version: 66.04
glider: 113
mission: 4
dive: 114
start: 9 29 108 12 20 58
data:
$ID,113
$MISSION,4
$DIVE,114
$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,-24089.334
$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,30
$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,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
$GPS1,121432,6640.320,-6026.804,40,1.5,40,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.1
$GPS2,122003,6640.321,-6026.867,14,0.9,14,-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,-0.182,-0.131
$KALMAN_X,15003.8,163.4,-10.5,-111981.3,-249.8
$KALMAN_Y,-6828.5,-586.9,-499.5,-18872.1,2687.7
$MHEAD_RNG_PITCHd_Wd,272.2,12220,-12.9,-7.021
$D_GRID,513
$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,-1.08,-146.0,0.0,0.0,0,128,0.00,0.00,-108.78,0.000,2,0.000,0.000,159,2340,2744
$GC,130,-1.08,-146.0,3.2,-2.6,19,156,8.88,2.40,-9.40,0.000,4,0.273,0.085,2200,3752,3017
$GC,408,-0.77,-146.0,51.0,-13.2,68,415,0.25,2.25,0.00,0.000,6,0.163,0.045,2271,2336,3022
$GC,752,-0.71,-146.0,83.4,-8.7,129,758,0.00,2.38,0.00,0.000,4,0.000,0.073,2271,3753,3023
$GC,791,-0.71,-146.0,87.0,-9.1,136,797,0.00,2.22,0.00,0.000,6,0.000,0.043,2271,2336,3023
$GC,1130,-0.71,-146.0,117.8,-9.6,172,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2336,3024
$GC,1438,-0.71,-146.0,144.1,-7.4,187,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2336,3023
$GC,1748,-0.71,-146.0,163.0,-5.8,202,1752,0.00,2.22,0.00,0.000,4,0.000,0.060,2271,925,3023
$GC,1792,-0.71,-146.0,165.9,-6.5,204,1796,0.00,2.28,0.00,0.000,6,0.000,0.054,2271,2353,3023
$GC,2123,-0.71,-146.0,189.8,-7.3,220,2127,0.00,2.30,0.00,0.000,4,0.000,0.074,2271,3748,3022
$GC,2190,-0.81,-146.0,195.0,-7.9,223,2194,0.00,2.20,0.00,0.000,6,0.000,0.043,2271,2339,3022
$GC,2522,-0.87,-146.0,217.3,-6.2,239,2524,0.10,0.00,0.00,0.000,6,0.104,0.000,2236,2339,3022
$GC,2832,-0.82,-146.0,242.3,-8.4,254,2837,0.10,2.35,0.00,0.000,4,0.173,0.074,2259,3743,3022
$GC,2875,-0.90,-146.0,245.8,-8.1,256,2879,0.00,2.20,0.00,0.000,6,0.000,0.045,2259,2336,3022
$GC,3201,-0.90,-146.0,272.2,-8.0,272,3205,0.00,2.22,0.00,0.000,4,0.000,0.061,2259,935,3022
$GC,3239,-0.90,-146.0,275.6,-8.8,273,3246,0.00,2.28,0.00,0.000,6,0.000,0.055,2259,2336,3022
$GC,3555,-0.96,-146.0,299.5,-7.1,289,3560,0.12,2.33,0.00,0.000,4,0.107,0.073,2216,3746,3021
$GC,3655,-0.91,-146.0,308.4,-8.8,293,3661,0.00,2.22,0.00,0.000,6,0.000,0.045,2216,2324,3021
$GC,3971,-0.84,-146.0,333.5,-7.7,309,3972,0.15,0.00,0.00,0.000,6,0.160,0.000,2256,2324,3021
$GC,4280,-0.91,-146.0,352.7,-6.1,324,4283,0.00,2.38,0.00,0.000,4,0.000,0.075,2257,3750,3021
$GC,4375,-1.03,-146.0,358.6,-6.2,328,4379,0.15,2.20,0.00,0.000,6,0.095,0.044,2204,2341,3021
$GC,4700,-0.93,-146.0,383.7,-8.2,344,4705,0.12,2.35,0.00,0.000,4,0.159,0.073,2234,3751,3020
$GC,4739,-0.93,-146.0,386.6,-7.3,346,4743,0.00,2.20,0.00,0.000,6,0.000,0.044,2234,2341,3020
$GC,5088,-0.93,-146.0,412.5,-7.5,359,5092,0.00,2.35,0.00,0.000,4,0.000,0.074,2234,3752,3020
$GC,5178,-0.93,-146.0,419.3,-7.6,361,5181,0.00,2.20,0.00,0.000,6,0.000,0.044,2234,2337,3020
$GC,5507,-0.93,-146.0,440.8,-6.3,369,5511,0.00,2.35,0.00,0.000,4,0.000,0.074,2234,3748,3020
$GC,5579,-0.99,-146.0,445.5,-6.6,370,5584,0.00,2.20,0.00,0.000,6,0.000,0.043,2234,2324,3020
$GC,5921,-0.99,-146.0,466.4,-6.1,379,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2324,3021
$GC,6246,-0.99,-146.0,484.9,-5.4,387,6250,0.00,2.20,0.00,0.000,4,0.000,0.058,2234,932,3021
$GC,6291,-0.99,-146.0,487.3,-5.6,388,6295,0.00,2.22,0.00,0.000,6,0.000,0.053,2234,2345,3022
$GC,6620,-0.99,-146.0,507.9,-6.3,396,6624,0.00,2.30,0.00,0.000,4,0.000,0.071,2234,3753,3022
$GC,6653,-1.07,-146.0,510.0,-5.9,396,6657,0.12,2.20,0.00,0.000,6,0.110,0.041,2190,2330,3022
$STATE,6702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6702,begin apogee
$GC,6707,-0.34,0.0,513.1,6.1,398,6836,0.57,0.00,125.82,1.256,6,0.156,0.000,2362,2531,2420
$STATE,6837,end apogee,CONTROL_FINISHED_OK
$STATE,6837,begin climb
$GC,6839,1.08,146.0,515.4,0.0,401,6982,1.05,2.65,130.40,1.149,4,0.111,0.071,2667,3930,1824
$GC,7003,0.81,146.0,503.4,10.0,405,7009,0.22,2.45,0.00,0.000,6,0.150,0.041,2611,2524,1822
$GC,7317,0.82,152.0,481.4,6.8,413,7325,0.00,0.00,6.28,0.937,6,0.000,0.000,2611,2524,1800
$GC,7641,0.82,154.1,458.9,6.9,421,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2524,1799
$GC,7966,0.82,154.1,434.8,7.6,429,7970,0.00,2.30,0.00,0.000,4,0.000,0.057,2611,1097,1799
$GC,7994,0.87,154.1,432.7,7.2,429,7998,0.00,2.33,0.00,0.000,6,0.000,0.052,2611,2531,1798
$GC,8335,0.89,170.2,409.5,6.5,438,8353,0.00,0.00,16.25,1.150,6,0.000,0.000,2611,2531,1726
$GC,8642,0.95,209.8,390.9,5.7,449,8685,0.12,2.45,33.17,1.164,4,0.084,0.071,2662,3924,1563
$GC,8718,0.76,209.8,384.4,9.8,452,8723,0.22,2.30,0.00,0.000,6,0.143,0.041,2600,2508,1562
$GC,9039,0.95,252.4,365.5,5.6,468,9080,0.15,0.00,36.12,1.143,6,0.077,0.000,2660,2505,1390
$GC,9388,0.95,252.4,338.4,7.5,485,9392,0.00,2.28,0.00,0.000,4,0.000,0.056,2660,1104,1388
$GC,9414,0.95,252.4,336.3,7.7,486,9419,0.00,2.35,0.00,0.000,6,0.000,0.051,2660,2528,1388
$GC,9741,0.95,252.4,309.9,8.1,502,9745,0.00,2.33,0.00,0.000,4,0.000,0.071,2661,3940,1387
$GC,9763,0.87,252.4,308.0,9.0,503,9768,0.15,2.22,0.00,0.000,6,0.147,0.042,2619,2516,1386
$GC,10095,1.07,302.7,289.2,5.3,519,10142,0.17,2.35,41.62,1.130,4,0.077,0.056,2690,1115,1184
$GC,10176,1.07,302.7,282.5,8.8,523,10180,0.00,2.33,0.00,0.000,6,0.000,0.051,2690,2521,1181
$GC,10507,1.07,302.7,250.4,10.3,539,10511,0.00,2.30,0.00,0.000,4,0.000,0.058,2690,1112,1179
$GC,10544,1.07,302.7,246.4,9.9,540,10551,0.00,2.30,0.00,0.000,6,0.000,0.050,2690,2520,1179
$GC,10860,1.07,302.7,216.1,8.8,556,10863,0.00,2.28,0.00,0.000,4,0.000,0.057,2690,1112,1178
$GC,10892,1.07,302.7,213.3,9.0,557,10896,0.00,2.28,0.00,0.000,6,0.000,0.050,2690,2518,1178
$GC,11213,1.07,302.7,186.0,8.9,573,11217,0.00,2.28,0.00,0.000,4,0.000,0.058,2690,1109,1177
$GC,11239,1.07,302.7,183.7,8.3,574,11244,0.00,2.28,0.00,0.000,6,0.000,0.050,2690,2518,1177
$GC,11566,1.07,302.7,152.6,9.8,590,11570,0.00,2.28,0.00,0.000,4,0.000,0.058,2690,1109,1177
$GC,11581,1.07,302.7,151.0,9.7,590,11589,0.00,2.28,0.00,0.000,6,0.000,0.050,2690,2518,1177
$GC,11897,1.07,302.7,122.2,8.3,606,11901,0.00,2.28,0.00,0.000,4,0.000,0.058,2690,1106,1177
$GC,11934,1.07,302.7,119.0,8.2,607,11941,0.00,2.28,0.00,0.000,6,0.000,0.051,2690,2516,1176
$GC,12258,1.07,302.7,90.1,9.2,635,12263,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2516,1176
$GC,12600,1.07,302.7,62.0,7.2,696,12606,0.00,2.25,0.00,0.000,4,0.000,0.058,2690,1118,1176
$GC,12646,1.16,310.2,58.8,6.8,704,12659,0.00,2.25,6.15,0.910,6,0.000,0.051,2690,2535,1155
$GC,12996,1.27,338.7,36.1,6.0,766,13027,0.00,2.42,24.95,1.046,4,0.000,0.058,2690,1110,1038
$GC,13078,1.45,373.0,31.1,5.9,780,13115,0.20,2.33,30.55,1.002,6,0.077,0.052,2764,2530,898
$STATE,13422,end climb,SURFACE_DEPTH_REACHED
$STATE,13422,begin surface coast
$FINISH,0.9,1.010156
$STATE,13451,end surface coast,CONTROL_FINISHED_OK
$STATE,13451,begin surface
$SM_CCo,13527,0.00,0.000,0,0,885,376.54
$SM_GC,1.68,7.38,0.00,0.00,0.073,0.000,0.000,166,2340,885,-10.37,0.00,376.54
$RAFOS_CLK,770
$RAFOS,4,1222692253,12.750000,12.736944,123,61,57,55,55,50,831,147,224,123,199,166
$RAFOS,3,1222691642,12.583333,12.567223,90,70,60,58,52,52,799,197,146,225,169,215
$RAFOS,2,1222691045,12.416667,12.401389,83,70,62,58,57,51,985,218,176,190,131,122
$RAFOS_FIX,4343.821777,-11605.441406,290908,121244,4,90,11206.95
$IRIDIUM_FIX,6609.62,-6016.65,241297,080827
$TT8_MAMPS,0.029913
$HUMID,1913
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,26.775
$10V_AH,10.5,10.345
$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,20.250,120.000,451.325,0.000,0.000,30.356,35.057,156.279,0.000,0.000,0.000,15.905,1555.396,9805.684,585.287,1587.635,376.032,33.366,1466.739,0.000,1564.047,1440.000,0.528,0.000
$DEVICE_MAMPS,273.052,85.137,1255.579,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.531,575.359,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31587,846
$CAP_FILE_SIZE,112286,0
$CFSIZE,260165632,242982912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.6
$GPS,290908,160832,6640.336,-6030.793,35,1.8,35,-38.0