version: 66.04
glider: 113
mission: 4
dive: 343
start: 11 23 108 15 40 33
data:
$ID,113
$MISSION,4
$DIVE,343
$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,-29475.895
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,153301,6649.737,-5751.086,35,0.9,41,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.8
$GPS2,153938,6649.675,-5751.073,11,1.8,16,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.178,0.136
$KALMAN_X,-60324.7,-241.1,-75.7,41345.5,1001.2
$KALMAN_Y,-24737.4,-28.8,-554.9,15707.4,-272.6
$MHEAD_RNG_PITCHd_Wd,90.2,51804,-12.9,-7.021
$D_GRID,710
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,153,0.00,0.00,-133.80,0.000,6,0.000,0.000,159,2335,3016
$GC,157,-1.08,-146.0,3.7,-3.3,24,171,8.95,2.33,0.00,0.000,4,0.268,0.061,2200,925,3020
$GC,206,0.02,-146.0,15.1,-21.4,32,213,0.85,2.30,0.00,0.000,6,0.181,0.056,2437,2348,3023
$GC,551,-0.51,-146.0,35.9,-6.3,93,558,0.32,2.33,0.00,0.000,4,0.081,0.069,2314,3749,3024
$GC,677,-0.51,-146.0,46.8,-9.2,115,683,0.00,2.20,0.00,0.000,6,0.000,0.041,2314,2338,3024
$GC,1023,-0.56,-146.0,76.2,-8.2,176,1029,0.00,2.35,0.00,0.000,4,0.000,0.070,2314,3746,3024
$GC,1103,-0.68,-146.0,82.5,-7.3,190,1110,0.10,2.20,0.00,0.000,6,0.104,0.041,2276,2336,3024
$GC,1437,-0.68,-146.0,110.9,-8.5,233,1441,0.00,2.35,0.00,0.000,4,0.000,0.070,2275,3742,3024
$GC,1514,-0.68,-146.0,117.5,-8.3,236,1520,0.00,2.20,0.00,0.000,6,0.000,0.042,2275,2338,3024
$GC,1830,-0.68,-146.0,141.6,-7.4,252,1834,0.00,2.25,0.00,0.000,4,0.000,0.057,2275,927,3024
$GC,1898,-0.68,-146.0,147.0,-7.0,255,1902,0.00,2.30,0.00,0.000,6,0.000,0.054,2275,2354,3024
$GC,2230,-0.68,-146.0,170.7,-7.1,271,2234,0.00,2.33,0.00,0.000,4,0.000,0.071,2275,3752,3023
$GC,2286,-0.76,-146.0,174.8,-7.4,273,2290,0.00,2.22,0.00,0.000,6,0.000,0.041,2275,2327,3023
$GC,2608,-0.82,-146.0,196.7,-6.5,289,2614,0.00,2.40,0.00,0.000,4,0.000,0.071,2275,3755,3023
$GC,2642,-0.91,-146.0,199.1,-7.3,290,2647,0.12,2.22,0.00,0.000,6,0.108,0.041,2231,2334,3022
$GC,2958,-0.83,-146.0,223.3,-7.7,305,2963,0.10,2.40,0.00,0.000,4,0.170,0.070,2255,3756,3022
$GC,2985,-0.83,-146.0,225.4,-7.7,306,2989,0.00,2.22,0.00,0.000,6,0.000,0.041,2256,2327,3022
$GC,3307,-0.83,-146.0,248.4,-7.3,322,3311,0.00,2.38,0.00,0.000,4,0.000,0.070,2255,3743,3022
$GC,3357,-0.90,-146.0,252.4,-7.6,324,3360,0.00,2.20,0.00,0.000,6,0.000,0.041,2255,2338,3022
$GC,3678,-0.90,-146.0,275.0,-6.8,340,3682,0.00,2.38,0.00,0.000,4,0.000,0.068,2256,3756,3022
$GC,3706,-0.95,-146.0,276.9,-7.1,341,3711,0.12,2.22,0.00,0.000,6,0.095,0.041,2213,2333,3022
$GC,4033,-0.85,-146.0,302.7,-7.7,357,4038,0.15,2.40,0.00,0.000,4,0.160,0.068,2253,3754,3022
$GC,4054,-0.85,-146.0,304.3,-6.8,358,4058,0.00,2.22,0.00,0.000,6,0.000,0.040,2254,2328,3022
$GC,4383,-0.90,-146.0,323.7,-5.6,374,4386,0.00,2.38,0.00,0.000,4,0.000,0.068,2254,3746,3022
$GC,4411,-0.97,-146.0,325.5,-6.0,375,4415,0.12,2.20,0.00,0.000,6,0.097,0.040,2210,2334,3022
$GC,4738,-0.88,-146.0,348.6,-7.5,391,4743,0.15,2.40,0.00,0.000,4,0.159,0.068,2252,3757,3022
$GC,4788,-0.95,-146.0,352.1,-6.6,393,4792,0.00,2.22,0.00,0.000,6,0.000,0.040,2252,2327,3022
$GC,5109,-0.99,-146.0,375.0,-7.6,409,5111,0.12,0.00,0.00,0.000,6,0.104,0.000,2204,2326,3023
$GC,5439,-0.89,-146.0,404.2,-8.8,424,5444,0.15,2.40,0.00,0.000,4,0.151,0.067,2245,3749,3023
$GC,5484,-0.96,-146.0,407.8,-7.3,425,5487,0.00,2.20,0.00,0.000,6,0.000,0.040,2245,2336,3023
$GC,5808,-0.96,-146.0,429.3,-6.4,433,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2336,3024
$GC,6134,-1.01,-146.0,448.5,-5.7,441,6139,0.12,2.38,0.00,0.000,4,0.100,0.068,2199,3749,3024
$GC,6184,-0.92,-146.0,452.1,-7.2,442,6188,0.15,2.20,0.00,0.000,6,0.155,0.040,2239,2336,3024
$GC,6502,-0.92,-146.0,470.5,-5.7,450,6506,0.00,2.38,0.00,0.000,4,0.000,0.067,2239,3754,3025
$GC,6531,-0.96,-146.0,472.3,-6.3,450,6535,0.00,2.20,0.00,0.000,6,0.000,0.039,2239,2340,3025
$GC,6873,-0.96,-146.0,492.8,-6.2,459,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2340,3025
$GC,7198,-0.96,-146.0,514.5,-6.8,467,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2340,3025
$GC,7524,-0.96,-146.0,536.7,-6.5,475,7527,0.00,2.38,0.00,0.000,4,0.000,0.067,2239,3756,3026
$GC,7570,-1.04,-146.0,539.8,-6.7,476,7574,0.12,2.20,0.00,0.000,6,0.097,0.040,2195,2340,3026
$GC,7899,-0.93,-146.0,565.1,-7.7,484,7904,0.15,2.38,0.00,0.000,4,0.153,0.066,2236,3749,3026
$GC,7927,-0.93,-146.0,567.0,-7.1,484,7931,0.00,2.20,0.00,0.000,6,0.000,0.040,2236,2334,3026
$GC,8264,-0.93,-146.0,587.6,-6.0,493,8268,0.00,2.38,0.00,0.000,4,0.000,0.067,2236,3752,3026
$GC,8310,-0.99,-146.0,590.5,-6.3,494,8314,0.00,2.20,0.00,0.000,6,0.000,0.038,2236,2334,3026
$GC,8640,-0.99,-146.0,609.6,-5.6,502,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2333,3026
$GC,8965,-0.99,-146.0,627.5,-5.5,510,8968,0.00,2.38,0.00,0.000,4,0.000,0.067,2236,3750,3026
$GC,9043,-1.05,-146.0,632.4,-6.1,511,9048,0.12,2.20,0.00,0.000,6,0.101,0.039,2192,2337,3026
$GC,9381,-0.94,-146.0,655.9,-7.1,520,9383,0.15,0.00,0.00,0.000,6,0.152,0.000,2232,2337,3026
$GC,9705,-0.94,-146.0,674.4,-5.9,528,9709,0.00,2.38,0.00,0.000,4,0.000,0.067,2232,3756,3026
$GC,9807,-1.00,-146.0,680.3,-5.8,530,9811,0.00,2.22,0.00,0.000,6,0.000,0.039,2232,2326,3026
$GC,10126,-1.00,-146.0,699.7,-6.3,538,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2326,3026
$STATE,10285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10285,begin apogee
$GC,10292,-0.34,0.0,710.6,6.8,542,10431,0.43,0.00,136.38,1.318,6,0.143,0.000,2363,2528,2420
$STATE,10432,end apogee,CONTROL_FINISHED_OK
$STATE,10433,begin climb
$GC,10435,1.08,146.0,713.0,0.0,545,10630,1.05,2.70,154.50,1.153,4,0.110,0.051,2664,1126,1824
$GC,10681,0.98,146.0,696.2,7.9,550,10687,0.00,2.53,0.00,0.000,6,0.000,0.049,2664,2526,1823
$GC,11012,0.86,146.0,668.7,8.2,559,11017,0.15,2.35,0.00,0.000,4,0.139,0.068,2622,3932,1822
$GC,11079,0.77,146.0,663.3,8.1,560,11083,0.00,2.22,0.00,0.000,6,0.000,0.041,2622,2507,1822
$GC,11422,0.78,153.1,639.5,6.8,569,11431,0.00,0.00,7.00,1.051,6,0.000,0.000,2622,2507,1795
$GC,11747,0.80,169.8,618.5,6.5,577,11764,0.00,0.00,15.90,1.211,6,0.000,0.000,2622,2507,1727
$GC,12072,0.87,181.2,596.9,6.6,585,12088,0.00,2.38,11.02,1.150,4,0.000,0.068,2622,3929,1681
$GC,12111,0.87,181.2,594.0,7.2,586,12115,0.00,2.20,0.00,0.000,6,0.000,0.041,2622,2521,1681
$GC,12441,0.94,192.9,572.3,6.6,594,12457,0.00,2.30,11.40,1.151,4,0.000,0.054,2622,1119,1633
$GC,12492,1.07,208.6,568.9,6.5,595,12512,0.15,2.25,14.70,1.167,6,0.077,0.050,2680,2526,1569
$GC,12849,0.96,208.6,536.7,9.1,604,12854,0.15,2.30,0.00,0.000,4,0.131,0.068,2636,3927,1569
$GC,12881,0.96,208.6,533.8,8.3,604,12888,0.00,2.17,0.00,0.000,6,0.000,0.041,2636,2520,1568
$GC,13213,0.96,208.6,510.4,7.1,613,13217,0.00,2.22,0.00,0.000,4,0.000,0.054,2636,1107,1568
$GC,13252,1.04,208.6,507.5,7.9,613,13259,0.10,2.25,0.00,0.000,6,0.088,0.049,2678,2530,1568
$GC,13584,0.95,208.6,476.5,9.6,622,13588,0.15,2.30,0.00,0.000,4,0.125,0.067,2633,3934,1568
$GC,13623,0.95,208.6,473.0,8.9,623,13627,0.00,2.20,0.00,0.000,6,0.000,0.040,2633,2511,1569
$GC,13954,1.01,208.6,449.3,7.0,631,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2510,1569
$GC,14278,1.07,208.6,426.4,7.1,639,14280,0.12,0.00,0.00,0.000,6,0.085,0.000,2688,2510,1568
$GC,14584,0.96,208.6,396.0,10.3,647,14586,0.15,0.00,0.00,0.000,6,0.132,0.000,2643,2510,1568
$GC,14892,0.96,208.6,370.9,7.8,662,14893,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2510,1568
$GC,15202,0.96,208.7,348.5,7.0,677,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2510,1568
$GC,15512,0.99,233.5,328.1,6.2,692,15535,0.00,0.00,21.65,1.092,6,0.000,0.000,2643,2510,1468
$GC,15841,1.10,263.7,307.9,6.0,708,15870,0.12,0.00,26.70,1.074,6,0.081,0.000,2693,2510,1344
$GC,16171,1.04,263.7,279.6,8.8,724,16172,0.12,0.00,0.00,0.000,6,0.138,0.000,2658,2509,1343
$GC,16479,1.12,263.7,256.0,7.7,739,16484,0.08,2.20,0.00,0.000,4,0.100,0.052,2693,1116,1343
$GC,16523,1.12,263.7,251.9,9.1,741,16527,0.00,2.22,0.00,0.000,6,0.000,0.048,2693,2528,1343
$GC,16850,1.12,263.7,221.8,8.7,757,16851,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2528,1344
$GC,17159,1.12,263.7,194.4,9.1,772,17163,0.00,2.25,0.00,0.000,4,0.000,0.053,2693,1116,1344
$GC,17220,1.12,263.7,188.8,9.1,774,17226,0.00,2.22,0.00,0.000,6,0.000,0.048,2693,2524,1344
$GC,17536,1.12,263.7,160.1,8.5,790,17537,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2524,1344
$GC,17845,1.14,278.9,137.4,6.5,805,17866,0.00,2.33,13.48,0.970,4,0.000,0.054,2693,1115,1283
$GC,17906,1.26,326.6,133.7,5.4,807,17954,0.00,2.25,41.17,0.989,6,0.000,0.048,2693,2527,1088
$GC,18268,1.39,352.1,113.8,6.2,825,18297,0.15,2.30,21.92,0.967,4,0.074,0.054,2759,1112,982
$GC,18314,1.29,352.1,109.3,8.9,827,18319,0.17,2.28,0.00,0.000,6,0.137,0.049,2710,2525,981
$GC,18647,1.36,352.1,81.6,8.8,872,18654,0.10,2.30,0.00,0.000,4,0.086,0.067,2754,3930,979
$GC,18672,1.36,352.1,79.1,9.8,876,18679,0.12,2.17,0.00,0.000,6,0.153,0.041,2724,2521,978
$GC,19018,1.51,414.4,52.9,4.9,937,19078,0.15,2.40,53.00,0.974,4,0.077,0.057,2785,1112,730
$GC,19190,1.51,414.4,34.9,10.1,967,19196,0.00,2.28,0.00,0.000,6,0.000,0.051,2785,2520,723
$STATE,19488,end climb,SURFACE_DEPTH_REACHED
$STATE,19488,begin surface coast
$FINISH,0.9,1.014895
$STATE,19515,end surface coast,CONTROL_FINISHED_OK
$STATE,19515,begin surface
$SM_CCo,19593,0.00,0.000,0,0,716,417.99
$SM_GC,1.67,7.20,0.00,0.00,0.060,0.000,0.000,162,2338,716,-10.39,-0.06,417.99
$RAFOS_CLK,1107
$RAFOS,4,1227473052,20.750000,20.736666,59,58,56,53,51,50,217,199,122,181,485,156
$RAFOS,3,1227472448,20.583334,20.568890,65,60,54,53,52,46,182,165,207,146,219,110
$RAFOS,2,1227471845,20.416666,20.401388,66,59,59,57,56,53,196,218,578,177,143,155
$RAFOS,1,1227471247,20.250000,20.235277,75,69,58,57,54,54,155,197,715,221,123,113
$RAFOS,0,1227470650,20.083334,20.069445,72,61,58,55,49,49,213,191,158,224,171,124
$RAFOS,4,1227458656,16.750000,16.737778,83,59,59,53,53,52,688,210,171,227,196,144
$RAFOS,3,1227458054,16.583334,16.570555,64,61,59,59,56,55,194,212,162,767,119,173
$RAFOS,2,1227457445,16.416666,16.401388,147,65,62,58,57,53,576,210,197,160,171,147
$RAFOS,1,1227456854,16.250000,16.237223,64,64,59,59,57,56,200,225,170,672,212,159
$RAFOS,0,1227456247,16.083334,16.068611,65,63,60,59,59,54,878,203,214,163,148,185
$RAFOS_FIX,6651.489258,-5746.455566,231108,161616,2,115,1.40
$IRIDIUM_FIX,6620.33,-5755.62,170298,090924
$TT8_MAMPS,0.027612
$HUMID,1896
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,20.2,63.963
$10V_AH,10.5,28.258
$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,22.775,156.425,528.825,0.000,0.000,30.708,30.915,192.578,0.500,0.000,0.000,17.487,1905.908,14844.792,700.399,1985.053,578.450,33.361,1806.402,0.000,1950.804,3600.000,0.529,0.000
$DEVICE_MAMPS,268.450,72.098,1318.473,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.383,702.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37846,1025
$CAP_FILE_SIZE,150772,0
$CFSIZE,260165632,225435648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1451.8
$GPS,231108,210937,6649.029,-5743.089,70,1.3,70,-37.5