,1.263,6,0.148,0.000,2366,2518,2420
$STATE,7436,end apogee,CONTROL_FINISHED_OK
$STATE,7436,begin climb
$GC,7438,1.08,146.0,541.7,0.0,421,7574,1.05,2.58,129.12,1.172,4,0.109,0.054,2674,1118,1824
$GC,7580,0.87,146.0,529.7,9.3,424,7587,0.20,2.53,0.00,0.000,6,0.143,0.049,2625,2524,1823
$GC,7910,0.82,146.0,504.2,7.5,433,7914,0.00,2.42,0.00,0.000,4,0.000,0.067,2624,3942,1821
$GC,7949,0.66,146.0,500.9,9.2,433,7956,0.17,2.33,0.00,0.000,6,0.141,0.041,2576,2514,1820
$GC,8280,0.83,180.2,482.2,5.9,442,8312,0.15,0.00,29.12,1.188,6,0.078,0.000,2635,2514,1685
$GC,8604,0.83,180.2,456.1,7.9,450,8608,0.00,2.28,0.00,0.000,4,0.000,0.056,2634,1112,1682
$GC,8619,0.83,180.2,454.9,7.8,450,8623,0.00,2.30,0.00,0.000,6,0.000,0.049,2634,2528,1682
$GC,8932,0.83,180.2,431.1,7.6,458,8936,0.00,2.30,0.00,0.000,4,0.000,0.067,2634,3926,1681
$GC,8953,0.75,180.2,429.2,8.5,458,8958,0.15,2.22,0.00,0.000,6,0.149,0.041,2594,2511,1681
$GC,9301,0.89,209.1,408.0,6.0,467,9327,0.12,0.00,24.12,1.174,6,0.084,0.000,2644,2510,1567
$GC,9607,0.89,209.1,384.0,7.6,479,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2510,1565
$GC,9917,0.89,209.1,360.1,7.9,494,9921,0.00,2.22,0.00,0.000,4,0.000,0.056,2644,1113,1565
$GC,9926,0.89,209.1,359.5,7.9,494,9931,0.00,2.28,0.00,0.000,6,0.000,0.049,2644,2519,1565
$GC,10248,0.89,209.1,334.1,8.0,510,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2519,1565
$GC,10557,0.89,209.1,309.7,7.7,525,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2520,1565
$GC,10866,0.89,209.1,285.8,7.8,540,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2520,1565
$GC,11175,0.89,209.1,263.5,7.0,555,11179,0.00,2.28,0.00,0.000,4,0.000,0.067,2644,3924,1565
$GC,11203,0.81,209.1,261.3,8.4,556,11207,0.12,2.20,0.00,0.000,6,0.153,0.041,2612,2504,1565
$GC,11529,0.96,226.1,240.7,6.4,572,11552,0.12,2.22,14.95,1.086,4,0.086,0.055,2663,1116,1498
$GC,11562,0.96,226.1,238.2,7.2,573,11566,0.00,2.28,0.00,0.000,6,0.000,0.050,2663,2515,1498
$GC,11883,0.96,226.1,211.4,8.2,589,11887,0.00,2.25,0.00,0.000,4,0.000,0.056,2662,1119,1497
$GC,11893,0.96,226.1,210.6,8.2,589,11898,0.00,2.28,0.00,0.000,6,0.000,0.050,2663,2519,1497
$GC,12214,0.96,226.1,186.7,7.1,605,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2518,1497
$GC,12524,0.96,226.1,164.7,7.2,620,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2518,1497
$GC,12833,0.96,226.1,142.2,7.1,635,12837,0.00,2.30,0.00,0.000,4,0.000,0.071,2663,3933,1496
$GC,12893,0.91,226.1,137.0,8.2,637,12901,0.12,2.22,0.00,0.000,6,0.151,0.044,2628,2509,1496
$GC,13209,1.20,226.1,115.4,7.8,653,13214,0.20,2.38,0.00,0.000,4,0.081,0.074,2708,3930,1496
$GC,13315,0.97,226.1,104.4,10.9,658,13320,0.22,2.20,0.00,0.000,6,0.146,0.044,2641,2522,1496
$GC,13654,1.13,261.7,83.4,5.8,710,13691,0.15,2.33,29.55,1.075,4,0.087,0.058,2701,1109,1352
$GC,13713,1.13,261.7,79.1,7.5,720,13720,0.00,2.33,0.00,0.000,6,0.000,0.052,2701,2523,1351
$GC,14057,1.13,261.7,51.6,8.2,781,14062,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2523,1349
$GC,14399,1.14,274.3,24.7,6.6,842,14417,0.00,2.33,11.20,0.996,4,0.000,0.060,2701,1111,1301
$GC,14434,1.17,291.6,22.4,6.4,848,14458,0.00,2.30,15.73,0.994,6,0.000,0.054,2701,2524,1230
$GC,14796,1.36,345.8,2.2,5.2,912,14805,0.10,0.00,6.28,0.867,2,0.094,0.000,2745,2524,1198
$STATE,14806,end climb,SURFACE_DEPTH_REACHED
$STATE,14806,begin surface coast
$FINISH,0.7,1.013043
$STATE,14844,end surface coast,CONTROL_FINISHED_OK
$STATE,14844,begin surface
$SM_CCo,14920,0.00,0.000,0,0,1195,300.49
$SM_GC,1.73,7.45,0.00,0.00,0.083,0.000,0.000,161,2330,1195,-10.39,-0.28,300.49
$RAFOS_CLK,852
$RAFOS,4,1222649056,0.750000,0.737778,83,63,63,59,57,56,781,201,192,150,141,214
$RAFOS,3,1222648441,0.583333,0.566944,75,68,65,63,61,58,785,141,117,160,221,210
$RAFOS,2,1222647845,0.416667,0.401389,145,62,57,51,50,47,957,194,218,175,137,237
$RAFOS,1,1222647242,0.250000,0.233889,123,66,54,48,48,48,741,192,218,149,230,92
$RAFOS,0,1222646646,0.083333,0.068333,115,65,62,57,56,56,546,216,203,171,187,143
$RAFOS_FIX,6642.017578,-6010.283203,290908,000027,5,108,1.66
$IRIDIUM_FIX,6614.97,-6013.96,231297,232312
$TT8_MAMPS,0.028379
$HUMID,1908
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,26.324
$10V_AH,10.6,10.162
$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,21.125,119.450,386.550,0.000,0.000,54.376,53.254,156.320,0.000,0.000,0.000,9.978,1680.668,11013.021,562.559,1675.838,430.369,33.365,1464.414,0.000,1666.322,1800.000,0.528,0.000
$DEVICE_MAMPS,267.683,83.603,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.383,627.296,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34697,920
$CAP_FILE_SIZE,121384,0
$CFSIZE,260165632,243154944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.4
$GPS,290908,040408,6642.092,-6018.722,34,1.0,34,-38.0