version: 66.04
glider: 113
mission: 4
dive: 163
start: 10 11 108 1 31 46
data:
$ID,113
$MISSION,4
$DIVE,163
$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,900
$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,-25029.76
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,012532,6656.563,-5655.343,42,1.7,42,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.0
$GPS2,013051,6656.543,-5655.353,13,1.2,13,-37.4
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.152,0.165
$KALMAN_X,3057.8,292.7,-731.4,18572.7,2426.5
$KALMAN_Y,-7188.3,425.0,1027.9,8823.3,-4077.5
$MHEAD_RNG_PITCHd_Wd,354.8,13084,-12.9,-7.021
$D_GRID,661
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-120.50,0.000,2,0.000,0.000,164,2329,2927
$GC,141,-1.08,-146.0,3.0,-2.3,21,161,8.70,2.38,-3.12,0.000,4,0.264,0.079,2191,3754,3018
$GC,292,-0.60,-146.0,31.2,-16.9,47,299,0.40,2.22,0.00,0.000,6,0.168,0.040,2304,2332,3020
$GC,637,-0.69,-146.0,62.9,-7.0,108,644,0.00,2.20,0.00,0.000,4,0.000,0.052,2305,932,3021
$GC,740,-0.75,-146.0,70.5,-7.1,126,747,0.12,2.25,0.00,0.000,6,0.096,0.048,2260,2356,3022
$GC,1083,-0.75,-146.0,95.5,-7.4,187,1090,0.00,2.25,0.00,0.000,4,0.000,0.064,2260,3745,3023
$GC,1302,-0.75,-146.0,113.3,-7.9,204,1309,0.00,2.20,0.00,0.000,6,0.000,0.039,2260,2340,3022
$GC,1617,-0.75,-146.0,137.4,-7.2,220,1621,0.00,2.20,0.00,0.000,4,0.000,0.053,2260,934,3022
$GC,1718,-0.75,-146.0,144.8,-6.8,224,1722,0.00,2.22,0.00,0.000,6,0.000,0.048,2260,2345,3022
$GC,2040,-0.80,-146.0,164.2,-5.9,240,2043,0.00,2.28,0.00,0.000,4,0.000,0.066,2260,3747,3022
$GC,2225,-0.89,-146.0,175.9,-5.5,248,2229,0.00,2.17,0.00,0.000,6,0.000,0.040,2260,2338,3022
$GC,2552,-0.97,-146.0,194.8,-5.9,264,2557,0.12,2.20,0.00,0.000,4,0.097,0.052,2213,938,3022
$GC,2642,-0.84,-146.0,202.1,-8.2,268,2647,0.15,2.22,0.00,0.000,6,0.163,0.050,2252,2344,3022
$GC,2974,-0.90,-146.0,222.2,-5.9,284,2978,0.00,2.28,0.00,0.000,4,0.000,0.066,2252,3745,3021
$GC,3156,-1.00,-146.0,232.7,-5.7,292,3160,0.12,2.17,0.00,0.000,6,0.097,0.039,2208,2330,3021
$GC,3488,-0.93,-146.0,255.7,-7.0,308,3490,0.10,0.00,0.00,0.000,6,0.158,0.000,2232,2329,3021
$GC,3796,-0.93,-146.0,276.3,-6.8,323,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2329,3021
$GC,4106,-0.93,-146.0,297.6,-7.0,338,4109,0.00,2.33,0.00,0.000,4,0.000,0.066,2232,3742,3021
$GC,4263,-0.98,-146.0,309.2,-7.5,345,4267,0.00,2.17,0.00,0.000,6,0.000,0.040,2232,2330,3020
$GC,4595,-0.98,-146.0,330.7,-6.1,361,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2330,3020
$GC,4905,-1.03,-146.0,349.1,-5.9,376,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2330,3020
$GC,5214,-1.08,-146.0,365.8,-5.2,391,5219,0.12,2.33,0.00,0.000,4,0.104,0.063,2188,3749,3019
$GC,5309,-1.00,-146.0,372.2,-6.8,395,5314,0.12,2.17,0.00,0.000,6,0.153,0.038,2221,2324,3020
$GC,5635,-1.00,-146.0,390.9,-6.0,411,5639,0.00,2.17,0.00,0.000,4,0.000,0.052,2221,930,3020
$GC,5712,-1.00,-146.0,396.3,-6.7,414,5716,0.00,2.22,0.00,0.000,6,0.000,0.046,2221,2347,3020
$GC,6030,-1.00,-146.0,416.8,-6.5,424,6034,0.00,2.25,0.00,0.000,4,0.000,0.061,2221,3742,3021
$GC,6170,-1.06,-146.0,426.3,-7.0,427,6174,0.00,2.15,0.00,0.000,6,0.000,0.037,2221,2337,3021
$GC,6494,-1.06,-146.0,447.4,-6.4,435,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2337,3022
$GC,6819,-1.06,-146.0,466.6,-5.9,443,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2337,3023
$GC,7143,-1.06,-146.0,485.5,-5.9,451,7147,0.00,2.30,0.00,0.000,4,0.000,0.063,2221,3745,3023
$GC,7244,-1.11,-146.0,491.6,-6.3,453,7249,0.10,2.15,0.00,0.000,6,0.106,0.037,2187,2338,3023
$GC,7563,-1.01,-146.0,513.6,-6.9,461,7565,0.12,0.00,0.00,0.000,6,0.152,0.000,2220,2336,3023
$GC,7887,-1.01,-146.0,532.0,-5.6,469,7891,0.00,2.30,0.00,0.000,4,0.000,0.063,2220,3742,3024
$GC,7971,-1.07,-146.0,536.9,-6.0,470,7977,0.00,2.15,0.00,0.000,6,0.000,0.037,2220,2337,3024
$GC,8302,-1.07,-146.0,555.8,-5.8,479,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2337,3024
$GC,8626,-1.07,-146.0,575.8,-6.2,487,8630,0.00,2.30,0.00,0.000,4,0.000,0.063,2220,3742,3024
$GC,8717,-1.13,-146.0,581.5,-6.6,489,8721,0.12,2.15,0.00,0.000,6,0.099,0.038,2177,2338,3024
$GC,9047,-1.02,-146.0,605.2,-7.2,497,9051,0.15,2.20,0.00,0.000,4,0.150,0.049,2218,934,3024
$GC,9123,-1.02,-146.0,610.2,-7.0,498,9128,0.00,2.25,0.00,0.000,6,0.000,0.046,2218,2345,3024
$GC,9461,-1.02,-146.0,629.2,-5.6,507,9464,0.00,2.28,0.00,0.000,4,0.000,0.064,2218,3748,3024
$GC,9584,-1.08,-146.0,636.9,-5.8,509,9588,0.00,2.17,0.00,0.000,6,0.000,0.038,2218,2329,3024
$GC,9920,-1.08,-146.0,655.5,-5.5,518,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2328,3024
$STATE,10040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10040,begin apogee
$GC,10045,-0.34,0.0,662.2,5.5,521,10176,0.47,0.00,128.32,1.281,6,0.137,0.000,2366,2519,2420
$STATE,10177,end apogee,CONTROL_FINISHED_OK
$STATE,10177,begin climb
$GC,10179,1.08,146.0,663.7,0.0,524,10318,1.02,2.58,130.95,1.197,4,0.098,0.051,2675,1123,1824
$GC,10324,0.86,146.0,652.0,9.8,528,10329,0.20,2.47,0.00,0.000,6,0.137,0.045,2624,2522,1823
$GC,10648,0.79,146.0,626.1,7.8,536,10652,0.00,2.35,0.00,0.000,4,0.000,0.063,2624,3926,1821
$GC,10675,0.65,146.0,623.6,8.5,536,10680,0.17,2.25,0.00,0.000,6,0.139,0.038,2575,2516,1820
$GC,11012,0.81,182.6,604.2,5.8,545,11046,0.12,0.00,31.02,1.207,6,0.076,0.000,2624,2515,1675
$GC,11336,0.81,182.6,579.7,7.5,553,11340,0.00,2.22,0.00,0.000,4,0.000,0.051,2624,1119,1673
$GC,11346,0.81,182.6,578.9,7.6,553,11350,0.00,2.25,0.00,0.000,6,0.000,0.046,2624,2528,1673
$GC,11665,0.81,182.6,553.7,8.0,561,11668,0.00,2.25,0.00,0.000,4,0.000,0.050,2624,1119,1672
$GC,11676,0.81,182.6,552.9,8.0,561,11680,0.00,2.22,0.00,0.000,6,0.000,0.047,2624,2528,1672
$GC,11994,0.81,182.6,527.9,7.8,569,11997,0.00,2.25,0.00,0.000,4,0.000,0.051,2624,1110,1672
$GC,12003,0.81,182.6,527.1,7.8,569,12008,0.00,2.25,0.00,0.000,6,0.000,0.046,2624,2519,1672
$GC,12324,0.81,182.6,502.8,7.6,577,12328,0.00,2.22,0.00,0.000,4,0.000,0.051,2624,1118,1672
$GC,12333,0.81,182.6,501.9,7.6,577,12338,0.00,2.25,0.00,0.000,6,0.000,0.047,2624,2526,1672
$GC,12652,0.81,182.6,477.0,8.0,585,12656,0.00,2.25,0.00,0.000,4,0.000,0.051,2624,1109,1672
$GC,12662,0.81,182.6,476.2,8.1,585,12666,0.00,2.22,0.00,0.000,6,0.000,0.047,2624,2525,1671
$GC,12980,0.81,182.6,450.7,8.0,593,12984,0.00,2.22,0.00,0.000,4,0.000,0.050,2624,1119,1671
$GC,12995,0.81,182.6,449.3,8.0,593,13000,0.00,2.22,0.00,0.000,6,0.000,0.046,2624,2519,1671
$GC,13308,0.81,182.6,423.8,8.1,601,13312,0.00,2.22,0.00,0.000,4,0.000,0.051,2624,1108,1671
$GC,13317,0.81,182.6,423.0,7.8,601,13321,0.00,2.25,0.00,0.000,6,0.000,0.045,2624,2524,1670
$GC,13636,0.81,182.6,397.6,7.8,609,13640,0.00,2.22,0.00,0.000,4,0.000,0.050,2624,1119,1670
$GC,13647,0.81,182.6,396.8,7.8,609,13651,0.00,2.20,0.00,0.000,6,0.000,0.046,2624,2521,1670
$GC,13967,0.81,182.6,372.3,7.7,625,13971,0.00,2.20,0.00,0.000,4,0.000,0.050,2624,1119,1671
$GC,13976,0.81,182.6,371.4,7.8,625,13981,0.00,2.22,0.00,0.000,6,0.000,0.045,2624,2521,1670
$GC,14298,0.81,182.6,346.2,8.1,641,14302,0.00,2.22,0.00,0.000,4,0.000,0.051,2624,1116,1671
$GC,14308,0.81,182.6,345.5,7.8,641,14312,0.00,2.22,0.00,0.000,6,0.000,0.045,2624,2518,1671
$GC,14629,0.81,187.6,322.3,6.9,657,14639,0.00,2.22,5.07,0.818,4,0.000,0.050,2624,1106,1655
$GC,14655,0.84,204.7,320.5,6.4,658,14676,0.00,2.22,15.20,1.029,6,0.000,0.046,2624,2531,1585
$GC,14997,0.84,204.7,296.3,7.1,675,15000,0.00,2.25,0.00,0.000,4,0.000,0.049,2624,1114,1584
$GC,15030,0.92,216.3,294.0,6.6,676,15045,0.00,2.22,10.90,0.969,6,0.000,0.045,2624,2528,1538
$GC,15372,0.92,217.1,270.3,7.0,693,15376,0.00,2.25,0.00,0.000,4,0.000,0.049,2624,1114,1539
$GC,15411,1.02,221.2,267.5,6.9,694,15422,0.12,2.22,6.03,0.838,6,0.083,0.045,2677,2527,1518
$GC,15745,0.91,221.2,235.3,9.8,711,15749,0.17,2.25,0.00,0.000,4,0.124,0.050,2624,1116,1517
$GC,15755,0.83,221.2,234.2,9.5,711,15759,0.00,2.22,0.00,0.000,6,0.000,0.045,2624,2529,1517
$GC,16076,0.90,221.2,210.4,7.4,727,16080,0.00,2.22,0.00,0.000,4,0.000,0.049,2624,1113,1517
$GC,16092,0.99,221.2,209.3,7.3,727,16099,0.10,2.22,0.00,0.000,6,0.088,0.045,2666,2532,1517
$GC,16407,0.92,221.2,178.1,9.8,743,16409,0.12,0.00,0.00,0.000,6,0.127,0.000,2628,2533,1517
$GC,16716,1.01,221.2,154.4,7.2,758,16721,0.10,2.25,0.00,0.000,4,0.084,0.049,2673,1108,1517
$GC,16761,1.01,221.2,150.6,10.4,760,16765,0.00,2.22,0.00,0.000,6,0.000,0.045,2673,2533,1517
$GC,17092,0.96,221.2,120.4,9.1,776,17097,0.12,2.25,0.00,0.000,4,0.140,0.050,2638,1108,1517
$GC,17101,0.96,221.2,119.5,9.2,776,17106,0.00,2.25,0.00,0.000,6,0.000,0.046,2637,2523,1517
$GC,17424,1.09,256.1,98.8,5.8,792,17460,0.12,2.30,28.90,0.980,4,0.077,0.051,2692,1110,1374
$GC,17466,1.09,256.1,95.7,7.5,799,17472,0.00,2.28,0.00,0.000,6,0.000,0.046,2692,2525,1374
$GC,17809,1.09,256.1,67.4,8.6,860,17816,0.00,2.25,0.00,0.000,4,0.000,0.051,2693,1121,1371
$GC,17821,1.09,256.1,66.3,8.6,862,17828,0.00,2.22,0.00,0.000,6,0.000,0.047,2693,2520,1371
$GC,18164,1.09,256.1,35.0,8.3,923,18170,0.00,2.25,0.00,0.000,4,0.000,0.052,2692,1110,1370
$GC,18176,1.09,256.1,33.9,8.3,925,18182,0.00,2.25,0.00,0.000,6,0.000,0.048,2693,2530,1370
$GC,18520,1.11,277.1,9.9,6.3,986,18538,0.00,0.00,16.77,0.933,6,0.000,0.000,2693,2530,1290
$STATE,18626,end climb,SURFACE_DEPTH_REACHED
$STATE,18627,begin surface coast
$FINISH,0.8,1.013541
$STATE,18650,end surface coast,CONTROL_FINISHED_OK
$STATE,18652,begin surface
$SM_CCo,18728,0.00,0.000,0,0,1285,278.42
$SM_GC,1.67,7.12,0.00,0.00,0.070,0.000,0.000,160,2327,1285,-10.40,-0.37,278.42
$RAFOS_CLK,997
$RAFOS,4,1223700246,4.750000,4.735000,73,65,56,54,52,51,820,215,1858,160,143,122
$RAFOS,3,1223699675,4.583333,4.576389,70,62,60,60,59,50,219,134,209,196,787,154
$RAFOS,2,1223699045,4.416667,4.401389,83,65,53,49,48,47,630,209,138,168,190,177
$RAFOS,1,1223698461,4.250000,4.239167,75,58,55,52,51,51,764,202,159,132,123,214
$RAFOS,0,1223697880,4.083333,4.077778,59,58,57,56,55,54,222,165,837,200,182,209
$RAFOS_FIX,6629.548828,-5847.625000,111008,040456,4,75,8.96
$IRIDIUM_FIX,6625.71,-5702.71,040198,202029
$TT8_MAMPS,0.028379
$HUMID,1874
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.10
$XPDR_PINGS,3
$24V_AH,22.0,34.659
$10V_AH,10.6,14.117
$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,20.475,171.025,373.175,0.000,0.000,26.304,34.529,141.657,0.750,0.000,0.000,14.509,1967.507,14056.770,561.040,2075.735,431.546,33.353,1685.311,0.000,2049.750,1800.000,0.528,0.000
$DEVICE_MAMPS,263.848,79.001,1280.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.377,686.677,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37780,1009
$CAP_FILE_SIZE,149265,0
$CFSIZE,260165632,238538752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.2
$GPS,111008,064601,6657.083,-5657.322,35,1.7,35,-37.4