version: 66.04
glider: 113
mission: 4
dive: 229
start: 10 26 108 4 51 40
data:
$ID,113
$MISSION,4
$DIVE,229
$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,-26215.453
$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,42
$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
$GPS1,044208,6642.985,-5959.256,46,0.8,46,-38.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-61.9
$GPS2,045045,6642.944,-5959.074,11,1.8,11,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.128,0.185
$KALMAN_X,18613.9,81.3,112.1,-131023.1,62.8
$KALMAN_Y,-36509.2,-539.4,-87.8,15030.1,-2464.8
$MHEAD_RNG_PITCHd_Wd,72.6,38720,-12.9,-7.021
$D_GRID,667
$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,17,-1.08,-146.0,0.0,0.0,0,123,0.00,0.00,-103.62,0.000,2,0.000,0.000,166,2323,2727
$GC,126,-1.08,-146.0,3.1,-2.4,18,152,8.93,2.47,-11.10,0.000,4,0.269,0.084,2192,3756,3018
$GC,405,-0.73,-146.0,52.0,-13.7,67,412,0.30,2.22,0.00,0.000,6,0.173,0.045,2273,2344,3022
$GC,751,-0.66,-146.0,84.7,-9.7,128,757,0.00,2.35,0.00,0.000,4,0.000,0.071,2274,3754,3023
$GC,779,-0.66,-146.0,87.5,-9.6,133,786,0.00,2.22,0.00,0.000,6,0.000,0.044,2274,2333,3022
$GC,1123,-0.66,-146.0,119.4,-9.3,167,1127,0.00,2.22,0.00,0.000,4,0.000,0.060,2274,935,3023
$GC,1184,-0.61,-146.0,125.6,-10.4,169,1191,0.12,2.28,0.00,0.000,6,0.167,0.056,2308,2353,3023
$GC,1500,-0.72,-146.0,146.3,-5.7,185,1505,0.12,2.30,0.00,0.000,4,0.100,0.071,2261,3749,3022
$GC,1544,-0.72,-146.0,149.5,-7.6,187,1548,0.00,2.20,0.00,0.000,6,0.000,0.044,2261,2334,3022
$GC,1876,-0.72,-146.0,174.5,-7.8,203,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2334,3023
$GC,2185,-0.72,-146.0,198.8,-7.6,218,2189,0.00,2.22,0.00,0.000,4,0.000,0.061,2261,935,3022
$GC,2230,-0.67,-146.0,202.5,-8.2,220,2235,0.12,2.28,0.00,0.000,6,0.177,0.056,2293,2354,3022
$GC,2563,-0.78,-146.0,223.2,-6.1,236,2568,0.12,2.30,0.00,0.000,4,0.102,0.059,2249,930,3022
$GC,2709,-0.71,-146.0,235.0,-8.7,242,2716,0.12,2.28,0.00,0.000,6,0.180,0.057,2281,2343,3021
$GC,3025,-0.79,-146.0,255.0,-6.0,258,3029,0.00,2.33,0.00,0.000,4,0.000,0.074,2281,3750,3021
$GC,3132,-0.92,-146.0,262.1,-7.0,262,3139,0.17,2.20,0.00,0.000,6,0.091,0.045,2220,2341,3021
$GC,3448,-0.83,-146.0,288.7,-8.5,278,3449,0.15,0.00,0.00,0.000,6,0.160,0.000,2259,2341,3021
$GC,3756,-0.83,-146.0,310.1,-6.5,293,3760,0.00,2.35,0.00,0.000,4,0.000,0.072,2259,3756,3021
$GC,3802,-0.91,-146.0,312.9,-6.2,295,3806,0.00,2.22,0.00,0.000,6,0.000,0.045,2260,2330,3021
$GC,4135,-0.96,-146.0,331.0,-5.2,311,4140,0.12,2.38,0.00,0.000,4,0.114,0.071,2217,3757,3021
$GC,4185,-0.90,-146.0,334.3,-6.7,313,4189,0.10,2.22,0.00,0.000,6,0.168,0.044,2241,2331,3021
$GC,4505,-0.90,-146.0,353.3,-6.0,329,4509,0.00,2.22,0.00,0.000,4,0.000,0.059,2241,928,3021
$GC,4552,-0.86,-146.0,356.4,-7.1,331,4555,0.00,2.28,0.00,0.000,6,0.000,0.054,2241,2350,3021
$GC,4884,-0.86,-146.0,377.2,-6.6,347,4887,0.00,2.30,0.00,0.000,4,0.000,0.071,2241,3750,3021
$GC,4968,-0.86,-146.0,383.1,-6.8,350,4974,0.00,2.20,0.00,0.000,6,0.000,0.043,2241,2338,3021
$GC,5302,-0.86,-146.0,405.7,-6.8,365,5306,0.00,2.22,0.00,0.000,4,0.000,0.058,2241,933,3021
$GC,5352,-0.86,-146.0,409.3,-7.5,366,5356,0.00,2.25,0.00,0.000,6,0.000,0.053,2241,2345,3022
$GC,5677,-0.86,-146.0,431.4,-6.7,374,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2345,3022
$GC,6001,-0.86,-146.0,453.1,-6.6,382,6005,0.00,2.30,0.00,0.000,4,0.000,0.070,2241,3749,3022
$GC,6040,-0.91,-146.0,455.8,-7.0,382,6046,0.00,2.20,0.00,0.000,6,0.000,0.042,2241,2331,3022
$GC,6371,-0.91,-146.0,476.8,-6.3,391,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2331,3022
$GC,6696,-0.91,-146.0,495.8,-5.8,399,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2331,3023
$GC,7021,-0.91,-146.0,513.4,-5.4,407,7025,0.00,2.20,0.00,0.000,4,0.000,0.056,2241,925,3023
$GC,7059,-0.91,-146.0,515.8,-6.7,407,7065,0.00,2.28,0.00,0.000,6,0.000,0.051,2241,2355,3023
$GC,7390,-0.91,-146.0,535.8,-6.3,416,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2355,3024
$GC,7715,-0.96,-146.0,556.8,-6.4,424,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2355,3024
$GC,8040,-1.01,-146.0,575.1,-5.5,432,8042,0.10,0.00,0.00,0.000,6,0.105,0.000,2205,2355,3024
$GC,8365,-0.94,-146.0,596.6,-6.8,440,8367,0.10,0.00,0.00,0.000,6,0.156,0.000,2230,2355,3024
$GC,8690,-0.94,-146.0,615.4,-5.5,448,8694,0.00,2.28,0.00,0.000,4,0.000,0.069,2230,3743,3025
$GC,8729,-0.98,-146.0,617.8,-6.5,448,8736,0.00,2.20,0.00,0.000,6,0.000,0.041,2230,2323,3025
$GC,9060,-0.98,-146.0,640.1,-7.2,457,9064,0.00,2.35,0.00,0.000,4,0.000,0.068,2230,3746,3025
$GC,9177,-1.05,-146.0,647.5,-7.9,459,9181,0.00,2.17,0.00,0.000,6,0.000,0.041,2230,2341,3025
$STATE,9476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9476,begin apogee
$GC,9482,-0.34,0.0,668.3,7.7,467,9619,0.43,0.00,133.95,1.308,6,0.143,0.000,2362,2525,2420
$STATE,9620,end apogee,CONTROL_FINISHED_OK
$STATE,9620,begin climb
$GC,9622,1.08,146.0,671.7,0.0,470,9776,1.08,2.70,138.77,1.210,4,0.109,0.054,2672,1115,1824
$GC,9794,0.97,146.6,659.1,7.0,474,9799,0.12,2.53,0.00,0.000,6,0.146,0.049,2643,2522,1821
$GC,10125,0.97,146.6,633.8,7.7,482,10128,0.00,2.38,0.00,0.000,4,0.000,0.067,2643,3929,1820
$GC,10203,0.82,146.6,627.0,9.1,483,10208,0.12,2.25,0.00,0.000,6,0.156,0.041,2611,2522,1821
$GC,10539,0.91,178.0,605.6,6.0,492,10575,0.10,2.47,27.45,1.236,4,0.091,0.067,2652,3943,1693
$GC,10597,0.79,178.0,601.4,8.7,493,10602,0.17,2.30,0.00,0.000,6,0.145,0.041,2603,2511,1693
$GC,10910,0.96,223.4,584.3,5.5,501,10952,0.15,0.00,39.33,1.239,6,0.075,0.000,2663,2510,1509
$GC,11274,0.96,223.4,554.2,8.3,510,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2510,1506
$GC,11599,0.96,223.4,526.8,8.4,518,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2510,1505
$GC,11925,0.96,223.4,500.4,8.2,526,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2510,1505
$GC,12249,0.96,223.4,475.1,7.6,534,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2510,1504
$GC,12574,0.96,223.4,451.0,7.4,542,12578,0.00,2.35,0.00,0.000,4,0.000,0.068,2663,3945,1504
$GC,12596,0.88,223.4,449.2,7.8,542,12600,0.15,2.22,0.00,0.000,6,0.145,0.042,2622,2506,1505
$GC,12943,1.04,259.5,429.3,5.8,551,12980,0.15,2.28,30.60,1.175,4,0.079,0.055,2681,1114,1360
$GC,13001,1.04,259.5,424.6,7.9,551,13006,0.00,2.30,0.00,0.000,6,0.000,0.049,2681,2534,1360
$GC,13330,1.04,259.5,396.1,8.7,560,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2534,1358
$GC,13639,1.04,259.5,369.3,8.6,575,13643,0.00,2.28,0.00,0.000,4,0.000,0.055,2681,1110,1357
$GC,13689,1.04,259.5,364.9,8.2,577,13693,0.00,2.25,0.00,0.000,6,0.000,0.049,2681,2516,1358
$GC,14016,1.04,259.5,335.5,9.4,593,14017,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2516,1358
$GC,14326,1.04,259.5,307.0,9.3,608,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2516,1358
$GC,14634,1.04,259.5,277.5,9.2,623,14638,0.00,2.22,0.00,0.000,4,0.000,0.055,2681,1119,1358
$GC,14656,1.04,259.5,275.4,8.6,624,14660,0.00,2.22,0.00,0.000,6,0.000,0.049,2681,2533,1358
$GC,14987,1.04,259.5,247.7,8.3,640,14991,0.00,2.25,0.00,0.000,4,0.000,0.054,2681,1118,1358
$GC,15032,1.04,259.5,243.9,8.2,642,15036,0.00,2.22,0.00,0.000,6,0.000,0.050,2681,2530,1359
$GC,15363,1.04,259.5,216.0,8.4,658,15367,0.00,2.25,0.00,0.000,4,0.000,0.054,2681,1119,1359
$GC,15391,1.10,259.5,213.8,8.1,659,15394,0.00,2.22,0.00,0.000,6,0.000,0.049,2681,2533,1358
$GC,15717,1.10,259.5,188.7,7.8,675,15718,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2533,1359
$GC,16027,1.10,259.5,164.6,7.7,690,16028,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2533,1359
$GC,16336,1.14,259.5,140.2,7.8,705,16340,0.00,2.28,0.00,0.000,4,0.000,0.056,2681,1111,1359
$GC,16369,1.25,259.5,137.5,8.0,706,16373,0.10,2.22,0.00,0.000,6,0.088,0.051,2720,2518,1359
$GC,16690,1.20,259.5,108.8,8.5,722,16694,0.10,2.25,0.00,0.000,4,0.138,0.057,2692,1119,1359
$GC,16712,1.20,259.5,107.0,7.7,723,16715,0.00,2.22,0.00,0.000,6,0.000,0.051,2692,2523,1358
$GC,17049,1.32,296.0,85.5,5.8,769,17084,0.12,0.00,30.75,1.038,6,0.080,0.000,2746,2523,1213
$GC,17422,1.26,296.0,52.6,9.7,835,17428,0.15,0.00,0.00,0.000,6,0.134,0.000,2701,2523,1207
$GC,17767,1.41,318.9,27.1,6.2,896,17792,0.15,2.38,19.27,0.997,4,0.074,0.058,2762,1111,1119
$GC,17866,1.41,318.9,19.3,8.0,913,17872,0.00,2.30,0.00,0.000,6,0.000,0.053,2762,2532,1117
$STATE,18083,end climb,SURFACE_DEPTH_REACHED
$STATE,18083,begin surface coast
$FINISH,0.7,1.025503
$STATE,18107,end surface coast,CONTROL_FINISHED_OK
$STATE,18107,begin surface
$SM_CCo,18184,0.00,0.000,0,0,1113,320.61
$SM_GC,1.62,7.35,0.00,0.00,0.076,0.000,0.000,164,2330,1113,-10.38,-0.28,320.61
$RAFOS_CLK,1044
$RAFOS,4,1225010651,8.750000,8.736389,58,58,55,54,53,52,160,190,115,147,201,124
$RAFOS,3,1225010048,8.583333,8.568889,67,60,57,57,50,49,708,216,144,178,168,1473
$RAFOS,2,1225009478,8.416667,8.410556,59,59,56,56,55,52,187,198,163,228,174,217
$RAFOS,1,1225008865,8.250000,8.240278,61,60,59,59,55,54,207,166,154,540,187,125
$RAFOS,0,1225008256,8.083333,8.071111,91,69,57,55,51,51,476,212,199,119,167,132
$RAFOS,3,1224995641,4.583333,4.566945,84,67,56,52,51,49,739,203,120,216,163,188
$RAFOS_FIX,6643.702148,-5957.321289,261008,040433,3,98,0.00
$IRIDIUM_FIX,6614.97,-6001.83,200198,040444
$TT8_MAMPS,0.027612
$HUMID,1898
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,21.0,45.210
$10V_AH,10.5,19.051
$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,21.050,128.450,420.125,0.000,0.000,51.560,65.334,215.291,0.500,0.000,0.000,12.820,1772.767,14010.096,561.416,1812.132,571.948,33.362,1557.242,0.000,1790.589,1800.000,0.528,0.000
$DEVICE_MAMPS,269.217,84.370,1307.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.824,654.402,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34712,956
$CAP_FILE_SIZE,133773,0
$CFSIZE,260165632,233967616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1450.1
$GPS,261008,095632,6643.709,-5954.845,37,1.5,37,-38.0