version: 66.04
glider: 113
mission: 4
dive: 268
start: 11 5 108 13 50 22
data:
$ID,113
$MISSION,4
$DIVE,268
$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,-26906.602
$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,30
$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
$GPS1,134307,6705.552,-5657.584,36,0.9,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.1
$GPS2,134927,6705.556,-5657.688,9,1.5,9,-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,0.164,-0.153
$KALMAN_X,13383.6,-508.7,-440.3,7088.1,-1472.8
$KALMAN_Y,-73640.3,-161.8,-195.5,93767.2,1596.9
$MHEAD_RNG_PITCHd_Wd,170.4,8447,-12.9,-7.021
$D_GRID,509
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-106.40,0.000,6,0.000,0.000,164,2332,3016
$GC,130,-1.08,-146.0,3.5,-3.5,19,144,8.65,2.35,0.00,0.000,4,0.256,0.059,2200,3745,3020
$GC,196,-0.52,-146.0,17.3,-17.7,30,203,0.43,2.20,0.00,0.000,6,0.167,0.038,2323,2323,3021
$GC,541,-0.52,-146.0,48.7,-8.2,91,547,0.00,2.33,0.00,0.000,4,0.000,0.063,2322,3745,3022
$GC,587,-0.62,-146.0,52.3,-7.9,99,594,0.10,2.17,0.00,0.000,6,0.091,0.038,2286,2331,3022
$GC,931,-0.62,-146.0,77.8,-7.2,160,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2331,3021
$GC,1288,-0.62,-146.0,102.7,-6.4,218,1291,0.00,2.17,0.00,0.000,4,0.000,0.051,2286,933,3021
$GC,1303,-0.62,-146.0,103.9,-6.7,218,1309,0.00,2.22,0.00,0.000,6,0.000,0.047,2286,2354,3020
$GC,1619,-0.68,-146.0,124.3,-6.8,234,1623,0.00,2.22,0.00,0.000,4,0.000,0.049,2286,937,3020
$GC,1642,-0.68,-146.0,126.1,-7.6,235,1646,0.00,2.20,0.00,0.000,6,0.000,0.047,2286,2341,3020
$GC,1975,-0.76,-146.0,149.6,-6.7,251,1979,0.00,2.28,0.00,0.000,4,0.000,0.064,2286,3751,3019
$GC,2031,-0.89,-146.0,153.1,-5.9,253,2036,0.15,2.17,0.00,0.000,6,0.081,0.038,2229,2328,3019
$GC,2352,-0.82,-146.0,175.0,-6.8,269,2354,0.12,0.00,0.00,0.000,6,0.156,0.000,2263,2325,3019
$GC,2661,-0.86,-146.0,193.3,-6.3,284,2665,0.00,2.33,0.00,0.000,4,0.000,0.063,2263,3749,3020
$GC,2671,-0.91,-146.0,194.0,-6.4,284,2676,0.10,2.17,0.00,0.000,6,0.102,0.037,2228,2329,3019
$GC,2993,-0.85,-146.0,218.1,-7.6,300,2997,0.10,2.33,0.00,0.000,4,0.163,0.061,2254,3751,3019
$GC,3036,-0.91,-146.0,221.4,-7.1,302,3040,0.00,2.17,0.00,0.000,6,0.000,0.038,2255,2327,3020
$GC,3364,-0.95,-146.0,243.8,-6.8,318,3369,0.10,2.33,0.00,0.000,4,0.099,0.061,2217,3750,3020
$GC,3391,-0.91,-146.0,246.0,-8.2,319,3395,0.10,2.15,0.00,0.000,6,0.159,0.037,2242,2340,3019
$GC,3713,-0.91,-146.0,267.5,-6.3,335,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2340,3020
$GC,4022,-0.91,-146.0,286.4,-6.1,350,4026,0.00,2.28,0.00,0.000,4,0.000,0.062,2242,3743,3020
$GC,4055,-0.91,-146.0,288.6,-6.3,351,4058,0.00,2.15,0.00,0.000,6,0.000,0.037,2243,2333,3020
$GC,4376,-0.91,-146.0,307.8,-6.2,367,4379,0.00,2.30,0.00,0.000,4,0.000,0.062,2242,3747,3020
$GC,4427,-0.96,-146.0,310.9,-6.1,369,4430,0.00,2.15,0.00,0.000,6,0.000,0.036,2242,2337,3020
$GC,4753,-0.96,-146.0,328.5,-5.2,385,4757,0.00,2.30,0.00,0.000,4,0.000,0.061,2243,3750,3021
$GC,4781,-1.01,-146.0,330.0,-5.5,386,4786,0.10,2.15,0.00,0.000,6,0.096,0.035,2205,2336,3020
$GC,5108,-0.92,-146.0,350.2,-6.1,402,5113,0.12,2.30,0.00,0.000,4,0.149,0.061,2240,3746,3021
$GC,5125,-0.92,-146.0,351.2,-6.0,403,5129,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2331,3021
$GC,5458,-0.92,-146.0,369.1,-5.6,419,5461,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3749,3022
$GC,5474,-0.92,-146.0,370.2,-5.6,419,5480,0.00,2.15,0.00,0.000,6,0.000,0.036,2240,2334,3022
$GC,5789,-0.92,-146.0,388.7,-5.9,435,5793,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3745,3022
$GC,5835,-0.98,-146.0,391.4,-6.7,437,5839,0.00,2.15,0.00,0.000,6,0.000,0.036,2240,2333,3022
$GC,6185,-0.98,-146.0,413.5,-6.3,449,6189,0.00,2.33,0.00,0.000,4,0.000,0.061,2240,3753,3023
$GC,6196,-0.98,-146.0,414.2,-6.3,449,6200,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2338,3022
$GC,6515,-0.98,-146.0,435.3,-6.6,457,6519,0.00,2.28,0.00,0.000,4,0.000,0.061,2240,3745,3023
$GC,6526,-0.98,-146.0,436.1,-6.6,457,6529,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2330,3023
$GC,6844,-0.98,-146.0,456.8,-6.4,465,6848,0.00,2.30,0.00,0.000,4,0.000,0.060,2240,3746,3023
$GC,6857,-1.03,-146.0,457.5,-6.3,465,6861,0.12,2.15,0.00,0.000,6,0.091,0.035,2193,2331,3023
$GC,7175,-0.92,-146.0,480.9,-7.2,473,7180,0.15,2.30,0.00,0.000,4,0.146,0.059,2235,3754,3024
$GC,7202,-0.92,-146.0,482.7,-6.4,473,7206,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2340,3023
$GC,7539,-0.92,-146.0,502.9,-6.0,482,7543,0.00,2.28,0.00,0.000,4,0.000,0.060,2235,3746,3024
$GC,7595,-0.99,-146.0,506.3,-5.8,483,7599,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2333,3024
$STATE,7667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7667,begin apogee
$GC,7673,-0.34,0.0,510.1,5.0,485,7804,0.43,0.00,127.60,1.131,6,0.137,0.000,2367,2528,2420
$STATE,7804,end apogee,CONTROL_FINISHED_OK
$STATE,7804,begin climb
$GC,7807,1.08,146.0,511.5,0.0,488,7944,0.98,2.53,130.02,1.058,4,0.099,0.046,2666,1128,1824
$GC,7980,0.98,146.0,497.9,9.5,492,7984,0.00,2.40,0.00,0.000,6,0.000,0.042,2666,2526,1822
$GC,8304,0.85,146.0,469.9,8.4,500,8309,0.17,2.28,0.00,0.000,4,0.131,0.060,2614,3926,1821
$GC,8416,0.85,146.0,461.3,7.5,502,8420,0.00,2.17,0.00,0.000,6,0.000,0.036,2614,2511,1822
$GC,8758,0.95,175.3,440.2,6.0,511,8788,0.10,2.22,24.60,1.056,4,0.085,0.048,2660,1119,1705
$GC,8833,0.95,175.3,434.2,8.7,512,8837,0.00,2.22,0.00,0.000,6,0.000,0.043,2660,2527,1703
$GC,9170,0.88,175.3,406.3,8.2,521,9175,0.12,2.25,0.00,0.000,4,0.137,0.060,2624,3936,1703
$GC,9255,0.88,175.3,399.3,8.7,523,9259,0.00,2.15,0.00,0.000,6,0.000,0.036,2624,2518,1703
$GC,9588,0.95,196.7,377.8,6.3,539,9613,0.00,2.28,18.45,1.023,4,0.000,0.048,2624,1109,1617
$GC,9681,1.10,226.5,372.0,6.0,543,9712,0.17,2.22,25.33,1.021,6,0.067,0.043,2694,2528,1496
$GC,10024,0.98,226.5,338.2,10.2,559,10029,0.17,2.25,0.00,0.000,4,0.124,0.058,2641,3936,1494
$GC,10073,0.98,226.5,333.3,9.3,561,10077,0.00,2.17,0.00,0.000,6,0.000,0.035,2640,2510,1493
$GC,10395,1.03,233.6,311.1,6.8,577,10409,0.00,2.22,6.90,0.844,4,0.000,0.048,2640,1112,1467
$GC,10495,1.14,237.3,304.4,6.9,581,10507,0.15,2.20,4.78,0.726,6,0.074,0.043,2705,2531,1452
$GC,10817,0.99,237.3,271.9,10.7,597,10821,0.20,2.22,0.00,0.000,4,0.123,0.059,2638,3926,1452
$GC,10866,0.99,237.3,267.2,8.2,599,10870,0.00,2.15,0.00,0.000,6,0.000,0.036,2638,2510,1452
$GC,11188,1.08,244.2,245.2,6.8,615,11203,0.12,2.22,7.53,0.840,4,0.077,0.048,2694,1112,1424
$GC,11295,1.02,244.2,235.8,9.4,619,11302,0.15,2.20,0.00,0.000,6,0.129,0.043,2651,2528,1423
$GC,11610,1.09,244.2,211.8,7.5,635,11614,0.00,2.25,0.00,0.000,4,0.000,0.060,2650,3936,1423
$GC,11642,1.09,244.2,209.0,8.7,636,11646,0.00,2.15,0.00,0.000,6,0.000,0.036,2651,2517,1423
$GC,11965,1.21,273.4,187.8,6.0,652,11995,0.15,2.25,24.62,0.937,4,0.070,0.048,2718,1123,1305
$GC,12103,1.15,273.4,174.8,9.5,658,12108,0.12,2.17,0.00,0.000,6,0.132,0.044,2683,2519,1303
$GC,12430,1.15,273.4,145.8,9.1,674,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2519,1302
$GC,12738,1.15,273.4,117.4,8.8,689,12742,0.00,2.20,0.00,0.000,4,0.000,0.048,2682,1111,1302
$GC,12788,1.23,273.4,112.9,9.3,691,12792,0.00,2.20,0.00,0.000,6,0.000,0.044,2682,2531,1303
$GC,13118,1.29,273.4,85.6,8.0,729,13125,0.12,2.25,0.00,0.000,4,0.071,0.061,2735,3934,1302
$GC,13165,1.11,273.4,80.5,11.9,737,13172,0.20,2.17,0.00,0.000,6,0.136,0.038,2676,2510,1302
$GC,13510,1.25,304.1,58.5,6.0,798,13541,0.12,2.28,25.58,0.900,4,0.077,0.050,2731,1110,1179
$GC,13693,1.25,304.1,43.1,8.5,830,13700,0.10,2.22,0.00,0.000,6,0.137,0.045,2704,2528,1177
$GC,14038,1.37,315.6,18.8,6.6,891,14051,0.10,0.00,10.07,0.834,6,0.083,0.000,2749,2528,1133
$STATE,14228,end climb,SURFACE_DEPTH_REACHED
$STATE,14228,begin surface coast
$FINISH,0.7,1.025401
$STATE,14252,end surface coast,CONTROL_FINISHED_OK
$STATE,14252,begin surface
$SM_CCo,14329,0.00,0.000,0,0,1129,316.68
$SM_GC,1.65,7.05,0.00,0.00,0.059,0.000,0.000,157,2334,1129,-10.39,-0.17,316.68
$RAFOS_CLK,735
$RAFOS,4,1225903446,16.750000,16.735001,65,65,56,53,53,51,201,802,220,158,144,308
$RAFOS,3,1225902856,16.583334,16.571112,65,59,53,53,52,51,927,214,122,940,140,155
$RAFOS,2,1225902246,16.416666,16.401667,83,64,58,57,53,51,621,211,163,199,181,137
$RAFOS,1,1225901655,16.250000,16.237499,59,57,55,53,51,51,189,171,200,125,138,231
$RAFOS,0,1225901080,16.083334,16.077778,77,66,60,56,55,55,210,227,187,845,120,142
$RAFOS_FIX,6713.191895,30036.484375,051108,161656,2,80,1762.86
$IRIDIUM_FIX,6625.71,-5220.52,300198,090924
$TT8_MAMPS,0.027612
$HUMID,1885
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,21.5,51.684
$10V_AH,10.6,22.276
$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,21.100,147.800,405.475,0.000,0.000,23.451,29.839,204.040,0.250,0.000,0.000,11.326,1735.031,10154.550,521.268,1811.421,516.340,33.362,1526.767,0.000,1784.901,1800.000,0.528,0.000
$DEVICE_MAMPS,256.178,64.428,1130.558,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,717.465,629.093,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34703,929
$CAP_FILE_SIZE,133413,0
$CFSIZE,260165632,231006208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.6
$GPS,051108,175102,6705.642,-5659.485,36,1.2,36,-37.6