version: 66.04
glider: 113
mission: 4
dive: 132
start: 10 2 108 11 28 4
data:
$ID,113
$MISSION,4
$DIVE,132
$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,-24376.074
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$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,23
$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
$GPS1,112156,6640.569,-6009.488,38,1.3,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.5
$GPS2,112709,6640.596,-6009.414,11,1.5,11,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.224,-0.005
$KALMAN_X,12966.7,379.5,442.0,-97938.9,-1591.2
$KALMAN_Y,-23443.7,-86.1,-1919.6,-830.4,2536.2
$MHEAD_RNG_PITCHd_Wd,129.4,15381,-12.9,-7.021
$D_GRID,564
$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,-1.08,-146.0,0.0,0.0,0,128,0.00,0.00,-107.97,0.000,2,0.000,0.000,167,2335,2711
$GC,130,-1.08,-146.0,3.4,-3.1,19,156,8.82,2.38,-10.45,0.000,4,0.272,0.074,2198,925,3019
$GC,270,-0.64,-146.0,31.0,-15.3,43,277,0.35,2.30,0.00,0.000,6,0.170,0.052,2298,2345,3022
$GC,614,-0.64,-146.0,61.5,-8.6,104,620,0.00,2.33,0.00,0.000,4,0.000,0.069,2298,3757,3024
$GC,643,-0.64,-146.0,63.9,-8.6,109,649,0.00,2.25,0.00,0.000,6,0.000,0.042,2297,2322,3024
$GC,986,-0.69,-146.0,92.4,-8.4,170,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2322,3026
$GC,1315,-0.78,-146.0,115.7,-6.6,199,1317,0.12,0.00,0.00,0.000,6,0.095,0.000,2250,2322,3026
$GC,1624,-0.72,-146.0,140.0,-8.0,214,1629,0.12,2.38,0.00,0.000,4,0.166,0.070,2282,3751,3025
$GC,1678,-0.83,-146.0,144.1,-7.4,216,1686,0.10,2.22,0.00,0.000,6,0.101,0.044,2246,2331,3025
$GC,1994,-0.83,-146.0,170.3,-8.7,232,1998,0.00,2.35,0.00,0.000,4,0.000,0.072,2246,3746,3025
$GC,2020,-0.83,-146.0,172.6,-8.3,233,2025,0.00,2.22,0.00,0.000,6,0.000,0.044,2246,2345,3025
$GC,2347,-0.83,-146.0,198.3,-8.3,249,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2345,3024
$GC,2656,-0.83,-146.0,223.1,-7.8,264,2660,0.00,2.25,0.00,0.000,4,0.000,0.059,2246,927,3024
$GC,2666,-0.83,-146.0,223.9,-7.7,264,2670,0.00,2.25,0.00,0.000,6,0.000,0.052,2246,2344,3024
$GC,2987,-0.83,-146.0,250.0,-8.0,280,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2343,3024
$GC,3296,-0.83,-146.0,274.0,-7.3,295,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2344,3024
$GC,3606,-0.83,-146.0,296.0,-7.1,310,3609,0.00,2.30,0.00,0.000,4,0.000,0.072,2246,3743,3023
$GC,3621,-0.83,-146.0,297.2,-7.4,310,3628,0.00,2.22,0.00,0.000,6,0.000,0.043,2246,2338,3023
$GC,3937,-0.83,-146.0,316.3,-5.7,326,3941,0.00,2.35,0.00,0.000,4,0.000,0.072,2246,3755,3023
$GC,3965,-0.88,-146.0,317.9,-6.0,327,3969,0.00,2.22,0.00,0.000,6,0.000,0.044,2246,2327,3023
$GC,4291,-0.93,-146.0,335.0,-4.9,343,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2327,3023
$GC,4600,-0.93,-146.0,352.2,-5.7,358,4604,0.00,2.35,0.00,0.000,4,0.000,0.072,2246,3745,3023
$GC,4611,-0.98,-146.0,352.8,-5.6,358,4618,0.10,2.20,0.00,0.000,6,0.110,0.044,2209,2334,3023
$GC,4927,-0.91,-146.0,374.7,-7.2,374,4932,0.12,2.35,0.00,0.000,4,0.160,0.071,2242,3747,3023
$GC,4982,-1.00,-146.0,378.6,-6.8,376,4989,0.10,2.20,0.00,0.000,6,0.103,0.043,2206,2333,3023
$GC,5298,-0.92,-146.0,400.7,-6.8,392,5302,0.12,2.33,0.00,0.000,4,0.160,0.072,2240,3749,3023
$GC,5330,-0.99,-146.0,402.8,-6.0,392,5336,0.00,2.20,0.00,0.000,6,0.000,0.043,2240,2334,3023
$GC,5662,-1.04,-146.0,421.5,-5.5,401,5666,0.12,2.33,0.00,0.000,4,0.102,0.071,2195,3746,3023
$GC,5677,-1.04,-146.0,422.6,-5.3,401,5681,0.00,2.22,0.00,0.000,6,0.000,0.043,2194,2337,3023
$GC,6025,-0.94,-146.0,447.2,-7.2,410,6030,0.15,2.33,0.00,0.000,4,0.157,0.068,2235,3754,3023
$GC,6064,-1.01,-146.0,449.8,-6.5,411,6068,0.00,2.20,0.00,0.000,6,0.000,0.043,2235,2340,3023
$GC,6393,-1.01,-146.0,469.7,-6.0,419,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2339,3023
$GC,6719,-1.05,-146.0,490.4,-6.5,427,6724,0.12,2.33,0.00,0.000,4,0.105,0.068,2191,3747,3023
$GC,6729,-1.05,-146.0,491.2,-6.5,427,6733,0.00,2.20,0.00,0.000,6,0.000,0.042,2191,2330,3023
$GC,7042,-0.95,-146.0,515.7,-7.8,435,7046,0.15,2.35,0.00,0.000,4,0.153,0.069,2231,3749,3024
$GC,7068,-0.95,-146.0,517.4,-6.7,435,7072,0.00,2.20,0.00,0.000,6,0.000,0.042,2232,2330,3024
$GC,7405,-1.00,-146.0,538.0,-6.0,444,7409,0.00,2.35,0.00,0.000,4,0.000,0.069,2232,3757,3024
$GC,7416,-1.05,-146.0,538.7,-6.0,444,7420,0.10,2.20,0.00,0.000,6,0.108,0.041,2197,2335,3024
$GC,7734,-0.98,-146.0,561.7,-7.2,452,7738,0.10,2.33,0.00,0.000,4,0.167,0.070,2221,3749,3024
$STATE,7769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7769,begin apogee
$GC,7776,-0.34,0.0,564.3,6.3,452,7907,0.43,0.00,127.78,1.270,6,0.147,0.000,2356,2502,2420
$STATE,7908,end apogee,CONTROL_FINISHED_OK
$STATE,7908,begin climb
$GC,7910,1.08,146.0,566.5,0.0,456,8044,1.10,0.00,130.57,1.183,6,0.114,0.000,2675,2502,1824
$GC,8347,0.87,146.0,527.0,9.7,467,8352,0.20,2.50,0.00,0.000,4,0.144,0.069,2616,3929,1821
$GC,8488,0.74,146.0,515.3,8.0,470,8492,0.00,2.30,0.00,0.000,6,0.000,0.042,2616,2512,1819
$GC,8805,0.75,150.2,493.2,6.9,478,8812,0.00,0.00,4.47,0.840,6,0.000,0.000,2616,2513,1807
$GC,9130,0.75,150.2,470.3,7.2,486,9134,0.00,2.38,0.00,0.000,4,0.000,0.069,2616,3933,1807
$GC,9208,0.64,150.2,463.6,9.3,487,9213,0.15,2.22,0.00,0.000,6,0.151,0.041,2575,2517,1807
$GC,9545,0.83,191.2,443.9,5.6,496,9587,0.15,2.35,34.58,1.197,4,0.076,0.055,2635,1111,1640
$GC,9633,0.83,191.2,437.5,7.7,498,9637,0.00,2.33,0.00,0.000,6,0.000,0.049,2635,2530,1639
$GC,9962,0.83,191.2,413.1,7.5,506,9966,0.00,2.30,0.00,0.000,4,0.000,0.067,2635,3940,1637
$GC,10006,0.71,191.2,409.4,8.7,507,10011,0.17,2.20,0.00,0.000,6,0.143,0.038,2586,2519,1637
$GC,10338,0.91,241.3,391.3,5.3,518,10385,0.17,2.33,41.40,1.167,4,0.072,0.051,2653,1119,1435
$GC,10452,0.91,241.3,383.2,7.2,523,10456,0.00,2.30,0.00,0.000,6,0.000,0.048,2653,2523,1433
$GC,10773,0.91,241.3,360.0,7.6,539,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2524,1432
$GC,11082,0.91,241.3,335.8,8.6,554,11085,0.00,2.28,0.00,0.000,4,0.000,0.054,2653,1112,1432
$GC,11136,0.91,241.3,331.2,9.1,556,11141,0.00,2.28,0.00,0.000,6,0.000,0.048,2653,2520,1431
$GC,11458,0.91,241.3,303.5,8.7,572,11461,0.00,2.30,0.00,0.000,4,0.000,0.067,2653,3936,1431
$GC,11513,0.82,241.3,297.9,10.5,574,11517,0.15,2.22,0.00,0.000,6,0.148,0.041,2611,2509,1431
$GC,11833,0.97,249.8,275.7,6.7,590,11848,0.12,2.25,7.97,0.997,4,0.080,0.055,2664,1120,1401
$GC,11899,0.97,249.8,270.1,8.3,593,11904,0.00,2.25,0.00,0.000,6,0.000,0.049,2664,2529,1400
$GC,12231,0.97,249.8,241.7,8.5,609,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2529,1400
$GC,12540,0.97,249.8,215.5,8.2,624,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2529,1400
$GC,12849,0.97,249.8,190.8,8.0,639,12853,0.00,2.28,0.00,0.000,4,0.000,0.056,2664,1109,1400
$GC,12916,0.97,249.8,185.3,8.3,642,12920,0.00,2.25,0.00,0.000,6,0.000,0.050,2664,2528,1400
$GC,13248,0.97,249.8,157.3,8.5,658,13252,0.00,2.28,0.00,0.000,4,0.000,0.069,2664,3927,1399
$GC,13293,0.91,249.8,153.2,9.9,660,13297,0.12,2.20,0.00,0.000,6,0.148,0.043,2629,2512,1400
$GC,13624,1.18,254.4,131.7,6.9,676,13635,0.20,2.22,5.25,0.864,4,0.077,0.056,2709,1107,1383
$GC,13754,1.10,254.4,121.1,8.1,682,13759,0.15,2.25,0.00,0.000,6,0.143,0.051,2667,2520,1383
$GC,14080,1.19,289.9,99.8,5.8,698,14117,0.10,2.42,29.83,1.066,4,0.091,0.068,2707,3927,1238
$GC,14146,1.09,289.9,94.5,8.7,709,14153,0.15,2.28,0.00,0.000,6,0.141,0.044,2666,2516,1236
$GC,14490,1.21,289.9,69.8,7.1,770,14497,0.12,2.28,0.00,0.000,4,0.087,0.057,2718,1106,1234
$GC,14558,1.21,289.9,63.5,9.2,782,14565,0.00,2.28,0.00,0.000,6,0.000,0.051,2718,2520,1234
$GC,14901,1.21,289.9,33.3,8.3,843,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2520,1233
$GC,15245,1.27,289.9,11.9,7.5,904,15251,0.00,2.28,0.00,0.000,4,0.000,0.058,2718,1114,1232
$STATE,15378,end climb,SURFACE_DEPTH_REACHED
$STATE,15378,begin surface coast
$FINISH,0.8,1.024756
$STATE,15413,end surface coast,CONTROL_FINISHED_OK
$STATE,15413,begin surface
$SM_CCo,15491,0.00,0.000,0,0,1229,291.91
$SM_GC,1.75,7.10,0.00,0.00,0.071,0.000,0.000,165,2352,1229,-10.37,0.34,291.91
$RAFOS_CLK,883
$RAFOS,4,1222951441,12.750000,12.733611,72,67,58,56,53,51,212,844,153,197,144,166
$RAFOS,3,1222950841,12.583333,12.566944,75,58,57,56,52,51,758,221,159,195,149,208
$RAFOS,2,1222950261,12.416667,12.405833,91,65,65,56,54,52,841,230,177,198,143,218
$RAFOS,1,1222949642,12.250000,12.233889,60,58,57,57,57,56,214,118,188,156,717,132
$RAFOS,0,1222949044,12.083333,12.067778,75,62,60,57,56,55,556,154,203,191,220,175
$RAFOS_FIX,6645.852051,-5918.661621,021008,121244,4,78,10.55
$IRIDIUM_FIX,6609.62,-6011.94,271297,070723
$TT8_MAMPS,0.027612
$HUMID,1913
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.0,29.374
$10V_AH,10.6,11.441
$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,21.325,136.400,381.850,0.000,0.000,29.566,33.866,143.207,0.250,0.000,0.000,13.048,1745.775,11424.330,563.918,1747.223,375.869,33.365,1504.639,0.000,1721.435,1800.000,0.528,0.000
$DEVICE_MAMPS,271.518,74.399,1270.152,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.789,637.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34696,934
$CAP_FILE_SIZE,127697,0
$CFSIZE,260165632,241922048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$GPS,021008,154826,6641.873,-6005.413,38,1.1,38,-38.0