version: 66.04
glider: 113
mission: 4
dive: 168
start: 10 12 108 0 59 20
data:
$ID,113
$MISSION,4
$DIVE,168
$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,-25134.672
$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,45
$R_STBD_OVSHOOT,30
$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
$GPS1,004703,6702.765,-5649.629,8,1.9,8,-37.5
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.2
$GPS2,005826,6702.736,-5649.748,39,1.7,39,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.203,0.095
$KALMAN_X,5339.9,58.1,-730.8,20609.5,873.0
$KALMAN_Y,-10765.3,356.8,427.9,24542.4,-1999.6
$MHEAD_RNG_PITCHd_Wd,332.7,33491,-12.9,-7.021
$D_GRID,555
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-108.05,0.000,6,0.000,0.000,156,2316,3015
$GC,129,-1.08,-146.0,3.4,-3.0,19,141,8.77,0.00,0.00,0.000,6,0.263,0.000,2201,2316,3021
$GC,479,-0.76,-146.0,62.8,-12.0,81,486,0.20,2.38,0.00,0.000,4,0.167,0.064,2261,3752,3023
$GC,677,-0.76,-146.0,80.2,-8.2,116,683,0.00,2.17,0.00,0.000,6,0.000,0.039,2262,2345,3024
$GC,1030,-0.76,-146.0,106.6,-7.4,168,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2345,3025
$GC,1339,-0.76,-146.0,132.0,-8.3,183,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2345,3025
$GC,1649,-0.76,-146.0,155.7,-7.3,198,1653,0.00,2.20,0.00,0.000,4,0.000,0.052,2261,936,3024
$GC,1720,-0.76,-146.0,161.2,-7.3,201,1724,0.00,2.22,0.00,0.000,6,0.000,0.048,2261,2334,3024
$GC,2047,-0.76,-146.0,181.8,-6.0,217,2051,0.00,2.30,0.00,0.000,4,0.000,0.064,2261,3753,3023
$GC,2199,-0.82,-146.0,191.5,-6.4,223,2205,0.00,2.20,0.00,0.000,6,0.000,0.040,2261,2329,3024
$GC,2514,-0.82,-146.0,211.1,-6.1,239,2518,0.00,2.17,0.00,0.000,4,0.000,0.052,2261,938,3023
$GC,2586,-0.82,-146.0,216.2,-6.8,242,2590,0.00,2.22,0.00,0.000,6,0.000,0.048,2261,2351,3023
$GC,2913,-0.87,-146.0,237.4,-6.6,258,2917,0.00,2.25,0.00,0.000,4,0.000,0.064,2261,3743,3023
$GC,2991,-0.95,-146.0,242.8,-6.8,261,2995,0.12,2.17,0.00,0.000,6,0.107,0.038,2217,2327,3023
$GC,3311,-0.85,-146.0,268.3,-8.2,277,3313,0.12,0.00,0.00,0.000,6,0.156,0.000,2251,2326,3023
$GC,3620,-0.85,-146.0,290.5,-6.6,292,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2326,3022
$GC,3929,-0.85,-146.0,310.1,-6.1,307,3933,0.00,2.33,0.00,0.000,4,0.000,0.063,2251,3751,3022
$GC,4020,-0.91,-146.0,315.7,-5.9,311,4024,0.00,2.17,0.00,0.000,6,0.000,0.039,2251,2340,3022
$GC,4351,-0.91,-146.0,335.0,-5.8,327,4355,0.00,2.20,0.00,0.000,4,0.000,0.052,2251,933,3022
$GC,4452,-0.91,-146.0,341.5,-6.4,331,4456,0.00,2.22,0.00,0.000,6,0.000,0.048,2251,2349,3023
$GC,4773,-0.96,-146.0,361.4,-6.4,347,4778,0.10,2.25,0.00,0.000,4,0.109,0.064,2216,3742,3023
$GC,4907,-0.96,-146.0,371.6,-7.9,353,4911,0.00,2.17,0.00,0.000,6,0.000,0.038,2216,2327,3022
$GC,5239,-0.90,-146.0,395.1,-6.8,369,5244,0.10,2.17,0.00,0.000,4,0.169,0.051,2241,941,3023
$GC,5334,-0.90,-146.0,401.3,-6.5,373,5338,0.00,2.20,0.00,0.000,6,0.000,0.048,2241,2341,3023
$GC,5659,-0.90,-146.0,421.4,-6.1,381,5662,0.00,2.28,0.00,0.000,4,0.000,0.062,2241,3754,3023
$GC,5811,-0.96,-146.0,431.2,-7.0,384,5815,0.00,2.17,0.00,0.000,6,0.000,0.038,2241,2333,3023
$GC,6123,-0.96,-146.0,449.8,-6.0,392,6127,0.00,2.17,0.00,0.000,4,0.000,0.051,2241,938,3023
$GC,6196,-0.96,-146.0,454.5,-6.9,393,6200,0.00,2.22,0.00,0.000,6,0.000,0.048,2241,2352,3023
$GC,6538,-0.96,-146.0,475.1,-5.9,402,6541,0.00,2.25,0.00,0.000,4,0.000,0.063,2241,3744,3023
$GC,6696,-1.03,-146.0,484.6,-6.5,405,6700,0.12,2.15,0.00,0.000,6,0.093,0.038,2197,2340,3023
$GC,7043,-0.92,-146.0,510.2,-7.5,414,7045,0.15,0.00,0.00,0.000,6,0.154,0.000,2238,2338,3023
$GC,7368,-0.92,-146.0,531.0,-6.5,422,7372,0.00,2.30,0.00,0.000,4,0.000,0.062,2238,3752,3024
$STATE,7601,end dive,NO_VERTICAL_VELOCITY
$STATE,7601,begin apogee
$GC,7608,-0.34,0.0,537.1,0.0,427,7737,0.35,0.00,125.70,1.200,6,0.103,0.000,2363,2502,2420
$STATE,7737,end apogee,CONTROL_FINISHED_OK
$STATE,7737,begin climb
$GC,7739,1.08,146.0,536.9,0.0,430,7877,1.00,2.53,128.60,1.118,4,0.105,0.050,2665,1118,1824
$GC,7940,0.98,146.0,522.5,8.4,434,7945,0.00,2.42,0.00,0.000,6,0.000,0.047,2665,2531,1821
$GC,8277,0.84,146.0,494.3,8.2,443,8282,0.17,2.33,0.00,0.000,4,0.135,0.061,2615,3941,1820
$GC,8287,0.72,146.0,493.5,8.3,443,8291,0.00,2.25,0.00,0.000,6,0.000,0.037,2614,2515,1820
$GC,8605,0.75,166.3,473.3,6.3,451,8629,0.00,2.42,17.25,1.106,4,0.000,0.064,2614,3926,1742
$GC,8874,0.75,166.3,453.1,8.3,457,8877,0.00,2.20,0.00,0.000,6,0.000,0.038,2614,2511,1740
$GC,9203,0.81,172.4,430.8,6.8,465,9216,0.00,2.40,6.47,0.935,4,0.000,0.064,2614,3941,1716
$GC,9329,0.81,172.4,420.4,8.4,467,9336,0.00,2.20,0.00,0.000,6,0.000,0.038,2614,2517,1716
$GC,9661,0.90,181.5,397.9,6.7,476,9671,0.00,0.00,8.95,1.002,6,0.000,0.000,2614,2516,1680
$GC,9970,1.01,206.0,378.0,6.2,491,9997,0.15,2.25,21.12,1.081,4,0.079,0.051,2675,1124,1579
$GC,10002,0.92,206.0,375.2,8.9,492,10009,0.15,2.28,0.00,0.000,6,0.136,0.046,2633,2536,1579
$GC,10317,0.92,206.0,351.7,7.7,508,10321,0.00,2.28,0.00,0.000,4,0.000,0.051,2633,1111,1577
$GC,10349,1.01,206.0,349.3,7.2,509,10354,0.10,2.22,0.00,0.000,6,0.091,0.046,2675,2521,1577
$GC,10671,0.92,206.0,317.8,9.8,525,10672,0.15,0.00,0.00,0.000,6,0.126,0.000,2630,2522,1577
$GC,10979,0.97,206.0,294.7,7.6,540,10983,0.00,2.22,0.00,0.000,4,0.000,0.051,2630,1119,1578
$GC,11008,1.07,207.5,292.6,7.0,541,11012,0.15,2.20,0.00,0.000,6,0.076,0.046,2690,2522,1577
$GC,11333,0.95,207.5,259.5,10.3,557,11335,0.17,0.00,0.00,0.000,6,0.127,0.000,2638,2522,1577
$GC,11643,0.99,207.5,235.2,7.7,572,11646,0.00,2.22,0.00,0.000,4,0.000,0.051,2638,1114,1577
$GC,11659,1.06,207.5,234.0,7.3,572,11666,0.12,2.20,0.00,0.000,6,0.082,0.046,2691,2520,1577
$GC,11974,0.96,207.5,203.5,9.5,588,11978,0.17,2.28,0.00,0.000,4,0.123,0.061,2637,3936,1577
$GC,11983,0.87,207.5,202.5,9.3,588,11987,0.00,2.17,0.00,0.000,6,0.000,0.038,2637,2514,1578
$GC,12305,0.96,222.5,181.7,6.5,604,12327,0.00,2.22,14.32,0.978,4,0.000,0.051,2637,1111,1513
$GC,12332,1.07,236.6,179.9,6.5,605,12350,0.12,2.22,12.70,0.936,6,0.080,0.046,2691,2520,1455
$GC,12660,1.01,236.6,149.0,9.6,621,12665,0.15,2.25,0.00,0.000,4,0.121,0.051,2645,1113,1453
$GC,12671,1.01,236.6,147.8,9.5,621,12675,0.00,2.22,0.00,0.000,6,0.000,0.046,2645,2523,1453
$GC,12992,1.12,251.3,125.7,6.5,637,13012,0.12,0.00,13.15,0.937,6,0.076,0.000,2699,2523,1395
$GC,13323,1.12,251.3,97.3,8.2,656,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2523,1394
$GC,13666,1.12,251.3,67.1,9.0,717,13671,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2523,1394
$GC,14009,1.13,255.6,37.9,6.9,778,14022,0.00,2.28,5.03,0.752,4,0.000,0.051,2700,1116,1378
$GC,14039,1.25,289.8,36.0,5.9,783,14075,0.00,2.22,28.12,0.953,6,0.000,0.047,2699,2531,1238
$GC,14413,1.34,289.8,10.3,7.4,849,14420,0.10,2.28,0.00,0.000,4,0.084,0.051,2746,1114,1234
$GC,14442,1.34,289.8,7.2,10.0,854,14449,0.00,2.22,0.00,0.000,6,0.000,0.047,2746,2518,1234
$STATE,14503,end climb,SURFACE_DEPTH_REACHED
$STATE,14503,begin surface coast
$FINISH,0.7,1.015534
$STATE,14527,end surface coast,CONTROL_FINISHED_OK
$STATE,14527,begin surface
$SM_CCo,14603,0.00,0.000,0,0,1232,291.17
$SM_GC,1.64,7.22,0.00,0.00,0.071,0.000,0.000,165,2325,1232,-10.37,-0.42,291.17
$RAFOS_CLK,786
$RAFOS,4,1223786644,4.750000,4.734445,106,62,60,60,54,52,832,202,218,157,145,183
$RAFOS,3,1223786047,4.583333,4.568611,58,56,53,52,51,50,225,207,165,176,150,122
$RAFOS,2,1223785442,4.416667,4.400556,75,65,60,59,57,56,659,192,211,172,222,155
$RAFOS,1,1223784843,4.250000,4.234167,73,71,65,61,55,51,884,190,212,134,153,177
$RAFOS,0,1223784243,4.083333,4.067500,75,60,60,58,55,49,217,194,122,208,139,171
$RAFOS_FIX,6606.143066,-6032.984863,121008,040456,4,82,16.10
$IRIDIUM_FIX,6636.54,-5647.69,060198,010105
$TT8_MAMPS,0.027612
$HUMID,1873
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.40
$XPDR_PINGS,3
$24V_AH,22.0,35.363
$10V_AH,10.6,14.447
$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,20.125,116.775,381.425,0.000,0.000,84.941,99.225,246.801,0.750,0.000,0.000,40.690,1686.282,10655.900,503.169,1874.164,623.869,33.354,1493.192,0.000,1818.585,1800.000,0.528,0.000
$DEVICE_MAMPS,263.081,64.428,1200.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.858,589.635,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31537,869
$CAP_FILE_SIZE,124362,0
$CFSIZE,260165632,238260224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.8
$GPS,121008,050456,6702.874,-5652.872,41,1.2,41,-37.6