version: 66.04
glider: 113
mission: 4
dive: 265
start: 11 5 108 1 32 14
data:
$ID,113
$MISSION,4
$DIVE,265
$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,225
$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,-26868.471
$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,41
$R_STBD_OVSHOOT,31
$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
$GPS1,012438,6703.886,-5658.543,28,1.4,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-65.0
$GPS2,013120,6703.860,-5658.558,11,1.5,28,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.163,0.154
$KALMAN_X,19630.0,-282.3,238.7,-716.7,-408.3
$KALMAN_Y,-78588.2,590.1,651.5,93979.8,-2994.9
$MHEAD_RNG_PITCHd_Wd,84.3,7789,-12.9,-7.021
$D_GRID,576
$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,-146.0,0.0,0.0,0,134,0.00,0.00,-114.75,0.000,2,0.000,0.000,163,2351,3000
$GC,138,-1.08,-146.0,3.0,-2.2,20,152,8.68,2.33,-0.52,0.000,4,0.258,0.064,2196,932,3017
$GC,406,-0.63,-146.0,49.1,-14.9,67,413,0.38,2.22,0.00,0.000,6,0.166,0.048,2299,2344,3020
$GC,750,-0.63,-146.0,74.0,-6.6,128,756,0.00,2.22,0.00,0.000,4,0.000,0.051,2299,935,3020
$GC,791,-0.63,-146.0,76.8,-6.9,135,797,0.00,2.22,0.00,0.000,6,0.000,0.048,2299,2351,3020
$GC,1135,-0.70,-146.0,97.8,-6.1,196,1141,0.00,2.25,0.00,0.000,4,0.000,0.064,2299,3746,3020
$GC,1175,-0.83,-146.0,100.5,-6.4,202,1182,0.15,2.15,0.00,0.000,6,0.082,0.038,2243,2339,3019
$GC,1491,-0.75,-146.0,124.8,-7.7,218,1495,0.12,2.30,0.00,0.000,4,0.159,0.063,2276,3743,3019
$GC,1597,-0.82,-146.0,131.7,-6.1,222,1604,0.00,2.15,0.00,0.000,6,0.000,0.038,2276,2340,3019
$GC,1913,-0.88,-146.0,152.0,-6.6,238,1917,0.12,2.20,0.00,0.000,4,0.098,0.050,2230,929,3019
$GC,2060,-0.76,-146.0,163.9,-8.7,244,2065,0.15,2.22,0.00,0.000,6,0.156,0.047,2270,2346,3018
$GC,2381,-0.84,-146.0,183.2,-5.6,260,2385,0.00,2.25,0.00,0.000,4,0.000,0.064,2270,3742,3018
$GC,2460,-0.95,-146.0,188.1,-6.4,263,2465,0.15,2.15,0.00,0.000,6,0.083,0.038,2215,2324,3018
$GC,2782,-0.85,-146.0,211.4,-7.0,279,2783,0.15,0.00,0.00,0.000,6,0.149,0.000,2257,2322,3017
$GC,3090,-0.85,-146.0,229.8,-6.2,294,3094,0.00,2.33,0.00,0.000,4,0.000,0.063,2257,3748,3018
$GC,3158,-0.94,-146.0,234.2,-6.6,297,3163,0.10,2.15,0.00,0.000,6,0.095,0.037,2220,2331,3018
$GC,3491,-0.86,-146.0,259.5,-7.1,313,3493,0.12,0.00,0.00,0.000,6,0.153,0.000,2254,2330,3019
$GC,3800,-0.91,-146.0,277.6,-5.6,328,3804,0.00,2.30,0.00,0.000,4,0.000,0.063,2254,3745,3019
$GC,3869,-1.00,-146.0,281.7,-6.1,331,3874,0.15,2.15,0.00,0.000,6,0.085,0.038,2198,2328,3019
$GC,4201,-0.88,-146.0,304.9,-6.9,347,4206,0.17,2.33,0.00,0.000,4,0.149,0.060,2248,3752,3020
$GC,4235,-0.94,-146.0,307.0,-6.1,348,4242,0.00,2.15,0.00,0.000,6,0.000,0.036,2248,2341,3020
$GC,4551,-0.94,-146.0,324.7,-5.7,364,4555,0.00,2.28,0.00,0.000,4,0.000,0.061,2247,3747,3020
$GC,4596,-1.01,-146.0,327.3,-5.8,366,4601,0.12,2.15,0.00,0.000,6,0.100,0.036,2202,2326,3020
$GC,4928,-0.91,-146.0,350.7,-7.0,382,4930,0.15,0.00,0.00,0.000,6,0.145,0.000,2245,2323,3020
$GC,5237,-0.91,-146.0,368.7,-5.6,397,5241,0.00,2.30,0.00,0.000,4,0.000,0.061,2245,3743,3021
$GC,5287,-0.99,-146.0,371.7,-6.1,399,5291,0.10,2.15,0.00,0.000,6,0.095,0.036,2206,2330,3021
$GC,5614,-0.91,-146.0,393.3,-6.6,415,5619,0.12,2.33,0.00,0.000,4,0.148,0.060,2241,3752,3021
$GC,5692,-0.97,-146.0,398.0,-5.6,418,5698,0.00,2.17,0.00,0.000,6,0.000,0.036,2241,2327,3021
$GC,6024,-0.97,-146.0,414.9,-5.1,428,6028,0.00,2.33,0.00,0.000,4,0.000,0.061,2241,3750,3021
$GC,6097,-1.04,-146.0,418.6,-5.1,429,6102,0.12,2.15,0.00,0.000,6,0.089,0.035,2193,2338,3021
$GC,6439,-0.92,-146.0,440.5,-6.6,438,6444,0.15,2.28,0.00,0.000,4,0.144,0.060,2235,3745,3022
$GC,6508,-0.98,-146.0,444.4,-5.7,439,6512,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2328,3021
$GC,6856,-0.98,-146.0,461.9,-4.8,448,6860,0.00,2.30,0.00,0.000,4,0.000,0.061,2235,3744,3022
$GC,6918,-1.03,-146.0,465.2,-5.5,449,6922,0.10,2.15,0.00,0.000,6,0.106,0.035,2199,2329,3022
$GC,7231,-0.94,-146.0,484.6,-6.3,457,7236,0.12,2.30,0.00,0.000,4,0.150,0.061,2233,3748,3022
$GC,7277,-0.99,-146.0,487.2,-5.7,458,7281,0.00,2.15,0.00,0.000,6,0.000,0.036,2233,2334,3023
$GC,7607,-0.99,-146.0,505.0,-5.3,466,7611,0.00,2.30,0.00,0.000,4,0.000,0.061,2233,3749,3023
$GC,7634,-1.04,-146.0,506.5,-5.7,466,7639,0.10,2.15,0.00,0.000,6,0.106,0.035,2196,2330,3023
$GC,7976,-0.95,-146.0,529.3,-7.1,475,7981,0.12,2.33,0.00,0.000,4,0.151,0.060,2230,3754,3023
$GC,8012,-1.00,-146.0,531.4,-6.3,475,8018,0.00,2.15,0.00,0.000,6,0.000,0.035,2230,2341,3023
$GC,8343,-1.46,-146.0,536.2,0.0,484,8348,0.30,2.30,0.00,0.000,4,0.064,0.060,2109,3753,3024
$STATE,8380,end dive,NO_VERTICAL_VELOCITY
$STATE,8380,begin apogee
$GC,8388,-0.34,0.0,536.2,0.0,485,8519,0.77,0.00,128.32,1.149,6,0.108,0.000,2364,2510,2420
$STATE,8520,end apogee,CONTROL_FINISHED_OK
$STATE,8520,begin climb
$GC,8523,1.08,146.0,536.0,0.0,488,8661,1.00,2.50,130.82,1.081,4,0.099,0.047,2670,1115,1824
$GC,8827,0.97,146.0,511.2,9.1,495,8832,0.10,2.33,0.00,0.000,6,0.146,0.044,2645,2528,1821
$GC,9151,0.91,146.0,484.1,8.3,503,9155,0.00,2.25,0.00,0.000,4,0.000,0.061,2645,3931,1820
$GC,9212,0.76,146.0,478.3,9.8,504,9217,0.17,2.17,0.00,0.000,6,0.140,0.037,2596,2513,1821
$GC,9526,0.91,178.5,459.6,5.9,512,9561,0.12,2.30,27.23,1.082,4,0.075,0.048,2651,1109,1692
$GC,9577,0.91,178.5,455.6,7.4,513,9581,0.00,2.25,0.00,0.000,6,0.000,0.044,2652,2524,1690
$GC,9896,0.86,178.5,429.7,8.2,521,9901,0.12,2.25,0.00,0.000,4,0.135,0.059,2614,3932,1689
$GC,9928,0.86,178.5,427.1,7.9,521,9935,0.00,2.17,0.00,0.000,6,0.000,0.037,2614,2507,1689
$GC,10260,0.97,197.5,406.0,6.4,530,10279,0.12,0.00,16.77,1.036,6,0.077,0.000,2665,2507,1614
$GC,10568,0.90,197.5,379.3,8.7,543,10570,0.12,0.00,0.00,0.000,6,0.127,0.000,2628,2507,1611
$GC,10877,0.96,197.5,357.4,7.4,558,10881,0.00,2.15,0.00,0.000,4,0.000,0.048,2628,1117,1612
$GC,10905,1.05,197.5,355.3,7.3,559,10911,0.12,2.20,0.00,0.000,6,0.077,0.044,2679,2535,1612
$GC,11233,0.94,197.5,324.8,9.3,575,11237,0.15,2.22,0.00,0.000,4,0.125,0.059,2634,3934,1612
$GC,11265,0.94,197.5,322.0,8.5,576,11271,0.00,2.15,0.00,0.000,6,0.000,0.036,2634,2516,1611
$GC,11581,1.00,203.0,300.6,6.8,592,11591,0.00,2.17,5.78,0.807,4,0.000,0.047,2634,1114,1592
$GC,11614,1.12,221.7,298.3,6.4,593,11636,0.15,2.20,16.65,0.974,6,0.072,0.044,2695,2531,1516
$GC,11947,0.99,221.7,265.7,10.2,609,11949,0.17,0.00,0.00,0.000,6,0.124,0.000,2641,2531,1515
$GC,12256,1.04,222.8,243.9,7.0,624,12260,0.00,2.22,0.00,0.000,4,0.000,0.048,2641,1109,1514
$GC,12306,1.15,223.6,240.3,7.0,626,12311,0.15,2.20,0.00,0.000,6,0.071,0.043,2705,2527,1514
$GC,12632,1.01,223.6,206.0,10.5,642,12634,0.17,0.00,0.00,0.000,6,0.124,0.000,2652,2528,1514
$GC,12941,1.01,223.6,181.4,8.3,657,12945,0.00,2.20,0.00,0.000,4,0.000,0.048,2652,1111,1514
$GC,12974,1.10,223.6,178.8,7.9,658,12978,0.10,2.20,0.00,0.000,6,0.085,0.044,2694,2533,1514
$GC,13295,1.01,223.6,147.6,9.6,674,13297,0.15,0.00,0.00,0.000,6,0.123,0.000,2650,2534,1514
$GC,13603,1.07,223.6,124.8,7.2,689,13607,0.00,2.22,0.00,0.000,4,0.000,0.048,2650,1109,1514
$GC,13626,1.18,223.6,123.2,7.1,690,13631,0.15,2.20,0.00,0.000,6,0.071,0.043,2713,2534,1514
$GC,13951,1.06,223.6,93.1,8.3,715,13958,0.17,2.22,0.00,0.000,4,0.127,0.059,2659,3929,1515
$GC,13976,0.99,223.6,91.0,8.0,719,13982,0.00,2.15,0.00,0.000,6,0.000,0.036,2659,2512,1515
$GC,14320,1.16,278.5,70.2,5.2,780,14372,0.10,0.00,46.05,0.890,6,0.086,0.000,2705,2512,1283
$GC,14711,1.24,278.5,39.3,7.6,849,14718,0.00,2.17,0.00,0.000,4,0.000,0.049,2705,1115,1280
$GC,14741,1.34,280.4,37.3,7.0,854,14748,0.08,2.20,0.00,0.000,6,0.097,0.044,2746,2522,1280
$GC,15086,1.29,280.4,7.7,8.9,915,15092,0.12,0.00,0.00,0.000,6,0.128,0.000,2709,2523,1278
$STATE,15163,end climb,SURFACE_DEPTH_REACHED
$STATE,15163,begin surface coast
$FINISH,0.7,1.021708
$STATE,15192,end surface coast,CONTROL_FINISHED_OK
$STATE,15192,begin surface
$SM_CCo,15270,0.00,0.000,0,0,1277,280.38
$SM_GC,1.66,6.95,0.00,0.00,0.061,0.000,0.000,154,2330,1277,-10.41,-0.31,280.38
$RAFOS_CLK,781
$RAFOS,4,1225860250,4.750000,4.736111,91,63,61,58,56,55,788,218,201,147,189,160
$RAFOS,3,1225859643,4.583333,4.567500,107,60,56,53,51,51,1006,175,166,200,135,150
$RAFOS,2,1225859072,4.416667,4.408889,121,63,60,59,58,56,497,206,216,184,228,123
$RAFOS,1,1225858465,4.250000,4.240278,139,76,67,56,53,47,763,213,202,157,176,230
$RAFOS,0,1225857842,4.083333,4.067222,105,58,54,54,50,49,1061,218,183,205,119,155
$RAFOS_FIX,6705.593262,-5700.794434,051108,040414,5,113,0.34
$IRIDIUM_FIX,6631.12,-5658.34,290198,202049
$TT8_MAMPS,0.027612
$HUMID,1857
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,21.5,51.304
$10V_AH,10.6,22.081
$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,23.275,137.975,371.625,0.000,0.000,22.461,36.478,198.918,0.000,0.000,0.000,30.263,1757.230,11032.114,521.685,1856.380,514.845,33.364,1523.416,0.000,1809.455,1800.000,0.529,0.000
$DEVICE_MAMPS,257.712,64.428,1148.966,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.622,632.149,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34705,934
$CAP_FILE_SIZE,137146,0
$CFSIZE,260165632,231190528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.5
$GPS,051108,054807,6705.950,-5655.830,25,1.6,25,-37.6