version: 66.04
glider: 113
mission: 4
dive: 273
start: 11 6 108 11 21 34
data:
$ID,113
$MISSION,4
$DIVE,273
$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,-26984.918
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,110611,6705.272,-5659.921,32,1.6,35,-37.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.9
$GPS2,112039,6705.289,-5700.050,11,1.1,11,-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,0.217,-0.056
$KALMAN_X,-3357.2,500.3,-190.9,20832.8,-3674.1
$KALMAN_Y,-65052.0,-572.0,160.7,84753.6,1015.1
$MHEAD_RNG_PITCHd_Wd,142.1,9680,-12.9,-7.021
$D_GRID,549
$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,-113.95,0.000,2,0.000,0.000,164,2335,2987
$GC,137,-1.08,-146.0,3.0,-2.5,20,152,8.73,2.30,-1.00,0.000,4,0.260,0.066,2196,931,3017
$GC,198,-0.42,-146.0,16.1,-18.5,30,205,0.52,2.25,0.00,0.000,6,0.173,0.048,2340,2347,3020
$GC,542,-0.47,-146.0,46.9,-8.1,91,549,0.00,2.22,0.00,0.000,4,0.000,0.053,2341,942,3021
$GC,555,-0.52,-146.0,47.9,-8.2,93,562,0.00,2.20,0.00,0.000,6,0.000,0.048,2340,2343,3020
$GC,900,-0.68,-146.0,71.7,-5.3,154,907,0.17,2.28,0.00,0.000,4,0.079,0.062,2273,3751,3020
$GC,947,-0.68,-146.0,75.0,-7.7,162,954,0.00,2.17,0.00,0.000,6,0.000,0.038,2273,2330,3020
$GC,1291,-0.68,-146.0,100.2,-7.1,223,1295,0.00,2.30,0.00,0.000,4,0.000,0.063,2273,3741,3019
$GC,1319,-0.68,-146.0,102.3,-7.5,224,1323,0.00,2.15,0.00,0.000,6,0.000,0.038,2273,2333,3020
$GC,1646,-0.68,-146.0,125.7,-6.8,240,1650,0.00,2.30,0.00,0.000,4,0.000,0.064,2273,3743,3019
$GC,1715,-0.75,-146.0,130.1,-6.4,243,1719,0.00,2.15,0.00,0.000,6,0.000,0.038,2273,2338,3019
$GC,2047,-0.75,-146.0,149.2,-5.7,259,2051,0.00,2.30,0.00,0.000,4,0.000,0.063,2273,3750,3019
$GC,2058,-0.80,-146.0,149.8,-5.9,259,2062,0.00,2.17,0.00,0.000,6,0.000,0.038,2273,2330,3019
$GC,2380,-0.87,-146.0,171.6,-7.4,275,2382,0.10,0.00,0.00,0.000,6,0.095,0.000,2233,2330,3018
$GC,2689,-0.80,-146.0,197.8,-8.1,290,2691,0.12,0.00,0.00,0.000,6,0.158,0.000,2266,2328,3018
$GC,2998,-0.88,-146.0,217.8,-5.7,305,3002,0.00,2.33,0.00,0.000,4,0.000,0.064,2266,3753,3017
$GC,3016,-0.96,-146.0,218.8,-5.6,305,3023,0.15,2.17,0.00,0.000,6,0.091,0.038,2211,2330,3018
$GC,3331,-0.86,-146.0,243.2,-8.2,321,3336,0.15,2.33,0.00,0.000,4,0.153,0.061,2253,3749,3018
$GC,3354,-0.86,-146.0,244.6,-6.8,322,3358,0.00,2.17,0.00,0.000,6,0.000,0.038,2253,2329,3018
$GC,3681,-0.91,-146.0,265.9,-6.4,338,3685,0.00,2.30,0.00,0.000,4,0.000,0.062,2253,3749,3018
$GC,3709,-0.98,-146.0,267.6,-6.3,339,3714,0.12,2.15,0.00,0.000,6,0.094,0.038,2207,2338,3018
$GC,4036,-0.89,-146.0,292.6,-7.8,355,4038,0.15,0.00,0.00,0.000,6,0.149,0.000,2249,2336,3019
$GC,4345,-0.89,-146.0,311.9,-5.9,370,4350,0.00,2.30,0.00,0.000,4,0.000,0.062,2249,3748,3019
$GC,4384,-0.96,-146.0,314.3,-6.2,371,4390,0.10,2.15,0.00,0.000,6,0.105,0.036,2215,2339,3019
$GC,4700,-0.90,-146.0,334.5,-6.4,387,4702,0.10,0.00,0.00,0.000,6,0.160,0.000,2241,2336,3020
$GC,5008,-0.90,-146.0,351.5,-5.5,402,5012,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3747,3021
$GC,5032,-0.90,-146.0,352.7,-5.7,403,5036,0.00,2.15,0.00,0.000,6,0.000,0.035,2242,2335,3021
$GC,5364,-0.90,-146.0,370.2,-5.3,419,5368,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3754,3021
$GC,5374,-0.90,-146.0,370.7,-5.2,419,5378,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2341,3021
$GC,5696,-0.90,-146.0,387.7,-5.4,435,5699,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3752,3022
$GC,5712,-0.95,-146.0,388.6,-5.5,435,5718,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2339,3021
$GC,6046,-0.95,-146.0,406.9,-5.6,449,6050,0.00,2.30,0.00,0.000,4,0.000,0.062,2241,3749,3022
$GC,6059,-0.95,-146.0,407.6,-5.7,449,6062,0.00,2.15,0.00,0.000,6,0.000,0.035,2241,2336,3022
$GC,6378,-0.95,-146.0,426.8,-6.0,457,6381,0.00,2.30,0.00,0.000,4,0.000,0.061,2241,3749,3023
$GC,6411,-1.01,-146.0,429.0,-6.5,457,6416,0.10,2.15,0.00,0.000,6,0.096,0.035,2204,2334,3023
$GC,6748,-0.93,-146.0,451.3,-6.5,466,6752,0.12,2.30,0.00,0.000,4,0.146,0.062,2240,3753,3023
$GC,6759,-0.88,-146.0,452.0,-6.2,466,6763,0.00,2.15,0.00,0.000,6,0.000,0.035,2239,2334,3023
$GC,7077,-0.88,-146.0,469.3,-5.5,474,7081,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3750,3023
$GC,7087,-0.88,-146.0,469.9,-5.6,474,7091,0.00,2.15,0.00,0.000,6,0.000,0.035,2239,2334,3023
$GC,7407,-0.92,-146.0,489.0,-6.1,482,7411,0.00,2.30,0.00,0.000,4,0.000,0.062,2239,3747,3024
$GC,7418,-0.98,-146.0,489.9,-6.2,482,7422,0.00,2.15,0.00,0.000,6,0.000,0.035,2239,2327,3024
$GC,7737,-1.03,-146.0,506.9,-5.1,490,7738,0.10,0.00,0.00,0.000,6,0.100,0.000,2203,2327,3024
$GC,8062,-0.94,-146.0,527.4,-6.6,498,8067,0.12,2.33,0.00,0.000,4,0.146,0.061,2238,3752,3024
$GC,8106,-1.01,-146.0,530.4,-6.4,499,8111,0.10,2.15,0.00,0.000,6,0.100,0.035,2202,2334,3024
$STATE,8386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8387,begin apogee
$GC,8393,-0.34,0.0,551.1,7.4,506,8525,0.52,0.00,128.82,1.155,6,0.138,0.000,2364,2529,2420
$STATE,8526,end apogee,CONTROL_FINISHED_OK
$STATE,8526,begin climb
$GC,8528,1.08,146.0,553.9,0.0,509,8667,1.00,2.53,131.45,1.084,4,0.100,0.046,2668,1129,1824
$GC,8719,0.98,146.0,540.3,8.3,513,8723,0.00,2.38,0.00,0.000,6,0.000,0.044,2668,2522,1822
$GC,9061,0.84,146.0,511.4,8.7,522,9066,0.17,2.28,0.00,0.000,4,0.138,0.060,2616,3926,1821
$GC,9173,0.78,146.0,502.3,7.9,524,9177,0.00,2.15,0.00,0.000,6,0.000,0.037,2616,2519,1821
$GC,9516,0.79,155.6,479.4,6.7,533,9530,0.00,2.22,8.98,0.967,4,0.000,0.048,2616,1117,1785
$GC,9598,0.92,179.5,474.0,6.2,534,9624,0.00,2.20,20.80,1.066,6,0.000,0.044,2616,2525,1688
$GC,9932,1.00,188.6,452.0,6.7,543,9947,0.12,2.30,9.00,0.958,4,0.073,0.061,2668,3929,1651
$GC,9987,0.81,188.6,446.6,10.7,544,9991,0.22,2.17,0.00,0.000,6,0.140,0.037,2605,2515,1650
$GC,10299,0.95,198.8,425.6,6.7,552,10315,0.12,2.17,10.02,0.972,4,0.078,0.048,2663,1119,1608
$GC,10388,0.95,198.8,417.7,9.5,554,10392,0.00,2.20,0.00,0.000,6,0.000,0.043,2662,2530,1607
$GC,10714,0.88,198.8,388.3,8.6,565,10719,0.12,2.22,0.00,0.000,4,0.133,0.060,2626,3929,1607
$GC,10759,0.88,198.8,384.3,9.8,567,10763,0.00,2.15,0.00,0.000,6,0.000,0.036,2626,2511,1607
$GC,11091,0.95,198.8,360.5,7.4,583,11095,0.00,2.15,0.00,0.000,4,0.000,0.048,2626,1111,1607
$GC,11159,1.06,198.8,355.2,7.7,586,11164,0.15,2.20,0.00,0.000,6,0.072,0.044,2691,2535,1607
$GC,11492,0.92,198.8,320.3,10.4,602,11497,0.20,2.22,0.00,0.000,4,0.120,0.059,2624,3936,1607
$GC,11553,0.92,198.8,314.6,8.8,605,11557,0.00,2.15,0.00,0.000,6,0.000,0.036,2624,2506,1607
$GC,11885,1.01,198.8,289.8,7.5,621,11890,0.12,2.15,0.00,0.000,4,0.077,0.048,2679,1110,1607
$GC,11963,0.96,198.8,282.1,9.5,624,11968,0.15,2.17,0.00,0.000,6,0.130,0.044,2635,2518,1606
$GC,12283,0.96,198.8,257.6,7.3,640,12287,0.00,2.22,0.00,0.000,4,0.000,0.060,2635,3926,1606
$GC,12322,0.96,198.8,254.1,9.3,641,12328,0.00,2.12,0.00,0.000,6,0.000,0.036,2635,2519,1607
$GC,12638,1.01,200.6,230.5,7.0,657,12642,0.00,2.15,0.00,0.000,4,0.000,0.047,2635,1119,1607
$GC,12711,1.12,204.5,225.6,6.9,660,12722,0.15,2.17,6.05,0.779,6,0.070,0.043,2697,2533,1586
$GC,13033,0.99,204.5,195.9,9.8,675,13038,0.17,2.22,0.00,0.000,4,0.127,0.058,2644,3927,1586
$GC,13123,0.99,204.5,188.2,8.1,679,13127,0.00,2.15,0.00,0.000,6,0.000,0.036,2643,2508,1585
$GC,13457,1.06,218.5,166.4,6.5,695,13479,0.08,2.20,12.90,0.883,4,0.098,0.048,2681,1120,1529
$GC,13529,1.06,218.5,160.3,9.2,698,13533,0.00,2.20,0.00,0.000,6,0.000,0.044,2681,2512,1528
$GC,13855,1.06,218.5,130.6,9.0,714,13860,0.00,2.25,0.00,0.000,4,0.000,0.060,2681,3933,1529
$GC,13917,0.93,218.5,124.1,11.1,716,13924,0.15,2.15,0.00,0.000,6,0.136,0.036,2638,2520,1528
$GC,14233,1.07,228.9,102.7,6.7,732,14248,0.12,2.17,10.12,0.828,4,0.083,0.047,2692,1120,1486
$GC,14363,1.07,228.9,92.0,8.2,749,14370,0.10,2.20,0.00,0.000,6,0.134,0.044,2664,2534,1486
$GC,14709,1.19,250.6,68.2,6.3,810,14735,0.12,2.30,18.73,0.872,4,0.074,0.061,2719,3925,1397
$GC,14792,1.02,250.6,60.9,9.8,824,14799,0.22,2.17,0.00,0.000,6,0.126,0.038,2651,2510,1396
$GC,15138,1.40,250.6,39.9,7.1,885,15145,0.25,2.17,0.00,0.000,4,0.072,0.047,2750,1106,1395
$GC,15175,1.58,250.6,36.7,8.1,891,15182,0.12,2.20,0.00,0.000,6,0.078,0.045,2801,2518,1395
$STATE,15472,end climb,SURFACE_DEPTH_REACHED
$STATE,15472,begin surface coast
$FINISH,0.7,1.015294
$STATE,15490,end surface coast,CONTROL_FINISHED_OK
$STATE,15490,begin surface
$SM_CCo,15568,0.00,0.000,0,0,1393,251.92
$SM_GC,1.67,7.22,0.00,0.00,0.063,0.000,0.000,165,2328,1393,-10.37,-0.34,251.92
$RAFOS_CLK,817
$RAFOS,4,1225975458,12.750000,12.738334,85,64,59,59,55,51,736,166,222,203,185,139
$RAFOS,3,1225974843,12.583333,12.567500,82,68,64,57,57,53,995,198,208,231,181,120
$RAFOS,2,1225974259,12.416667,12.405278,88,60,59,53,53,51,554,203,233,151,132,118
$RAFOS,1,1225973658,12.250000,12.238334,67,62,62,61,59,58,788,221,133,148,189,165
$RAFOS,0,1225973056,12.083333,12.071111,75,61,57,56,53,48,968,218,179,151,125,141
$RAFOS_FIX,6705.505371,-5704.362305,061108,121248,4,82,0.77
$IRIDIUM_FIX,6636.54,-5702.96,310198,111141
$TT8_MAMPS,0.027612
$HUMID,1853
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.60
$XPDR_PINGS,2
$24V_AH,21.4,52.360
$10V_AH,10.6,22.617
$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,22.625,160.425,356.875,0.000,0.000,101.204,192.317,261.019,0.500,0.000,0.000,12.728,1782.605,11462.330,505.424,1863.923,833.673,33.382,1537.627,0.000,1831.271,1800.000,0.529,0.000
$DEVICE_MAMPS,260.013,65.962,1155.102,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.065,641.519,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34707,947
$CAP_FILE_SIZE,144513,0
$CFSIZE,260165632,230678528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.5
$GPS,061108,154239,6705.024,-5659.454,38,1.2,39,-37.6