version: 66.04
glider: 113
mission: 4
dive: 212
start: 10 23 108 7 12 45
data:
$ID,113
$MISSION,4
$DIVE,212
$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,-25878.695
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,070538,6639.314,-6039.620,41,2.0,41,-38.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-54.5
$GPS2,071151,6639.245,-6039.827,22,2.0,22,-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,-0.081,0.209
$KALMAN_X,21271.9,245.1,-325.2,-162997.9,-166.6
$KALMAN_Y,-4914.4,-1786.1,-75.5,-22162.9,-40.6
$MHEAD_RNG_PITCHd_Wd,16.8,5606,-12.9,-7.021
$D_GRID,472
$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,-145.8,0.0,0.0,0,149,0.00,0.00,-131.23,0.000,2,0.000,0.000,156,2328,2822
$GC,152,-1.08,-146.0,3.4,-3.2,23,178,8.98,2.33,-6.68,0.000,4,0.270,0.071,2198,932,3019
$GC,240,-0.46,-146.0,24.3,-22.0,38,247,0.50,2.30,0.00,0.000,6,0.183,0.057,2337,2345,3021
$GC,585,-0.53,-146.0,56.6,-7.2,99,591,0.00,2.33,0.00,0.000,4,0.000,0.074,2337,3746,3022
$GC,721,-0.67,-146.0,66.5,-7.4,123,728,0.17,2.22,0.00,0.000,6,0.085,0.044,2274,2329,3023
$GC,1080,-0.60,-146.0,101.8,-9.1,184,1084,0.12,2.22,0.00,0.000,4,0.159,0.060,2308,938,3023
$GC,1185,-0.60,-146.0,110.8,-8.1,188,1191,0.00,2.30,0.00,0.000,6,0.000,0.056,2308,2368,3023
$GC,1501,-0.69,-146.0,134.1,-7.1,204,1505,0.00,2.28,0.00,0.000,4,0.000,0.074,2308,3749,3023
$GC,1614,-0.82,-146.0,142.1,-6.8,209,1618,0.17,2.22,0.00,0.000,6,0.090,0.045,2245,2327,3023
$GC,1940,-0.71,-146.0,173.1,-9.7,225,1944,0.15,2.22,0.00,0.000,4,0.165,0.059,2284,936,3023
$GC,2052,-0.71,-146.0,182.9,-8.7,230,2056,0.00,2.28,0.00,0.000,6,0.000,0.056,2285,2356,3022
$GC,2384,-0.76,-146.0,208.4,-8.0,246,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2356,3022
$GC,2693,-0.83,-146.0,232.0,-7.5,261,2698,0.12,2.30,0.00,0.000,4,0.097,0.072,2236,3748,3022
$GC,2748,-0.77,-146.0,237.1,-9.5,263,2753,0.12,2.22,0.00,0.000,6,0.171,0.046,2268,2329,3022
$GC,3069,-0.77,-146.0,261.6,-6.7,279,3073,0.00,2.22,0.00,0.000,4,0.000,0.062,2268,936,3021
$GC,3141,-0.77,-146.0,266.9,-7.2,282,3145,0.00,2.28,0.00,0.000,6,0.000,0.056,2268,2334,3021
$GC,3468,-0.77,-146.0,286.7,-6.2,298,3472,0.00,2.35,0.00,0.000,4,0.000,0.074,2268,3752,3021
$GC,3582,-0.84,-146.0,294.2,-6.6,303,3586,0.00,2.22,0.00,0.000,6,0.000,0.045,2268,2327,3021
$GC,3913,-0.90,-146.0,318.1,-7.5,319,3915,0.10,0.00,0.00,0.000,6,0.107,0.000,2233,2327,3021
$GC,4223,-0.83,-146.0,344.2,-8.1,334,4225,0.10,0.00,0.00,0.000,6,0.171,0.000,2257,2327,3021
$GC,4531,-0.83,-146.0,366.8,-7.1,349,4535,0.00,2.38,0.00,0.000,4,0.000,0.074,2257,3756,3021
$GC,4604,-0.91,-146.0,372.0,-7.1,352,4608,0.00,2.22,0.00,0.000,6,0.000,0.045,2258,2336,3021
$GC,4931,-0.96,-146.0,395.0,-7.0,368,4933,0.12,0.00,0.00,0.000,6,0.102,0.000,2214,2337,3021
$GC,5236,-0.86,-146.0,422.6,-9.2,377,5238,0.12,0.00,0.00,0.000,6,0.164,0.000,2245,2336,3021
$GC,5560,-0.86,-146.0,448.2,-7.5,385,5564,0.00,2.35,0.00,0.000,4,0.000,0.072,2245,3747,3021
$GC,5701,-0.93,-146.0,459.1,-7.1,388,5705,0.00,2.22,0.00,0.000,6,0.000,0.045,2245,2328,3021
$STATE,5889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5889,begin apogee
$GC,5895,-0.34,0.0,472.1,6.7,393,6027,0.38,0.00,129.18,1.227,6,0.143,0.000,2361,2525,2420
$STATE,6027,end apogee,CONTROL_FINISHED_OK
$STATE,6027,begin climb
$GC,6030,1.08,146.0,475.5,0.0,396,6173,1.05,2.75,133.38,1.131,4,0.117,0.071,2665,3932,1823
$GC,6180,0.99,146.0,467.2,7.4,399,6184,0.00,2.53,0.00,0.000,6,0.000,0.042,2665,2522,1823
$GC,6516,0.88,146.0,441.2,7.6,408,6518,0.15,0.00,0.00,0.000,6,0.150,0.000,2626,2522,1821
$GC,6841,0.97,174.4,421.3,6.1,416,6870,0.00,2.47,24.27,1.144,4,0.000,0.071,2625,3943,1709
$GC,6893,0.97,174.4,417.3,8.8,417,6897,0.00,2.33,0.00,0.000,6,0.000,0.043,2625,2512,1708
$GC,7213,1.05,179.4,395.4,6.9,426,7222,0.15,0.00,5.88,0.920,6,0.083,0.000,2684,2511,1688
$GC,7522,0.94,179.4,368.3,8.6,441,7527,0.17,2.38,0.00,0.000,4,0.140,0.070,2633,3936,1687
$GC,7554,0.94,179.4,365.7,7.6,442,7561,0.00,2.22,0.00,0.000,6,0.000,0.044,2634,2513,1687
$GC,7871,1.06,218.7,347.8,5.7,458,7914,0.12,2.47,33.30,1.144,4,0.089,0.071,2682,3926,1527
$GC,7930,0.93,218.7,343.0,8.3,460,7937,0.17,2.28,0.00,0.000,6,0.143,0.043,2634,2514,1526
$GC,8246,1.09,239.9,323.5,6.3,476,8267,0.12,0.00,18.48,1.095,6,0.089,0.000,2682,2513,1442
$GC,8575,1.09,239.9,298.4,7.0,492,8578,0.00,2.38,0.00,0.000,4,0.000,0.071,2682,3937,1441
$GC,8620,0.96,239.9,294.7,8.9,494,8624,0.15,2.25,0.00,0.000,6,0.146,0.044,2640,2506,1441
$GC,8946,1.26,239.9,273.6,7.3,510,8950,0.20,2.22,0.00,0.000,4,0.077,0.056,2721,1109,1440
$GC,9023,1.20,239.9,267.1,8.7,513,9028,0.10,2.28,0.00,0.000,6,0.144,0.053,2694,2536,1440
$GC,9344,1.31,239.9,241.8,8.0,529,9349,0.10,2.28,0.00,0.000,4,0.091,0.071,2734,3925,1440
$GC,9354,1.35,239.9,240.8,8.1,529,9361,0.00,2.20,0.00,0.000,6,0.000,0.044,2735,2508,1441
$GC,9670,1.21,239.9,210.8,10.1,545,9674,0.15,2.22,0.00,0.000,4,0.146,0.059,2691,1113,1440
$GC,9708,1.21,239.9,207.5,8.1,546,9714,0.00,2.25,0.00,0.000,6,0.000,0.053,2691,2527,1439
$GC,10023,1.21,239.9,182.9,8.0,562,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2527,1440
$GC,10332,1.21,239.9,157.8,7.8,577,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2527,1439
$GC,10642,1.21,242.1,134.8,6.9,592,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2527,1439
$GC,10951,1.22,249.6,114.4,6.8,607,10965,0.00,2.33,9.25,0.996,4,0.000,0.074,2691,3936,1402
$GC,10976,1.22,249.6,112.6,7.8,608,10980,0.00,2.22,0.00,0.000,6,0.000,0.044,2691,2517,1401
$GC,11304,1.31,268.5,89.9,6.4,643,11328,0.12,0.00,17.08,1.042,6,0.085,0.000,2742,2517,1325
$GC,11666,1.23,268.5,58.8,9.0,707,11673,0.15,2.38,0.00,0.000,4,0.146,0.072,2698,3930,1323
$GC,11718,1.23,268.5,54.2,8.5,716,11724,0.00,2.22,0.00,0.000,6,0.000,0.046,2698,2520,1322
$GC,12062,1.57,302.4,30.4,5.9,777,12098,0.25,2.42,28.85,1.026,4,0.079,0.074,2794,3933,1185
$GC,12121,1.36,302.4,25.6,8.3,787,12128,0.25,2.30,0.00,0.000,6,0.150,0.047,2729,2511,1183
$GC,12465,1.36,302.4,3.1,10.3,848,12472,0.00,2.38,0.00,0.000,4,0.000,0.073,2728,3928,1181
$STATE,12476,end climb,SURFACE_DEPTH_REACHED
$STATE,12476,begin surface coast
$FINISH,1.0,1.025418
$STATE,12488,end surface coast,CONTROL_FINISHED_OK
$STATE,12488,begin surface
$SM_CCo,12567,0.00,0.000,0,0,1179,304.42
$SM_GC,1.70,7.20,0.00,0.00,0.073,0.000,0.000,166,2327,1179,-10.37,-0.37,304.42
$RAFOS_CLK,729
$RAFOS,4,1224751442,8.750000,8.733889,76,68,53,51,50,50,221,143,171,117,207,186
$RAFOS,3,1224750851,8.583333,8.569722,61,57,56,56,55,54,137,204,167,223,149,191
$RAFOS,2,1224750247,8.416667,8.401944,73,59,58,58,56,54,216,194,205,171,182,149
$RAFOS,1,1224749649,8.250000,8.235833,137,62,58,54,54,52,768,178,198,151,137,219
$RAFOS,0,1224749044,8.083333,8.067778,75,66,59,58,57,56,622,178,208,197,166,154
$RAFOS_FIX,6749.064941,-5736.765137,231008,080856,4,90,42.67
$IRIDIUM_FIX,6609.62,-6038.83,170198,030331
$TT8_MAMPS,0.027612
$HUMID,1876
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,21.2,42.667
$10V_AH,10.5,17.989
$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,21.800,102.100,399.650,0.000,0.000,29.585,77.715,143.180,0.250,0.000,0.000,24.345,1553.451,8876.038,544.714,1579.790,437.506,33.374,1406.354,0.000,1554.832,1800.000,0.537,0.000
$DEVICE_MAMPS,269.984,78.234,1227.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.181,578.874,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31506,852
$CAP_FILE_SIZE,108187,0
$CFSIZE,260165632,234987520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.8
$GPS,231008,104437,6640.956,-6042.856,40,0.9,52,-38.0