version: 66.04
glider: 113
mission: 4
dive: 205
start: 10 22 108 3 19 15
data:
$ID,113
$MISSION,4
$DIVE,205
$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,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,-25772.426
$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,25
$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
$GPS1,030939,6642.609,-6014.298,35,1.5,43,-38.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.4
$GPS2,031821,6642.420,-6014.251,8,1.9,8,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.210,-0.079
$KALMAN_X,21512.9,187.3,214.0,-145156.3,74.5
$KALMAN_Y,6005.6,-221.9,-1792.1,-27057.3,1095.5
$MHEAD_RNG_PITCHd_Wd,287.4,21075,-12.9,-7.021
$D_GRID,539
$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,-145.9,0.0,0.0,0,129,0.00,0.00,-109.93,0.000,2,0.000,0.000,165,2338,2756
$GC,132,-1.08,-146.0,3.4,-3.2,19,158,8.80,2.40,-9.05,0.000,4,0.265,0.084,2199,3752,3018
$GC,411,-0.76,-146.0,50.6,-13.4,68,418,0.25,2.22,0.00,0.000,6,0.166,0.044,2270,2340,3022
$GC,755,-0.67,-146.0,82.3,-9.5,129,761,0.00,2.35,0.00,0.000,4,0.000,0.070,2270,3757,3023
$GC,947,-0.67,-146.0,101.1,-9.4,161,951,0.00,2.22,0.00,0.000,6,0.000,0.044,2270,2337,3023
$GC,1267,-0.67,-146.0,130.3,-8.7,177,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2336,3023
$GC,1577,-0.67,-146.0,154.1,-7.0,192,1581,0.00,2.35,0.00,0.000,4,0.000,0.071,2270,3748,3023
$GC,1615,-0.67,-146.0,156.7,-6.8,193,1621,0.00,2.20,0.00,0.000,6,0.000,0.044,2270,2340,3022
$GC,1930,-0.67,-146.0,179.6,-7.5,209,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2340,3023
$GC,2239,-0.67,-146.0,203.6,-7.4,224,2243,0.00,2.35,0.00,0.000,4,0.000,0.071,2270,3753,3022
$GC,2318,-0.75,-146.0,209.2,-7.1,227,2321,0.00,2.22,0.00,0.000,6,0.000,0.044,2269,2330,3022
$GC,2638,-0.80,-146.0,231.7,-7.1,243,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2329,3022
$GC,2948,-0.86,-146.0,252.5,-6.4,258,2953,0.00,2.35,0.00,0.000,4,0.000,0.072,2270,3753,3022
$GC,3017,-0.96,-146.0,256.8,-6.4,261,3021,0.15,2.22,0.00,0.000,6,0.092,0.044,2217,2330,3021
$GC,3344,-0.86,-146.0,282.7,-8.0,277,3348,0.12,2.22,0.00,0.000,4,0.159,0.058,2251,926,3021
$GC,3421,-0.86,-146.0,289.2,-8.1,280,3425,0.00,2.28,0.00,0.000,6,0.000,0.054,2251,2347,3021
$GC,3742,-0.86,-146.0,313.0,-7.4,296,3746,0.00,2.30,0.00,0.000,4,0.000,0.071,2251,3745,3021
$GC,3837,-0.92,-146.0,320.2,-7.3,300,3841,0.00,2.20,0.00,0.000,6,0.000,0.044,2251,2336,3021
$GC,4163,-0.92,-146.0,342.4,-6.6,316,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2336,3020
$GC,4473,-0.92,-146.0,362.3,-6.8,331,4477,0.00,2.35,0.00,0.000,4,0.000,0.070,2251,3753,3021
$GC,4609,-1.00,-146.0,371.4,-6.8,337,4613,0.12,2.20,0.00,0.000,6,0.103,0.042,2207,2340,3021
$GC,4934,-0.89,-146.0,397.2,-8.1,353,4936,0.12,0.00,0.00,0.000,6,0.162,0.000,2240,2340,3021
$GC,5260,-0.89,-146.0,419.2,-6.6,362,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2340,3022
$GC,5585,-0.89,-146.0,438.4,-5.6,370,5589,0.00,2.35,0.00,0.000,4,0.000,0.069,2240,3756,3022
$GC,5641,-0.95,-146.0,441.6,-6.3,371,5644,0.00,2.22,0.00,0.000,6,0.000,0.042,2241,2329,3022
$GC,5959,-0.95,-146.0,460.4,-6.2,379,5963,0.00,2.20,0.00,0.000,4,0.000,0.056,2241,935,3022
$GC,6004,-0.95,-146.0,463.5,-7.2,380,6008,0.00,2.25,0.00,0.000,6,0.000,0.052,2240,2349,3022
$GC,6333,-0.95,-146.0,483.9,-6.3,388,6337,0.00,2.30,0.00,0.000,4,0.000,0.069,2241,3752,3023
$GC,6424,-1.03,-146.0,490.5,-8.0,390,6428,0.12,2.20,0.00,0.000,6,0.097,0.041,2197,2334,3023
$GC,6753,-0.92,-146.0,517.2,-8.4,398,6757,0.15,2.22,0.00,0.000,4,0.160,0.055,2237,934,3023
$GC,6802,-0.92,-146.0,520.7,-7.3,399,6806,0.00,2.25,0.00,0.000,6,0.000,0.052,2237,2345,3023
$STATE,7083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7083,begin apogee
$GC,7089,-0.34,0.0,539.7,6.7,406,7222,0.40,0.00,129.50,1.249,6,0.142,0.000,2362,2525,2420
$STATE,7222,end apogee,CONTROL_FINISHED_OK
$STATE,7222,begin climb
$GC,7225,1.08,146.0,542.7,0.0,409,7374,1.08,2.65,135.02,1.140,4,0.110,0.054,2674,1124,1824
$GC,7398,0.98,146.0,531.0,8.2,413,7403,0.12,2.50,0.00,0.000,6,0.144,0.048,2644,2531,1821
$GC,7740,0.98,146.0,505.1,7.3,422,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2532,1820
$GC,8065,0.92,146.0,480.8,7.5,430,8069,0.00,2.33,0.00,0.000,4,0.000,0.070,2644,3941,1821
$GC,8104,0.77,146.0,477.4,9.2,430,8111,0.15,2.25,0.00,0.000,6,0.153,0.041,2602,2508,1819
$GC,8436,0.92,182.9,458.0,5.8,439,8469,0.12,0.00,31.25,1.181,6,0.081,0.000,2652,2508,1674
$GC,8759,0.92,182.9,434.6,7.2,447,8763,0.00,2.38,0.00,0.000,4,0.000,0.068,2652,3931,1671
$GC,8771,0.92,182.9,433.7,7.1,447,8775,0.00,2.22,0.00,0.000,6,0.000,0.041,2652,2518,1671
$GC,9089,0.92,182.9,410.6,7.2,455,9093,0.00,2.35,0.00,0.000,4,0.000,0.069,2652,3941,1671
$GC,9099,0.92,182.9,409.6,7.2,455,9103,0.00,2.25,0.00,0.000,6,0.000,0.041,2652,2513,1670
$GC,9420,0.92,182.9,384.7,8.2,467,9424,0.00,2.22,0.00,0.000,4,0.000,0.056,2652,1108,1671
$GC,9431,0.92,182.9,383.9,8.0,467,9435,0.00,2.28,0.00,0.000,6,0.000,0.051,2652,2543,1670
$GC,9751,0.92,182.9,358.5,7.9,483,9755,0.00,2.25,0.00,0.000,4,0.000,0.067,2652,3937,1671
$GC,9761,0.92,182.9,357.6,7.9,483,9765,0.00,2.20,0.00,0.000,6,0.000,0.041,2652,2510,1670
$GC,10082,0.92,182.9,333.3,7.2,499,10086,0.00,2.33,0.00,0.000,4,0.000,0.068,2652,3936,1670
$GC,10097,0.92,182.9,332.1,7.5,499,10104,0.00,2.20,0.00,0.000,6,0.000,0.041,2652,2507,1670
$GC,10413,0.93,189.0,310.4,6.8,515,10424,0.00,2.35,6.30,0.935,4,0.000,0.067,2651,3939,1649
$GC,10446,0.87,189.0,307.7,8.0,516,10453,0.12,2.20,0.00,0.000,6,0.150,0.041,2617,2521,1648
$GC,10762,1.05,224.9,289.4,5.8,532,10798,0.15,2.33,30.23,1.111,4,0.077,0.055,2678,1109,1503
$GC,10808,1.05,224.9,285.9,7.3,534,10813,0.00,2.30,0.00,0.000,6,0.000,0.048,2678,2522,1502
$GC,11136,1.05,224.9,259.1,8.1,550,11139,0.00,2.30,0.00,0.000,4,0.000,0.067,2678,3929,1501
$GC,11185,0.93,224.9,254.2,10.1,552,11190,0.15,2.20,0.00,0.000,6,0.143,0.042,2636,2522,1501
$GC,11512,1.18,224.9,231.2,7.2,568,11516,0.17,2.33,0.00,0.000,4,0.074,0.067,2706,3927,1501
$GC,11545,1.04,224.9,228.3,8.5,569,11551,0.17,2.20,0.00,0.000,6,0.140,0.042,2655,2514,1501
$GC,11860,1.14,249.8,207.7,6.2,585,11887,0.10,2.28,21.33,1.070,4,0.097,0.056,2694,1109,1400
$GC,11926,1.14,249.8,202.7,7.7,588,11930,0.00,2.28,0.00,0.000,6,0.000,0.051,2694,2520,1398
$GC,12252,1.14,249.8,174.0,9.3,604,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2520,1398
$GC,12561,1.14,249.8,146.7,8.7,619,12565,0.00,2.30,0.00,0.000,4,0.000,0.069,2694,3928,1398
$GC,12595,1.05,249.8,143.4,9.7,620,12599,0.12,2.20,0.00,0.000,6,0.147,0.043,2660,2520,1398
$GC,12915,1.36,249.8,119.5,7.9,636,12919,0.20,2.22,0.00,0.000,4,0.081,0.055,2740,1108,1397
$GC,12930,1.50,249.8,118.2,7.5,636,12937,0.00,2.25,0.00,0.000,6,0.000,0.053,2740,2520,1398
$GC,13255,1.56,249.8,91.3,7.8,664,13262,0.12,2.25,0.00,0.000,4,0.087,0.055,2789,1116,1397
$GC,13279,1.56,249.8,89.1,8.4,668,13286,0.00,2.25,0.00,0.000,6,0.000,0.052,2790,2532,1397
$GC,13623,1.32,249.8,52.2,11.2,729,13630,0.22,2.30,0.00,0.000,4,0.149,0.070,2720,3933,1397
$GC,13692,1.19,249.8,45.3,10.0,741,13699,0.10,2.22,0.00,0.000,6,0.152,0.045,2692,2508,1397
$GC,14037,1.44,257.3,20.5,6.8,802,14050,0.17,2.42,7.25,0.911,4,0.077,0.072,2761,3936,1369
$GC,14057,1.59,257.3,18.8,7.2,805,14064,0.00,2.22,0.00,0.000,6,0.000,0.043,2760,2508,1369
$STATE,14280,end climb,SURFACE_DEPTH_REACHED
$STATE,14280,begin surface coast
$FINISH,0.9,1.015270
$STATE,14310,end surface coast,CONTROL_FINISHED_OK
$STATE,14310,begin surface
$SM_CCo,14326,13.77,0.980,0,0,1298,275.23
$SM_GC,1.58,0.00,0.00,13.77,0.000,0.000,0.980,167,2327,1298,-10.44,-0.37,275.23
$RAFOS_CLK,823
$RAFOS,4,1224650650,4.750000,4.736111,77,58,57,56,56,54,812,155,205,135,178,146
$RAFOS,3,1224650043,4.583333,4.567500,66,62,59,58,53,53,772,192,144,153,223,208
$RAFOS,2,1224649448,4.416667,4.402222,61,59,58,57,56,53,207,940,127,139,173,116
$RAFOS,1,1224648854,4.250000,4.237222,131,67,59,55,55,53,675,212,180,155,136,227
$RAFOS,0,1224648253,4.083333,4.070278,72,64,53,53,53,51,212,162,182,127,234,514
$RAFOS_FIX,3808.059570,41801.730469,221008,040441,3,93,11035.11
$IRIDIUM_FIX,6614.97,-6011.26,160198,030327
$TT8_MAMPS,0.028379
$HUMID,1900
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,21.3,41.636
$10V_AH,10.5,17.559
$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,20.775,132.775,360.875,13.775,0.000,58.872,78.648,209.559,0.500,0.000,0.000,10.142,1610.057,10589.500,533.697,1613.239,560.869,33.378,1427.076,0.000,1598.111,1800.000,0.528,0.000
$DEVICE_MAMPS,264.615,84.370,1249.443,980.226,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.585,580.737,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31666,850
$CAP_FILE_SIZE,120193,0
$CFSIZE,260165632,235380736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.4
$GPS,221008,072029,6641.811,-6017.815,40,1.7,44,-38.0