version: 66.04
glider: 113
mission: 4
dive: 267
start: 11 5 108 9 47 4
data:
$ID,113
$MISSION,4
$DIVE,267
$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,-26894.646
$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,45
$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
$GPS1,093926,6705.647,-5656.624,36,2.0,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-62.3
$GPS2,094609,6705.705,-5656.612,10,1.5,10,-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,0.206,-0.089
$KALMAN_X,16312.8,293.7,-630.1,4326.8,-1167.8
$KALMAN_Y,-75218.7,-133.6,429.3,94967.1,-101.3
$MHEAD_RNG_PITCHd_Wd,151.1,7986,-12.9,-7.021
$D_GRID,482
$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,-146.0,0.0,0.0,0,144,0.00,0.00,-121.95,0.000,6,0.000,0.000,161,2334,3016
$GC,147,-1.08,-146.0,3.6,-3.4,22,161,8.77,2.35,0.00,0.000,4,0.262,0.059,2199,3749,3020
$GC,168,1.26,-146.0,9.6,-16.1,25,175,1.77,2.17,0.00,0.000,6,0.175,0.038,2705,2345,3021
$GC,513,0.12,-146.0,32.0,-5.7,86,520,0.70,2.20,0.00,0.000,4,0.085,0.049,2454,938,3022
$GC,752,-0.65,-146.0,49.8,-8.4,128,758,0.50,2.20,0.00,0.000,6,0.091,0.048,2282,2341,3022
$GC,1096,-0.85,-146.0,75.8,-6.7,189,1103,0.12,2.22,0.00,0.000,4,0.087,0.050,2233,931,3022
$GC,1110,-1.02,-146.0,76.8,-6.7,191,1117,0.00,2.22,0.00,0.000,6,0.000,0.048,2232,2349,3022
$GC,1456,-0.95,-146.0,103.6,-7.8,247,1460,0.00,2.22,0.00,0.000,4,0.000,0.051,2232,937,3021
$GC,1467,-0.87,-146.0,104.5,-7.8,247,1471,0.00,2.22,0.00,0.000,6,0.000,0.048,2232,2352,3021
$GC,1789,-0.81,-146.0,128.9,-7.4,263,1793,0.12,2.25,0.00,0.000,4,0.164,0.050,2266,927,3020
$GC,1804,-0.81,-146.0,130.2,-7.9,263,1810,0.00,2.22,0.00,0.000,6,0.000,0.047,2266,2350,3020
$GC,2121,-0.89,-146.0,152.2,-6.8,279,2125,0.10,2.25,0.00,0.000,4,0.103,0.063,2230,3740,3020
$GC,2131,-0.96,-146.0,152.9,-6.6,279,2135,0.00,2.15,0.00,0.000,6,0.000,0.038,2230,2334,3019
$GC,2451,-0.96,-146.0,175.9,-7.2,295,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2334,3019
$GC,2761,-0.96,-146.0,197.2,-6.8,310,2765,0.00,2.30,0.00,0.000,4,0.000,0.064,2230,3742,3019
$GC,2777,-0.96,-146.0,198.4,-6.8,310,2784,0.00,2.15,0.00,0.000,6,0.000,0.038,2230,2336,3019
$GC,3093,-0.96,-146.0,220.9,-7.8,326,3097,0.00,2.30,0.00,0.000,4,0.000,0.062,2230,3747,3019
$GC,3103,-0.96,-146.0,221.7,-7.8,326,3107,0.00,2.17,0.00,0.000,6,0.000,0.037,2230,2327,3019
$GC,3425,-0.96,-146.0,245.9,-7.5,342,3429,0.00,2.30,0.00,0.000,4,0.000,0.062,2230,3742,3019
$GC,3440,-0.96,-146.0,247.2,-7.8,342,3447,0.00,2.15,0.00,0.000,6,0.000,0.037,2230,2333,3019
$GC,3756,-0.96,-146.0,270.3,-7.4,358,3760,0.00,2.30,0.00,0.000,4,0.000,0.064,2230,3742,3019
$GC,3801,-0.96,-146.0,273.6,-7.4,360,3805,0.00,2.15,0.00,0.000,6,0.000,0.037,2230,2333,3019
$GC,4134,-0.96,-146.0,296.1,-6.3,376,4138,0.00,2.30,0.00,0.000,4,0.000,0.063,2230,3742,3019
$GC,4172,-0.96,-146.0,298.8,-6.7,377,4179,0.00,2.15,0.00,0.000,6,0.000,0.037,2230,2330,3020
$GC,4488,-0.96,-146.0,316.8,-5.5,393,4492,0.00,2.30,0.00,0.000,4,0.000,0.062,2230,3742,3020
$GC,4499,-0.96,-146.0,317.4,-5.5,393,4503,0.00,2.15,0.00,0.000,6,0.000,0.035,2230,2329,3020
$GC,4820,-0.96,-146.0,334.0,-5.2,409,4824,0.00,2.30,0.00,0.000,4,0.000,0.061,2230,3743,3020
$GC,4853,-0.96,-146.0,335.9,-5.8,410,4857,0.00,2.15,0.00,0.000,6,0.000,0.035,2230,2326,3021
$GC,5175,-0.96,-146.0,352.4,-5.3,426,5178,0.00,2.33,0.00,0.000,4,0.000,0.061,2230,3755,3021
$GC,5214,-1.01,-146.0,354.7,-5.7,427,5220,0.00,2.15,0.00,0.000,6,0.000,0.035,2230,2340,3022
$GC,5530,-1.01,-146.0,370.7,-4.8,443,5533,0.00,2.30,0.00,0.000,4,0.000,0.061,2230,3754,3022
$GC,5591,-1.06,-146.0,373.9,-5.3,445,5598,0.10,2.17,0.00,0.000,6,0.092,0.036,2191,2327,3022
$GC,5907,-0.96,-146.0,393.4,-6.0,461,5912,0.15,2.33,0.00,0.000,4,0.143,0.060,2232,3750,3022
$GC,5935,-0.96,-146.0,395.0,-6.1,462,5939,0.00,2.15,0.00,0.000,6,0.000,0.035,2233,2337,3022
$GC,6252,-0.96,-146.0,410.8,-4.9,473,6256,0.00,2.30,0.00,0.000,4,0.000,0.061,2232,3752,3023
$GC,6264,-0.96,-146.0,411.2,-4.9,473,6268,0.00,2.15,0.00,0.000,6,0.000,0.035,2233,2336,3023
$GC,6584,-0.96,-146.0,427.4,-5.1,481,6587,0.00,2.30,0.00,0.000,4,0.000,0.061,2233,3746,3024
$GC,6594,-0.96,-146.0,428.0,-5.0,481,6598,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2330,3024
$GC,6913,-0.96,-146.0,444.8,-5.4,489,6917,0.00,2.30,0.00,0.000,4,0.000,0.061,2233,3755,3024
$GC,6923,-0.96,-146.0,445.4,-5.5,489,6927,0.00,2.15,0.00,0.000,6,0.000,0.035,2232,2335,3024
$GC,7242,-1.00,-146.0,462.9,-5.4,497,7246,0.00,2.30,0.00,0.000,4,0.000,0.061,2232,3746,3024
$GC,7254,-1.05,-146.0,463.5,-5.4,497,7258,0.10,2.15,0.00,0.000,6,0.105,0.035,2196,2328,3024
$STATE,7528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7528,begin apogee
$GC,7534,-0.34,0.0,482.1,6.8,504,7665,0.55,0.00,127.10,1.112,6,0.142,0.000,2364,2523,2420
$STATE,7665,end apogee,CONTROL_FINISHED_OK
$STATE,7665,begin climb
$GC,7668,1.08,146.0,484.7,0.0,507,7806,1.00,2.55,129.50,1.043,4,0.099,0.046,2670,1126,1823
$GC,7881,0.98,146.0,467.4,9.4,512,7885,0.00,2.35,0.00,0.000,6,0.000,0.044,2670,2520,1822
$GC,8212,0.83,146.0,435.8,9.8,520,8216,0.20,2.30,0.00,0.000,4,0.134,0.059,2606,3942,1821
$GC,8300,0.83,146.0,428.2,8.1,522,8304,0.00,2.20,0.00,0.000,6,0.000,0.036,2606,2527,1821
$GC,8627,0.90,152.8,406.1,6.8,530,8640,0.10,2.25,6.60,0.858,4,0.087,0.048,2651,1117,1796
$GC,8708,0.90,152.8,399.3,8.8,531,8714,0.00,2.20,0.00,0.000,6,0.000,0.044,2651,2525,1796
$GC,9023,0.83,152.8,372.9,8.2,547,9028,0.12,2.25,0.00,0.000,4,0.134,0.060,2613,3939,1797
$GC,9085,0.83,152.8,368.1,7.5,550,9089,0.00,2.15,0.00,0.000,6,0.000,0.036,2614,2519,1797
$GC,9418,0.91,177.7,347.0,6.2,566,9444,0.00,2.20,21.75,1.012,4,0.000,0.046,2614,1121,1694
$GC,9507,1.04,184.6,341.3,6.8,570,9524,0.15,2.22,7.10,0.846,6,0.071,0.044,2676,2535,1667
$GC,9834,0.93,184.6,311.6,9.4,586,9838,0.15,2.22,0.00,0.000,4,0.126,0.058,2631,3931,1666
$GC,9912,0.86,184.6,304.5,8.6,589,9916,0.00,2.15,0.00,0.000,6,0.000,0.037,2630,2519,1666
$GC,10233,0.86,184.6,281.4,7.1,605,10236,0.00,2.17,0.00,0.000,4,0.000,0.048,2630,1108,1665
$GC,10300,0.94,184.6,276.7,7.1,608,10304,0.00,2.20,0.00,0.000,6,0.000,0.043,2630,2530,1665
$GC,10634,0.94,184.6,251.9,7.6,624,10638,0.00,2.22,0.00,0.000,4,0.000,0.061,2630,3927,1665
$GC,10680,0.87,184.6,247.7,9.3,626,10683,0.00,2.15,0.00,0.000,6,0.000,0.036,2630,2508,1665
$GC,11013,0.87,184.6,221.2,8.0,642,11017,0.00,2.15,0.00,0.000,4,0.000,0.048,2630,1111,1665
$GC,11085,0.97,184.6,215.3,8.1,645,11089,0.00,2.17,0.00,0.000,6,0.000,0.043,2630,2520,1665
$GC,11412,1.03,184.6,189.0,7.7,661,11416,0.10,2.25,0.00,0.000,4,0.087,0.059,2677,3929,1665
$GC,11480,0.84,184.6,181.9,11.5,664,11484,0.20,2.15,0.00,0.000,6,0.133,0.037,2617,2514,1666
$GC,11812,0.99,208.1,159.9,6.2,680,11837,0.12,2.20,20.05,0.915,4,0.077,0.048,2669,1118,1571
$GC,11910,0.99,208.1,151.7,8.6,684,11914,0.00,2.20,0.00,0.000,6,0.000,0.044,2669,2518,1570
$GC,12231,0.99,208.1,125.5,8.0,700,12235,0.00,2.25,0.00,0.000,4,0.000,0.061,2669,3928,1569
$GC,12321,0.89,208.1,117.4,8.8,704,12326,0.15,2.15,0.00,0.000,6,0.137,0.037,2626,2516,1569
$GC,12646,1.18,208.1,95.8,7.5,726,12653,0.20,2.17,0.00,0.000,4,0.064,0.046,2718,1108,1569
$GC,12823,1.08,208.1,81.2,8.3,757,12829,0.17,2.20,0.00,0.000,6,0.125,0.044,2666,2526,1569
$GC,13168,1.17,238.2,59.9,6.0,818,13200,0.10,2.28,24.88,0.893,4,0.084,0.063,2713,3926,1447
$GC,13235,1.03,238.2,54.4,8.8,829,13242,0.20,2.17,0.00,0.000,6,0.130,0.038,2655,2518,1447
$GC,13581,1.35,243.9,31.2,6.8,890,13593,0.20,0.00,6.07,0.737,6,0.071,0.000,2736,2516,1425
$GC,13932,1.27,243.9,4.4,7.4,952,13939,0.10,2.30,0.00,0.000,4,0.139,0.061,2708,3931,1424
$STATE,13959,end climb,SURFACE_DEPTH_REACHED
$STATE,13959,begin surface coast
$FINISH,0.7,1.015602
$STATE,13989,end surface coast,CONTROL_FINISHED_OK
$STATE,13989,begin surface
$SM_CCo,14068,0.00,0.000,0,0,1422,245.05
$SM_GC,1.65,7.00,0.00,0.00,0.065,0.000,0.000,164,2332,1422,-10.38,-0.23,245.05
$RAFOS_CLK,717
$RAFOS,4,1225889054,12.750000,12.737223,75,71,57,57,55,54,763,204,217,189,148,120
$RAFOS,3,1225888448,12.583333,12.568889,91,56,55,51,50,48,969,223,184,153,138,120
$RAFOS,2,1225887846,12.416667,12.401667,91,76,59,57,56,51,630,196,234,152,115,216
$RAFOS,1,1225887259,12.250000,12.238611,67,59,59,59,59,58,794,179,192,207,166,225
$RAFOS,0,1225886644,12.083333,12.067778,83,62,58,57,51,51,1036,209,155,222,181,1443
$RAFOS_FIX,6704.867676,-5701.981445,051108,121248,4,85,0.43
$IRIDIUM_FIX,6636.54,-5652.31,300198,060609
$TT8_MAMPS,0.027612
$HUMID,1872
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,21.6,51.549
$10V_AH,10.6,22.211
$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,23.275,156.350,343.050,0.000,0.000,30.491,54.386,200.581,0.500,0.000,0.000,11.517,1753.809,9861.565,507.623,1828.442,533.426,33.368,1513.828,0.000,1802.884,1800.000,0.529,0.000
$DEVICE_MAMPS,261.547,63.661,1112.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.555,650.826,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34713,962
$CAP_FILE_SIZE,131192,0
$CFSIZE,260165632,231071744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.0
$GPS,051108,134307,6705.552,-5657.584,36,0.9,36,-37.6