version: 66.04
glider: 113
mission: 4
dive: 165
start: 10 11 108 12 27 4
data:
$ID,113
$MISSION,4
$DIVE,165
$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,-25063.736
$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,36
$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
$GPS1,121701,6658.541,-5653.146,81,0.9,81,-37.5
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-57.8
$GPS2,122609,6658.525,-5653.175,16,1.6,16,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.030,0.222
$KALMAN_X,4163.3,-38.4,-126.2,18771.2,327.9
$KALMAN_Y,-8622.7,-255.8,646.2,14991.1,-2113.7
$MHEAD_RNG_PITCHd_Wd,45.2,9091,-12.9,-7.021
$D_GRID,637
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,126,0.00,0.00,-108.28,0.000,2,0.000,0.000,160,2324,2968
$GC,129,-1.08,-146.0,3.0,-2.1,19,142,8.82,0.00,-1.65,0.000,6,0.266,0.000,2201,2323,3016
$GC,480,-0.80,-146.0,55.8,-11.1,81,486,0.20,2.35,0.00,0.000,4,0.166,0.065,2261,3743,3021
$GC,604,-0.80,-146.0,67.6,-9.7,103,611,0.00,2.20,0.00,0.000,6,0.000,0.039,2261,2324,3021
$GC,948,-0.80,-146.0,97.2,-7.5,164,954,0.00,2.17,0.00,0.000,4,0.000,0.052,2261,940,3022
$GC,1024,-0.74,-146.0,103.2,-8.1,173,1028,0.00,2.22,0.00,0.000,6,0.000,0.048,2261,2350,3021
$GC,1350,-0.74,-146.0,129.5,-8.4,189,1353,0.00,2.28,0.00,0.000,4,0.000,0.065,2261,3749,3021
$GC,1427,-0.80,-146.0,135.9,-7.8,192,1431,0.00,2.17,0.00,0.000,6,0.000,0.040,2261,2340,3021
$GC,1749,-0.85,-146.0,157.6,-6.4,208,1752,0.00,2.20,0.00,0.000,4,0.000,0.053,2261,937,3021
$GC,1826,-0.85,-146.0,162.8,-7.2,211,1830,0.00,2.25,0.00,0.000,6,0.000,0.048,2261,2339,3021
$GC,2148,-0.91,-146.0,182.4,-5.7,227,2153,0.10,2.28,0.00,0.000,4,0.119,0.063,2225,3745,3021
$GC,2236,-0.91,-146.0,188.6,-7.0,231,2240,0.00,2.17,0.00,0.000,6,0.000,0.040,2225,2336,3021
$GC,2563,-0.91,-146.0,210.4,-6.9,247,2567,0.00,2.20,0.00,0.000,4,0.000,0.053,2225,932,3020
$GC,2630,-0.83,-146.0,215.4,-7.6,250,2635,0.12,2.22,0.00,0.000,6,0.166,0.048,2257,2345,3021
$GC,2962,-0.92,-146.0,235.6,-6.2,266,2966,0.00,2.28,0.00,0.000,4,0.000,0.066,2257,3746,3020
$GC,3069,-1.05,-146.0,242.6,-6.3,270,3076,0.17,2.17,0.00,0.000,6,0.085,0.041,2193,2334,3020
$GC,3384,-0.93,-146.0,266.3,-7.4,286,3386,0.15,0.00,0.00,0.000,6,0.152,0.000,2233,2331,3019
$GC,3693,-0.93,-146.0,285.6,-6.3,301,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2331,3019
$GC,4002,-0.93,-146.0,304.6,-6.0,316,4006,0.00,2.33,0.00,0.000,4,0.000,0.065,2233,3752,3019
$GC,4092,-1.00,-146.0,310.0,-6.5,320,4096,0.00,2.17,0.00,0.000,6,0.000,0.039,2233,2338,3019
$GC,4424,-1.04,-146.0,330.1,-6.0,336,4426,0.10,0.00,0.00,0.000,6,0.112,0.000,2197,2338,3019
$GC,4734,-0.96,-146.0,352.1,-7.3,351,4736,0.12,0.00,0.00,0.000,6,0.158,0.000,2230,2336,3020
$GC,5043,-0.96,-146.0,370.7,-5.7,366,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2336,3020
$GC,5352,-0.96,-146.0,388.7,-5.8,381,5356,0.00,2.30,0.00,0.000,4,0.000,0.064,2230,3745,3020
$GC,5458,-1.04,-146.0,395.4,-6.4,385,5464,0.00,2.17,0.00,0.000,6,0.000,0.038,2230,2329,3021
$GC,5791,-1.08,-146.0,414.9,-5.8,396,5793,0.12,0.00,0.00,0.000,6,0.097,0.000,2184,2329,3021
$GC,6115,-0.97,-146.0,438.3,-7.2,404,6120,0.15,2.33,0.00,0.000,4,0.156,0.062,2225,3743,3021
$GC,6221,-1.03,-146.0,445.3,-7.2,406,6225,0.00,2.15,0.00,0.000,6,0.000,0.038,2226,2338,3021
$GC,6568,-1.03,-146.0,466.4,-6.0,415,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2338,3022
$GC,6894,-1.03,-146.0,484.8,-5.6,423,6898,0.00,2.30,0.00,0.000,4,0.000,0.063,2226,3747,3022
$GC,6977,-1.10,-146.0,489.9,-6.4,424,6984,0.12,2.15,0.00,0.000,6,0.091,0.037,2180,2338,3022
$GC,7308,-0.99,-146.0,513.1,-7.1,433,7312,0.15,2.20,0.00,0.000,4,0.148,0.048,2221,934,3022
$GC,7375,-0.99,-146.0,517.6,-6.7,434,7379,0.00,2.20,0.00,0.000,6,0.000,0.046,2221,2341,3023
$GC,7723,-0.99,-146.0,538.7,-5.9,443,7726,0.00,2.28,0.00,0.000,4,0.000,0.064,2221,3747,3023
$GC,7834,-1.05,-146.0,545.4,-5.7,445,7838,0.00,2.15,0.00,0.000,6,0.000,0.038,2221,2341,3024
$GC,8182,-1.05,-146.0,564.4,-5.4,454,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2341,3024
$GC,8507,-1.05,-146.0,583.2,-5.9,462,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2341,3024
$GC,8832,-1.05,-146.0,601.6,-5.6,470,8836,0.00,2.30,0.00,0.000,4,0.000,0.064,2221,3745,3024
$GC,8938,-1.11,-146.0,608.0,-6.1,472,8943,0.10,2.15,0.00,0.000,6,0.104,0.038,2187,2340,3024
$GC,9251,-1.03,-146.0,628.6,-6.6,480,9256,0.10,2.20,0.00,0.000,4,0.159,0.051,2213,934,3023
$GC,9306,-1.03,-146.0,632.1,-6.1,481,9311,0.00,2.22,0.00,0.000,6,0.000,0.047,2213,2349,3023
$STATE,9420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9420,begin apogee
$GC,9425,-0.34,0.0,638.8,5.7,484,9556,0.47,0.00,128.15,1.262,6,0.141,0.000,2360,2519,2420
$STATE,9557,end apogee,CONTROL_FINISHED_OK
$STATE,9557,begin climb
$GC,9559,1.08,146.0,640.5,0.0,487,9697,1.02,2.55,130.05,1.180,4,0.102,0.051,2670,1121,1823
$GC,9727,0.90,146.0,627.3,9.9,491,9732,0.15,2.45,0.00,0.000,6,0.141,0.047,2634,2528,1822
$GC,10050,0.81,146.0,600.9,8.1,499,10054,0.00,2.35,0.00,0.000,4,0.000,0.063,2634,3936,1821
$GC,10083,0.63,146.0,597.8,9.9,499,10088,0.22,2.25,0.00,0.000,6,0.137,0.038,2571,2520,1821
$GC,10420,0.82,194.4,579.4,5.4,508,10463,0.15,0.00,40.40,1.204,6,0.074,0.000,2632,2517,1627
$GC,10784,0.82,194.4,550.3,8.2,517,10788,0.00,2.25,0.00,0.000,4,0.000,0.052,2633,1109,1624
$GC,10800,0.82,194.4,548.9,8.4,517,10804,0.00,2.25,0.00,0.000,6,0.000,0.046,2633,2523,1625
$GC,11113,0.82,194.4,523.7,8.1,525,11117,0.00,2.25,0.00,0.000,4,0.000,0.051,2633,1114,1625
$GC,11123,0.82,194.4,522.8,8.0,525,11127,0.00,2.25,0.00,0.000,6,0.000,0.046,2633,2520,1624
$GC,11442,0.77,194.4,497.6,8.1,533,11444,0.12,0.00,0.00,0.000,6,0.137,0.000,2597,2520,1623
$GC,11767,0.86,208.8,476.1,6.5,541,11787,0.10,2.33,12.43,1.108,4,0.085,0.051,2640,1104,1568
$GC,11815,0.86,208.8,472.3,8.4,542,11819,0.00,2.25,0.00,0.000,6,0.000,0.046,2640,2520,1567
$GC,12139,0.80,208.8,444.2,8.8,550,12144,0.12,2.25,0.00,0.000,4,0.143,0.050,2604,1110,1567
$GC,12154,0.80,208.8,442.9,8.7,550,12158,0.00,2.25,0.00,0.000,6,0.000,0.046,2604,2519,1567
$GC,12503,0.88,208.8,418.0,7.1,559,12507,0.10,2.22,0.00,0.000,4,0.083,0.050,2650,1113,1567
$GC,12547,0.88,208.8,414.1,8.7,560,12551,0.10,2.22,0.00,0.000,6,0.143,0.047,2624,2531,1567
$GC,12878,0.88,208.8,387.9,7.8,571,12882,0.00,2.25,0.00,0.000,4,0.000,0.051,2624,1105,1567
$GC,12900,0.88,208.8,386.0,7.9,572,12904,0.00,2.22,0.00,0.000,6,0.000,0.046,2623,2524,1567
$GC,13231,0.88,208.8,359.5,8.1,588,13235,0.00,2.22,0.00,0.000,4,0.000,0.050,2623,1114,1568
$GC,13276,0.95,208.8,356.0,8.0,590,13280,0.00,2.20,0.00,0.000,6,0.000,0.045,2624,2522,1567
$GC,13608,0.95,208.8,329.1,8.1,606,13612,0.00,2.22,0.00,0.000,4,0.000,0.051,2623,1111,1567
$GC,13635,1.02,208.8,326.9,8.1,607,13640,0.12,2.20,0.00,0.000,6,0.081,0.045,2675,2522,1568
$GC,13962,0.88,208.8,292.4,10.6,623,13964,0.17,0.00,0.00,0.000,6,0.127,0.000,2623,2523,1568
$GC,14271,0.88,208.8,267.7,7.7,638,14274,0.00,2.22,0.00,0.000,4,0.000,0.051,2623,1116,1568
$GC,14286,0.93,208.8,266.5,7.4,638,14293,0.00,2.20,0.00,0.000,6,0.000,0.045,2623,2528,1568
$GC,14603,0.93,208.8,243.4,7.3,654,14607,0.00,2.22,0.00,0.000,4,0.000,0.050,2623,1112,1568
$GC,14630,1.04,218.1,241.3,6.7,655,14647,0.12,2.20,9.57,0.934,6,0.081,0.045,2675,2523,1530
$GC,14956,0.94,218.1,209.6,9.8,671,14961,0.15,2.25,0.00,0.000,4,0.125,0.050,2630,1109,1529
$GC,14971,0.94,218.1,208.1,9.6,671,14978,0.00,2.22,0.00,0.000,6,0.000,0.044,2630,2528,1529
$GC,15287,1.00,218.1,184.8,7.2,687,15292,0.08,2.25,0.00,0.000,4,0.097,0.049,2668,1109,1529
$GC,15313,1.00,218.1,182.5,8.4,688,15318,0.00,2.22,0.00,0.000,6,0.000,0.045,2668,2529,1529
$GC,15635,0.94,218.1,154.0,8.9,704,15637,0.12,0.00,0.00,0.000,6,0.138,0.000,2632,2529,1530
$GC,15944,1.00,218.1,132.0,7.1,719,15948,0.08,2.25,0.00,0.000,4,0.099,0.049,2667,1109,1529
$GC,15961,1.05,218.1,130.7,7.5,720,15964,0.00,2.22,0.00,0.000,6,0.000,0.046,2667,2528,1530
$GC,16292,1.05,218.1,103.7,7.5,736,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2528,1530
$GC,16625,1.05,218.1,78.5,8.7,787,16631,0.00,2.25,0.00,0.000,4,0.000,0.064,2667,3924,1529
$GC,16642,1.05,218.1,77.0,8.5,790,16649,0.00,2.17,0.00,0.000,6,0.000,0.039,2667,2505,1529
$GC,16987,1.09,248.1,52.3,6.0,851,17016,0.00,0.00,24.58,0.961,6,0.000,0.000,2667,2505,1408
$GC,17354,1.31,325.6,33.9,4.4,916,17423,0.17,0.00,62.45,0.936,6,0.072,0.000,2735,2502,1091
$STATE,17691,end climb,SURFACE_DEPTH_REACHED
$STATE,17691,begin surface coast
$FINISH,0.9,1.025976
$STATE,17709,end surface coast,CONTROL_FINISHED_OK
$STATE,17709,begin surface
$SM_CCo,17785,0.00,0.000,0,0,1078,328.95
$SM_GC,1.64,7.12,0.00,0.00,0.060,0.000,0.000,155,2340,1078,-10.41,-0.03,328.95
$RAFOS_CLK,949
$RAFOS,4,1223743450,16.750000,16.736111,60,56,53,52,51,49,205,183,810,423,163,172
$RAFOS,3,1223742853,16.583334,16.570278,62,51,51,51,51,50,189,156,170,134,204,125
$RAFOS,2,1223742251,16.416666,16.403055,61,59,57,57,53,49,602,179,220,118,209,200
$RAFOS,1,1223741641,16.250000,16.233612,64,59,59,54,52,51,204,120,890,222,168,145
$RAFOS,0,1223741047,16.083334,16.068611,62,61,59,58,58,55,222,208,144,157,231,188
$RAFOS,4,1223729044,12.750000,12.734445,68,64,63,61,59,57,204,847,229,127,165,214
$RAFOS,3,1223728445,12.583333,12.568055,64,63,58,55,53,51,226,194,153,138,170,204
$RAFOS,1,1223727246,12.250000,12.235000,59,58,57,55,52,51,142,177,211,229,195,186
$RAFOS_FIX,6629.548828,-5847.625000,111008,040456,4,75,8.96
$IRIDIUM_FIX,6631.12,-5656.72,050198,121235
$TT8_MAMPS,0.026845
$HUMID,1891
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.30
$XPDR_PINGS,1
$24V_AH,22.0,34.947
$10V_AH,10.6,14.264
$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,21.275,139.400,407.625,0.000,0.000,54.925,79.637,224.549,0.250,0.000,0.000,17.885,1797.682,13467.542,544.150,1944.886,576.288,33.348,1595.941,0.000,1911.802,2520.000,0.529,0.000
$DEVICE_MAMPS,266.149,72.865,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.715,664.807,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34739,979
$CAP_FILE_SIZE,141126,0
$CFSIZE,260165632,238411776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.8
$GPS,111008,172507,6659.837,-5651.800,54,1.0,54,-37.5