version: 66.04
glider: 113
mission: 4
dive: 215
start: 10 23 108 18 28 3
data:
$ID,113
$MISSION,4
$DIVE,215
$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,-25948.799
$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,30
$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
$GPS1,181526,6641.191,-6040.467,70,1.3,70,-38.0
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.1
$GPS2,182709,6641.000,-6040.554,36,1.3,36,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.222,0.030
$KALMAN_X,18319.2,-435.7,-26.4,-160194.9,-845.7
$KALMAN_Y,-10512.9,1609.8,-1240.6,-15543.4,358.0
$MHEAD_RNG_PITCHd_Wd,120.3,34373,-12.9,-7.021
$D_GRID,493
$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,-145.9,0.0,0.0,0,126,0.00,0.00,-106.30,0.000,2,0.000,0.000,160,2327,2732
$GC,128,-1.08,-146.0,3.1,-2.5,19,154,8.95,2.35,-10.62,0.000,4,0.270,0.075,2199,931,3019
$GC,352,-0.64,-146.0,43.1,-13.7,58,358,0.35,2.30,0.00,0.000,6,0.176,0.057,2297,2347,3023
$GC,696,-0.64,-146.0,70.4,-8.5,119,702,0.00,2.30,0.00,0.000,4,0.000,0.060,2298,924,3023
$GC,889,-0.64,-146.0,87.5,-8.6,153,896,0.00,2.30,0.00,0.000,6,0.000,0.056,2298,2352,3023
$GC,1218,-0.64,-146.0,112.2,-7.4,190,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2352,3023
$GC,1528,-0.70,-146.0,134.5,-7.3,205,1532,0.00,2.30,0.00,0.000,4,0.000,0.074,2298,3743,3023
$GC,1538,-0.77,-146.0,135.4,-7.2,205,1543,0.12,2.20,0.00,0.000,6,0.094,0.045,2250,2336,3023
$GC,1860,-0.68,-146.0,166.1,-9.8,221,1864,0.15,2.35,0.00,0.000,4,0.166,0.072,2290,3745,3023
$GC,1870,-0.63,-146.0,167.1,-9.6,221,1876,0.00,2.20,0.00,0.000,6,0.000,0.044,2290,2341,3023
$GC,2185,-0.68,-146.0,191.9,-7.7,237,2189,0.00,2.35,0.00,0.000,4,0.000,0.073,2289,3755,3023
$GC,2195,-0.75,-146.0,192.8,-7.6,237,2199,0.00,2.22,0.00,0.000,6,0.000,0.045,2289,2331,3023
$GC,2517,-0.82,-146.0,215.8,-7.0,253,2519,0.12,0.00,0.00,0.000,6,0.108,0.000,2244,2331,3023
$GC,2825,-0.75,-146.0,241.7,-8.4,268,2827,0.12,0.00,0.00,0.000,6,0.169,0.000,2277,2331,3022
$GC,3135,-0.79,-146.0,264.1,-7.4,283,3139,0.00,2.22,0.00,0.000,4,0.000,0.061,2276,934,3022
$GC,3152,-0.79,-146.0,265.4,-7.6,283,3158,0.00,2.28,0.00,0.000,6,0.000,0.057,2276,2348,3022
$GC,3467,-0.86,-146.0,288.6,-7.6,299,3469,0.12,0.00,0.00,0.000,6,0.103,0.000,2232,2349,3022
$GC,3777,-0.79,-146.0,316.6,-9.0,314,3779,0.12,0.00,0.00,0.000,6,0.170,0.000,2265,2349,3022
$GC,4085,-0.84,-146.0,341.3,-7.9,329,4089,0.00,2.30,0.00,0.000,4,0.000,0.061,2265,926,3022
$GC,4095,-0.84,-146.0,342.1,-7.8,329,4100,0.00,2.30,0.00,0.000,6,0.000,0.055,2265,2359,3022
$GC,4418,-0.89,-146.0,367.3,-8.0,345,4419,0.10,0.00,0.00,0.000,6,0.114,0.000,2231,2359,3022
$GC,4726,-0.84,-146.0,394.3,-8.1,360,4730,0.00,2.30,0.00,0.000,4,0.000,0.074,2231,3752,3022
$GC,4742,-0.84,-146.0,395.8,-8.2,360,4749,0.10,2.25,0.00,0.000,6,0.172,0.044,2255,2334,3021
$GC,5054,-0.84,-146.0,418.1,-7.1,370,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2334,3022
$GC,5380,-0.89,-146.0,439.0,-6.3,378,5384,0.00,2.35,0.00,0.000,4,0.000,0.073,2255,3744,3022
$GC,5390,-0.95,-146.0,439.7,-6.1,378,5395,0.10,2.20,0.00,0.000,6,0.105,0.044,2220,2337,3022
$GC,5709,-0.88,-146.0,462.5,-7.1,386,5713,0.10,2.35,0.00,0.000,4,0.168,0.071,2244,3743,3022
$GC,5719,-0.84,-146.0,463.3,-7.2,386,5723,0.00,2.20,0.00,0.000,6,0.000,0.044,2245,2334,3022
$GC,6032,-0.84,-146.0,482.7,-6.1,394,6036,0.00,2.35,0.00,0.000,4,0.000,0.073,2245,3743,3022
$GC,6054,-0.88,-146.0,484.2,-6.8,394,6057,0.00,2.20,0.00,0.000,6,0.000,0.044,2245,2334,3022
$STATE,6191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6191,begin apogee
$GC,6197,-0.34,0.0,493.7,6.9,398,6330,0.38,0.00,129.75,1.232,6,0.143,0.000,2360,2516,2420
$STATE,6331,end apogee,CONTROL_FINISHED_OK
$STATE,6331,begin climb
$GC,6333,1.08,146.0,496.5,0.0,401,6485,1.10,2.62,135.62,1.129,4,0.115,0.057,2674,1118,1824
$GC,6519,0.99,146.0,484.4,7.7,406,6524,0.10,2.53,0.00,0.000,6,0.146,0.052,2653,2531,1821
$GC,6843,0.94,146.0,460.5,7.4,414,6847,0.00,2.40,0.00,0.000,4,0.000,0.071,2652,3935,1820
$GC,6943,0.79,146.0,452.3,8.3,416,6948,0.17,2.28,0.00,0.000,6,0.146,0.043,2602,2520,1821
$GC,7256,0.97,190.1,435.4,5.5,424,7299,0.15,2.42,37.00,1.163,4,0.076,0.058,2663,1112,1644
$GC,7361,0.97,190.1,426.5,8.1,426,7366,0.00,2.35,0.00,0.000,6,0.000,0.052,2663,2528,1642
$GC,7689,0.97,190.1,397.0,9.0,435,7693,0.00,2.33,0.00,0.000,4,0.000,0.071,2663,3936,1642
$GC,7738,0.85,190.1,391.8,10.4,437,7743,0.17,2.25,0.00,0.000,6,0.144,0.044,2613,2510,1642
$GC,8060,1.01,205.8,368.9,6.5,453,8082,0.15,2.30,13.98,1.091,4,0.077,0.058,2676,1115,1580
$GC,8127,1.01,205.8,363.4,8.8,456,8131,0.00,2.28,0.00,0.000,6,0.000,0.052,2676,2522,1579
$GC,8459,1.01,205.8,336.6,7.6,472,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2522,1580
$GC,8769,1.01,205.8,313.3,7.5,487,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2522,1580
$GC,9078,1.01,205.8,291.0,7.2,502,9079,0.10,0.00,0.00,0.000,6,0.145,0.000,2649,2523,1580
$GC,9388,1.15,250.7,272.4,5.5,517,9429,0.12,0.00,37.95,1.121,6,0.086,0.000,2700,2523,1398
$GC,9737,1.15,250.7,245.6,8.0,534,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2523,1394
$GC,10045,1.15,250.7,219.2,8.9,549,10049,0.00,2.28,0.00,0.000,4,0.000,0.060,2701,1117,1394
$GC,10090,1.15,250.7,215.2,9.4,551,10094,0.00,2.25,0.00,0.000,6,0.000,0.053,2700,2522,1394
$GC,10422,1.15,250.7,187.7,8.1,567,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2522,1394
$GC,10731,1.16,258.9,164.8,6.7,582,10741,0.00,0.00,7.82,0.973,6,0.000,0.000,2701,2522,1364
$GC,11041,1.16,258.9,143.5,7.1,597,11045,0.00,2.28,0.00,0.000,4,0.000,0.061,2701,1117,1363
$GC,11079,1.21,258.9,140.5,8.1,598,11086,0.00,2.25,0.00,0.000,6,0.000,0.054,2701,2520,1363
$GC,11395,1.21,258.9,114.3,8.1,614,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2520,1362
$GC,11714,1.21,258.9,90.9,7.2,644,11720,0.00,2.28,0.00,0.000,4,0.000,0.060,2701,1111,1362
$GC,11754,1.27,260.9,88.0,7.0,651,11761,0.00,2.25,0.00,0.000,6,0.000,0.054,2701,2522,1362
$GC,12098,1.33,260.9,61.9,7.8,712,12105,0.08,2.28,0.00,0.000,4,0.102,0.060,2739,1117,1362
$GC,12168,1.33,260.9,55.6,9.3,724,12174,0.00,2.25,0.00,0.000,6,0.000,0.054,2739,2527,1362
$GC,12511,1.38,298.2,29.2,5.8,785,12552,0.00,2.42,33.28,1.031,4,0.000,0.075,2739,3926,1202
$GC,12654,1.38,298.2,17.2,9.3,810,12660,0.00,2.25,0.00,0.000,6,0.000,0.047,2739,2524,1199
$STATE,12889,end climb,SURFACE_DEPTH_REACHED
$STATE,12889,begin surface coast
$FINISH,0.8,1.014798
$STATE,12920,end surface coast,CONTROL_FINISHED_OK
$STATE,12920,begin surface
$SM_CCo,12997,0.00,0.000,0,0,1195,300.49
$SM_GC,1.60,7.32,0.00,0.00,0.079,0.000,0.000,164,2327,1195,-10.38,-0.37,300.49
$RAFOS_CLK,765
$RAFOS,4,1224794651,20.750000,20.736389,73,63,61,57,53,50,207,154,166,223,122,187
$RAFOS,3,1224794068,20.583334,20.574444,67,65,59,54,54,52,199,210,229,170,156,183
$RAFOS,2,1224793446,20.416666,20.401667,57,57,56,55,51,47,166,214,154,202,229,187
$RAFOS,1,1224792844,20.250000,20.234444,64,57,54,51,50,49,211,183,193,132,114,158
$RAFOS,0,1224792269,20.083334,20.074722,65,62,59,53,53,52,235,196,221,161,207,118
$RAFOS_FIX,37745.988281,-1756658.375000,231008,121212,2,72,361177.78
$IRIDIUM_FIX,6614.97,-6045.64,170198,181805
$TT8_MAMPS,0.027612
$HUMID,1906
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,21.2,43.112
$10V_AH,10.5,18.170
$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,20.325,97.275,395.400,0.000,0.000,77.515,116.031,243.159,0.250,0.000,0.000,37.763,1478.332,9555.348,526.920,1504.605,637.562,33.368,1341.123,0.000,1460.486,1800.000,0.546,0.000
$DEVICE_MAMPS,269.984,79.001,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.069,583.343,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31569,857
$CAP_FILE_SIZE,107167,0
$CFSIZE,260165632,234811392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1445.6
$GPS,231008,220632,6641.562,-6037.704,68,1.1,68,-38.0