version: 66.04
glider: 113
mission: 4
dive: 164
start: 10 11 108 6 52 28
data:
$ID,113
$MISSION,4
$DIVE,164
$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,-25045.223
$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,38
$R_STBD_OVSHOOT,29
$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
$GPS1,064601,6657.083,-5657.322,35,1.7,35,-37.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-59.3
$GPS2,065133,6657.026,-5657.251,13,1.5,13,-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,0.159,0.159
$KALMAN_X,3098.4,481.2,537.6,15705.2,-1410.1
$KALMAN_Y,-7647.0,316.6,-642.4,11946.1,-344.2
$MHEAD_RNG_PITCHd_Wd,82.4,12924,-12.9,-7.021
$D_GRID,674
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-113.55,0.000,6,0.000,0.000,160,2326,3015
$GC,136,-1.08,-146.0,3.5,-3.4,20,150,8.68,2.28,0.00,0.000,4,0.260,0.053,2200,932,3020
$GC,280,-0.63,-146.0,31.3,-16.4,45,287,0.35,2.25,0.00,0.000,6,0.167,0.049,2299,2339,3022
$GC,625,-0.69,-146.0,60.6,-6.9,106,631,0.00,2.25,0.00,0.000,4,0.000,0.051,2300,928,3023
$GC,665,-0.69,-146.0,63.5,-7.2,113,671,0.00,2.25,0.00,0.000,6,0.000,0.048,2300,2348,3023
$GC,1009,-0.80,-146.0,82.2,-4.9,174,1015,0.15,2.28,0.00,0.000,4,0.091,0.063,2245,3749,3024
$GC,1061,-0.75,-146.0,85.8,-7.0,183,1068,0.12,2.17,0.00,0.000,6,0.162,0.038,2276,2336,3024
$GC,1413,-0.80,-146.0,107.2,-6.7,232,1417,0.00,2.33,0.00,0.000,4,0.000,0.066,2276,3752,3024
$GC,1504,-0.90,-146.0,113.3,-6.5,236,1508,0.15,2.17,0.00,0.000,6,0.087,0.039,2223,2341,3024
$GC,1835,-0.81,-146.0,141.3,-8.3,252,1837,0.15,0.00,0.00,0.000,6,0.159,0.000,2263,2340,3024
$GC,2145,-0.88,-146.0,163.1,-7.0,267,2148,0.00,2.20,0.00,0.000,4,0.000,0.053,2263,938,3024
$GC,2235,-0.88,-146.0,170.0,-8.0,271,2238,0.00,2.22,0.00,0.000,6,0.000,0.051,2263,2343,3023
$GC,2567,-0.97,-146.0,193.9,-7.2,287,2571,0.15,2.30,0.00,0.000,4,0.095,0.065,2209,3753,3023
$GC,2673,-0.90,-146.0,203.0,-8.7,292,2678,0.12,2.20,0.00,0.000,6,0.159,0.040,2241,2327,3023
$GC,3005,-0.90,-146.0,223.6,-5.4,308,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2327,3022
$GC,3315,-0.90,-146.0,240.3,-5.3,323,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2326,3023
$GC,3624,-0.90,-146.0,258.4,-6.1,338,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2326,3022
$GC,3933,-0.90,-146.0,277.5,-6.2,353,3937,0.00,2.33,0.00,0.000,4,0.000,0.066,2241,3743,3023
$GC,3960,-0.98,-146.0,279.2,-6.6,354,3964,0.00,2.17,0.00,0.000,6,0.000,0.039,2242,2329,3022
$GC,4287,-1.04,-146.0,300.0,-6.7,370,4289,0.12,0.00,0.00,0.000,6,0.093,0.000,2195,2329,3022
$GC,4596,-0.95,-146.0,324.3,-7.9,385,4600,0.12,2.33,0.00,0.000,4,0.151,0.064,2228,3743,3022
$GC,4635,-1.00,-146.0,327.2,-7.1,387,4638,0.00,2.17,0.00,0.000,6,0.000,0.039,2228,2331,3022
$GC,4967,-1.00,-146.0,348.2,-6.0,403,4971,0.00,2.33,0.00,0.000,4,0.000,0.064,2228,3750,3022
$GC,5010,-1.06,-146.0,351.0,-6.1,405,5015,0.10,2.17,0.00,0.000,6,0.095,0.038,2191,2337,3022
$GC,5337,-0.96,-146.0,373.8,-7.2,421,5339,0.12,0.00,0.00,0.000,6,0.150,0.000,2225,2334,3022
$GC,5645,-0.96,-146.0,391.6,-5.3,436,5650,0.00,2.33,0.00,0.000,4,0.000,0.064,2226,3754,3023
$GC,5695,-1.02,-146.0,394.4,-5.5,438,5699,0.00,2.17,0.00,0.000,6,0.000,0.038,2225,2334,3022
$GC,6013,-1.02,-146.0,410.6,-5.1,449,6018,0.00,2.33,0.00,0.000,4,0.000,0.064,2225,3754,3022
$GC,6052,-1.08,-146.0,412.8,-5.2,449,6059,0.10,2.17,0.00,0.000,6,0.099,0.038,2190,2331,3023
$GC,6383,-0.99,-146.0,432.6,-5.9,458,6388,0.12,2.33,0.00,0.000,4,0.150,0.064,2225,3746,3023
$GC,6445,-1.06,-146.0,436.1,-6.0,459,6448,0.00,2.15,0.00,0.000,6,0.000,0.038,2224,2341,3023
$GC,6792,-1.06,-146.0,453.3,-5.0,468,6796,0.00,2.17,0.00,0.000,4,0.000,0.049,2225,940,3024
$GC,6830,-1.06,-146.0,455.5,-5.5,468,6837,0.00,2.20,0.00,0.000,6,0.000,0.047,2225,2345,3024
$GC,7162,-1.06,-146.0,475.1,-6.3,477,7166,0.00,2.28,0.00,0.000,4,0.000,0.063,2225,3752,3024
$GC,7223,-1.13,-146.0,479.2,-6.9,478,7227,0.12,2.17,0.00,0.000,6,0.094,0.037,2179,2328,3024
$GC,7536,-1.01,-146.0,502.7,-7.6,486,7540,0.15,2.33,0.00,0.000,4,0.146,0.062,2220,3745,3025
$GC,7568,-1.06,-146.0,505.0,-6.9,486,7574,0.00,2.15,0.00,0.000,6,0.000,0.036,2220,2337,3025
$GC,7899,-1.06,-146.0,523.5,-5.4,495,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2337,3025
$GC,8224,-1.06,-146.0,540.1,-5.0,503,8228,0.00,2.30,0.00,0.000,4,0.000,0.062,2220,3743,3025
$GC,8274,-1.11,-146.0,542.7,-5.6,504,8279,0.10,2.15,0.00,0.000,6,0.107,0.037,2186,2340,3025
$GC,8598,-1.02,-146.0,562.4,-6.2,512,8603,0.12,2.30,0.00,0.000,4,0.153,0.063,2218,3749,3026
$GC,8638,-1.07,-146.0,564.7,-5.4,513,8642,0.00,2.17,0.00,0.000,6,0.000,0.038,2218,2329,3026
$GC,8967,-1.07,-146.0,582.4,-5.3,521,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2329,3026
$GC,9292,-1.07,-146.0,600.4,-5.7,529,9296,0.00,2.33,0.00,0.000,4,0.000,0.064,2218,3745,3025
$GC,9347,-1.13,-146.0,603.7,-5.7,530,9352,0.12,2.17,0.00,0.000,6,0.097,0.037,2176,2326,3025
$GC,9667,-1.01,-146.0,625.0,-6.8,538,9668,0.15,0.00,0.00,0.000,6,0.153,0.000,2216,2323,3025
$GC,9990,-1.01,-146.0,643.1,-5.4,546,9994,0.00,2.33,0.00,0.000,4,0.000,0.064,2216,3743,3026
$GC,10058,-1.07,-146.0,647.1,-6.4,547,10062,0.00,2.15,0.00,0.000,6,0.000,0.039,2216,2336,3025
$GC,10405,-1.07,-146.0,666.1,-5.5,556,10409,0.00,2.33,0.00,0.000,4,0.000,0.064,2216,3748,3025
$GC,10438,-1.12,-146.0,667.9,-6.1,556,10443,0.10,2.17,0.00,0.000,6,0.102,0.038,2179,2333,3025
$STATE,10528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10528,begin apogee
$GC,10533,-0.34,0.0,674.2,6.9,559,10666,0.60,0.00,129.57,1.287,6,0.147,0.000,2360,2524,2420
$STATE,10667,end apogee,CONTROL_FINISHED_OK
$STATE,10667,begin climb
$GC,10669,1.08,146.0,676.3,0.0,562,10805,1.02,0.00,131.90,1.205,6,0.106,0.000,2666,2524,1824
$GC,11116,0.88,146.0,635.5,9.9,573,11120,0.15,2.38,0.00,0.000,4,0.140,0.063,2625,3927,1820
$GC,11200,0.71,146.0,627.4,10.0,575,11205,0.15,2.25,0.00,0.000,6,0.139,0.039,2584,2516,1820
$GC,11524,0.81,164.8,606.5,6.4,583,11543,0.10,0.00,16.48,1.175,6,0.086,0.000,2625,2515,1748
$GC,11849,0.76,164.8,580.3,8.3,591,11851,0.10,0.00,0.00,0.000,6,0.133,0.000,2598,2515,1745
$GC,12173,0.76,164.8,557.0,7.1,599,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2515,1745
$GC,12498,0.76,165.3,533.9,7.0,607,12499,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2515,1745
$GC,12824,0.81,166.7,511.0,7.0,615,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2515,1744
$GC,13149,0.87,176.1,489.3,6.7,623,13162,0.10,0.00,10.35,1.098,6,0.087,0.000,2638,2514,1702
$GC,13473,0.79,176.1,460.9,8.9,631,13475,0.12,0.00,0.00,0.000,6,0.140,0.000,2602,2514,1701
$GC,13798,0.79,176.1,436.7,7.5,639,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2514,1700
$GC,14123,0.79,176.1,412.4,7.4,647,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2514,1700
$GC,14429,0.84,176.1,389.6,7.3,657,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2514,1701
$GC,14739,0.89,177.2,367.8,7.0,672,14743,0.10,2.20,0.00,0.000,4,0.087,0.050,2646,1115,1701
$GC,14771,0.89,177.2,365.2,8.3,673,14775,0.00,2.22,0.00,0.000,6,0.000,0.047,2647,2534,1701
$GC,15092,0.80,177.2,335.4,9.5,689,15094,0.15,0.00,0.00,0.000,6,0.138,0.000,2602,2535,1701
$GC,15401,0.86,177.2,312.9,7.1,704,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2535,1701
$GC,15711,0.95,192.3,292.2,6.5,719,15733,0.15,0.00,14.32,1.014,6,0.073,0.000,2664,2535,1636
$GC,16041,0.83,192.3,261.3,9.5,735,16046,0.17,2.28,0.00,0.000,4,0.127,0.051,2611,1111,1635
$GC,16080,0.96,207.2,258.4,6.5,736,16101,0.12,2.22,13.38,0.979,6,0.080,0.045,2663,2524,1575
$GC,16418,0.87,207.2,225.3,10.0,753,16423,0.15,2.28,0.00,0.000,4,0.127,0.061,2618,3931,1574
$GC,16450,0.87,207.2,222.0,10.3,754,16457,0.00,2.22,0.00,0.000,6,0.000,0.038,2618,2514,1573
$GC,16766,0.95,207.2,198.4,7.3,770,16770,0.10,2.20,0.00,0.000,4,0.091,0.050,2662,1113,1574
$GC,16793,0.95,207.2,196.0,9.4,771,16797,0.00,2.22,0.00,0.000,6,0.000,0.045,2662,2533,1574
$GC,17120,0.88,207.2,164.5,9.4,787,17125,0.15,2.25,0.00,0.000,4,0.134,0.061,2617,3929,1574
$GC,17147,0.88,207.2,162.0,8.7,788,17151,0.00,2.20,0.00,0.000,6,0.000,0.038,2617,2518,1574
$GC,17467,0.99,207.2,137.6,7.6,804,17472,0.12,2.20,0.00,0.000,4,0.081,0.050,2668,1113,1575
$GC,17505,0.99,207.2,134.0,8.7,805,17512,0.00,2.22,0.00,0.000,6,0.000,0.045,2668,2516,1575
$GC,17821,0.99,207.2,107.0,8.0,821,17822,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2516,1575
$GC,18148,0.99,207.2,81.2,8.4,866,18155,0.00,2.28,0.00,0.000,4,0.000,0.064,2668,3929,1575
$GC,18185,0.91,207.2,78.1,9.0,872,18192,0.15,2.17,0.00,0.000,6,0.143,0.039,2625,2513,1574
$GC,18531,1.21,262.5,57.8,5.1,933,18584,0.20,2.33,44.65,0.964,4,0.075,0.053,2708,1115,1348
$GC,18652,1.21,262.5,49.0,7.4,954,18658,0.00,2.28,0.00,0.000,6,0.000,0.047,2708,2522,1345
$GC,18994,1.21,262.5,22.6,7.7,1015,19001,0.00,2.30,0.00,0.000,4,0.000,0.064,2708,3937,1343
$GC,19040,1.10,262.5,18.5,9.1,1023,19047,0.12,2.22,0.00,0.000,6,0.146,0.041,2674,2511,1343
$STATE,19281,end climb,SURFACE_DEPTH_REACHED
$STATE,19281,begin surface coast
$FINISH,0.9,1.026048
$STATE,19322,end surface coast,CONTROL_FINISHED_OK
$STATE,19322,begin surface
$SM_CCo,19337,8.60,0.854,0,0,1298,275.23
$SM_GC,1.84,0.00,0.00,8.60,0.000,0.000,0.854,161,2325,1298,-10.47,-0.40,275.23
$RAFOS_CLK,1033
$RAFOS,0,1223726643,12.083333,12.067500,71,61,58,54,53,49,187,201,221,164,134,114
$RAFOS,4,1223714657,8.750000,8.738055,64,60,58,56,55,54,184,211,173,142,124,202
$RAFOS,3,1223714044,8.583333,8.567778,59,55,53,53,51,50,216,225,118,172,193,150
$RAFOS,2,1223713447,8.416667,8.401944,61,61,58,57,54,54,159,212,628,131,184,638
$RAFOS,1,1223712850,8.250000,8.236111,65,59,59,58,58,56,198,122,842,208,183,221
$RAFOS,0,1223712253,8.083333,8.070278,75,61,56,54,52,48,190,213,157,122,200,229
$RAFOS_FIX,6629.548828,-5847.625000,111008,040456,4,75,8.96
$IRIDIUM_FIX,6625.71,-5655.12,050198,010105
$TT8_MAMPS,0.03068
$HUMID,1901
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.20
$XPDR_PINGS,3
$24V_AH,21.9,34.795
$10V_AH,10.6,14.191
$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,22.475,135.050,360.650,8.600,0.000,27.718,35.873,153.696,0.750,0.000,0.000,14.835,1953.617,14781.117,559.195,1940.438,444.463,33.352,1599.730,0.000,1924.512,2520.000,0.530,0.000
$DEVICE_MAMPS,260.013,68.263,1287.026,853.671,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.827,730.033,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40943,1073
$CAP_FILE_SIZE,147920,0
$CFSIZE,260165632,238469120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.1
$GPS,111008,121701,6658.541,-5653.146,81,0.9,81,-37.5