version: 66.04
glider: 113
mission: 4
dive: 347
start: 11 24 108 14 33 47
data:
$ID,113
$MISSION,4
$DIVE,347
$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,558.3028
$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,-31510.426
$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,27
$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
$GPS1,140007,6649.765,-5731.383,33,1.3,33,-37.4
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-49.7
$GPS2,143253,6649.575,-5731.461,84,2.1,103,-37.4
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.153,0.164
$KALMAN_X,-55265.0,-656.7,-2874.8,53797.6,5450.0
$KALMAN_Y,-37628.8,-81.9,247.4,27654.5,-3109.9
$MHEAD_RNG_PITCHd_Wd,80.4,40040,-12.9,-7.021
$D_GRID,727
$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,-146.0,0.0,0.0,0,210,0.00,0.00,-190.95,0.000,2,0.000,0.000,155,2342,2923
$GC,214,-1.08,-146.0,3.1,-2.2,34,234,8.65,2.28,-3.65,0.000,4,0.253,0.070,2197,933,3017
$GC,325,-0.44,-146.0,23.8,-18.5,53,332,0.52,2.28,0.00,0.000,6,0.179,0.054,2338,2346,3019
$GC,670,-0.44,-146.0,55.1,-8.5,114,676,0.00,2.33,0.00,0.000,4,0.000,0.070,2338,3759,3022
$GC,768,-0.57,-146.0,62.6,-7.3,131,775,0.10,2.22,0.00,0.000,6,0.092,0.041,2301,2325,3022
$GC,1113,-0.57,-146.0,88.5,-6.4,192,1119,0.00,2.20,0.00,0.000,4,0.000,0.056,2301,938,3023
$GC,1177,-0.57,-146.0,93.0,-6.9,203,1183,0.00,2.25,0.00,0.000,6,0.000,0.053,2301,2343,3023
$GC,1520,-0.62,-146.0,115.1,-7.3,234,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2343,3023
$GC,1828,-0.69,-146.0,141.5,-8.9,249,1832,0.00,2.33,0.00,0.000,4,0.000,0.071,2301,3747,3023
$GC,1874,-0.81,-146.0,145.5,-8.3,251,1879,0.15,2.17,0.00,0.000,6,0.086,0.041,2244,2341,3023
$GC,2206,-0.72,-146.0,174.8,-8.1,267,2211,0.15,2.25,0.00,0.000,4,0.161,0.055,2285,934,3022
$GC,2290,-0.72,-146.0,180.7,-6.7,270,2297,0.00,2.28,0.00,0.000,6,0.000,0.053,2284,2347,3022
$GC,2606,-0.79,-146.0,200.5,-6.0,286,2610,0.00,2.28,0.00,0.000,4,0.000,0.055,2284,932,3022
$GC,2657,-0.79,-146.0,204.0,-6.6,288,2661,0.00,2.28,0.00,0.000,6,0.000,0.052,2285,2345,3022
$GC,2984,-0.88,-146.0,224.2,-6.3,304,2989,0.15,2.33,0.00,0.000,4,0.088,0.067,2230,3748,3021
$GC,3047,-0.81,-146.0,229.3,-8.9,307,3051,0.12,2.20,0.00,0.000,6,0.165,0.041,2260,2333,3021
$GC,3379,-0.81,-146.0,254.4,-7.4,323,3383,0.00,2.35,0.00,0.000,4,0.000,0.069,2260,3750,3022
$GC,3457,-0.88,-146.0,260.2,-7.0,326,3461,0.00,2.20,0.00,0.000,6,0.000,0.040,2260,2339,3021
$GC,3779,-0.88,-146.0,281.7,-6.5,342,3783,0.00,2.22,0.00,0.000,4,0.000,0.054,2260,934,3021
$GC,3852,-0.88,-146.0,287.1,-7.7,345,3856,0.00,2.28,0.00,0.000,6,0.000,0.051,2260,2352,3021
$GC,4179,-0.93,-146.0,309.2,-6.5,361,4181,0.10,0.00,0.00,0.000,6,0.119,0.000,2226,2353,3021
$GC,4489,-0.86,-146.0,330.3,-6.7,376,4493,0.10,2.30,0.00,0.000,4,0.173,0.065,2249,3744,3021
$GC,4521,-0.86,-146.0,332.6,-6.7,377,4528,0.00,2.20,0.00,0.000,6,0.000,0.039,2248,2325,3022
$GC,4837,-0.86,-146.0,351.7,-6.1,393,4841,0.00,2.20,0.00,0.000,4,0.000,0.054,2249,936,3022
$GC,4884,-0.86,-146.0,354.9,-7.0,395,4887,0.00,2.25,0.00,0.000,6,0.000,0.051,2248,2343,3022
$GC,5216,-0.86,-146.0,376.1,-6.2,411,5220,0.00,2.33,0.00,0.000,4,0.000,0.067,2248,3755,3022
$GC,5300,-0.92,-146.0,381.4,-5.9,414,5306,0.00,2.20,0.00,0.000,6,0.000,0.039,2249,2336,3023
$GC,5636,-0.92,-146.0,402.9,-6.4,430,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2336,3023
$GC,5961,-0.92,-146.0,424.1,-6.7,438,5965,0.00,2.35,0.00,0.000,4,0.000,0.066,2248,3752,3024
$GC,6020,-0.98,-146.0,428.2,-7.4,439,6024,0.10,2.20,0.00,0.000,6,0.117,0.039,2214,2333,3024
$GC,6333,-0.90,-146.0,453.2,-8.1,447,6335,0.12,0.00,0.00,0.000,6,0.161,0.000,2246,2333,3025
$GC,6660,-0.90,-146.0,475.3,-6.7,455,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2333,3025
$GC,6982,-0.90,-146.0,497.4,-6.6,463,6986,0.00,2.35,0.00,0.000,4,0.000,0.067,2246,3746,3026
$GC,7044,-0.97,-146.0,501.9,-7.8,464,7048,0.00,2.17,0.00,0.000,6,0.000,0.039,2246,2335,3026
$GC,7392,-0.97,-146.0,525.2,-6.6,473,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2335,3026
$GC,7717,-0.97,-146.0,546.8,-6.7,481,7721,0.00,2.35,0.00,0.000,4,0.000,0.065,2247,3750,3026
$GC,7751,-1.05,-146.0,549.1,-7.1,481,7755,0.15,2.20,0.00,0.000,6,0.100,0.038,2193,2328,3026
$GC,8087,-0.91,-146.0,577.0,-8.3,490,8089,0.17,0.00,0.00,0.000,6,0.149,0.000,2242,2327,3026
$GC,8412,-0.91,-146.0,598.5,-6.3,498,8417,0.00,2.38,0.00,0.000,4,0.000,0.067,2242,3755,3026
$GC,8475,-0.98,-146.0,602.4,-6.0,499,8479,0.00,2.20,0.00,0.000,6,0.000,0.039,2242,2340,3026
$GC,8788,-0.98,-146.0,621.4,-6.1,507,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2339,3026
$GC,9113,-0.98,-146.0,641.3,-6.1,515,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2340,3026
$GC,9438,-0.98,-146.0,662.1,-6.4,523,9442,0.00,2.35,0.00,0.000,4,0.000,0.067,2242,3744,3026
$GC,9491,-1.06,-146.0,665.3,-6.3,524,9495,0.15,2.20,0.00,0.000,6,0.089,0.039,2189,2329,3026
$GC,9815,-0.92,-146.0,690.5,-7.9,532,9817,0.17,0.00,0.00,0.000,6,0.153,0.000,2239,2328,3026
$GC,10140,-0.92,-146.0,711.2,-6.4,540,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2328,3026
$STATE,10421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10421,begin apogee
$GC,10428,-0.34,0.0,728.5,6.0,547,10562,0.40,0.00,131.60,1.320,6,0.143,0.000,2362,2514,2421
$STATE,10563,end apogee,CONTROL_FINISHED_OK
$STATE,10563,begin climb
$GC,10566,1.08,146.0,731.4,0.0,550,10781,1.08,2.80,162.65,1.130,4,0.106,0.065,2666,3929,1824
$GC,10827,0.81,146.0,714.0,9.6,556,10832,0.22,2.47,0.00,0.000,6,0.143,0.038,2611,2525,1825
$GC,11151,0.84,166.6,693.1,6.3,564,11172,0.00,0.00,18.67,1.213,6,0.000,0.000,2611,2525,1741
$GC,11477,0.93,183.0,672.2,6.5,572,11495,0.10,0.00,15.25,1.203,6,0.087,0.000,2653,2525,1675
$GC,11801,0.88,183.0,647.0,7.7,580,11806,0.10,2.33,0.00,0.000,4,0.146,0.067,2625,3937,1678
$GC,11851,0.82,183.0,643.0,7.4,581,11855,0.00,2.22,0.00,0.000,6,0.000,0.040,2625,2500,1678
$GC,12170,0.84,196.9,622.4,6.5,589,12185,0.00,0.00,12.93,1.187,6,0.000,0.000,2625,2500,1617
$GC,12494,0.89,196.9,599.8,7.1,597,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2500,1621
$GC,12819,0.95,201.2,577.8,6.9,605,12830,0.00,2.40,5.70,0.969,4,0.000,0.067,2625,3944,1599
$GC,12847,0.95,201.2,575.7,7.1,605,12851,0.00,2.22,0.00,0.000,6,0.000,0.040,2625,2509,1600
$GC,13185,1.02,205.4,552.3,6.9,614,13192,0.12,0.00,5.28,0.933,6,0.083,0.000,2678,2509,1583
$GC,13509,0.92,205.4,522.7,9.2,622,13511,0.17,0.00,0.00,0.000,6,0.126,0.000,2626,2509,1586
$GC,13835,0.98,207.9,500.4,6.9,630,13845,0.10,2.40,3.75,0.739,4,0.094,0.068,2665,3930,1573
$GC,13868,0.84,207.9,497.4,9.2,630,13872,0.17,2.20,0.00,0.000,6,0.145,0.041,2615,2511,1573
$GC,14199,0.98,230.5,476.1,6.3,638,14225,0.12,2.25,20.50,1.170,4,0.080,0.053,2665,1119,1480
$GC,14248,0.98,230.5,472.1,8.2,639,14252,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2533,1480
$GC,14567,0.98,230.5,445.0,8.7,647,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2533,1483
$GC,14892,0.98,230.5,417.6,8.3,655,14893,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2533,1483
$GC,15198,0.98,230.5,392.3,8.3,664,15202,0.00,2.28,0.00,0.000,4,0.000,0.053,2665,1109,1483
$GC,15226,0.98,230.5,390.0,8.1,665,15229,0.00,2.25,0.00,0.000,6,0.000,0.049,2665,2529,1482
$GC,15552,0.98,230.5,364.1,7.8,681,15553,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2529,1483
$GC,15862,0.98,230.5,341.1,7.4,696,15865,0.00,2.25,0.00,0.000,4,0.000,0.053,2665,1119,1483
$GC,15878,0.98,230.5,339.9,7.2,696,15885,0.00,2.22,0.00,0.000,6,0.000,0.048,2665,2525,1483
$GC,16194,0.98,230.5,316.6,7.3,712,16195,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2526,1482
$GC,16503,0.98,230.5,293.1,7.5,727,16504,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2525,1483
$GC,16813,0.98,230.5,268.4,8.4,742,16817,0.00,2.25,0.00,0.000,4,0.000,0.052,2665,1117,1483
$GC,16841,0.98,230.5,266.0,8.0,743,16845,0.00,2.22,0.00,0.000,6,0.000,0.048,2665,2523,1483
$GC,17168,0.98,230.5,240.6,7.3,759,17171,0.00,2.30,0.00,0.000,4,0.000,0.064,2666,3935,1483
$GC,17196,0.91,230.5,238.1,9.3,760,17201,0.12,2.20,0.00,0.000,6,0.148,0.039,2631,2512,1483
$GC,17523,1.07,263.8,218.8,5.9,776,17559,0.12,2.30,28.60,1.025,4,0.081,0.053,2684,1119,1344
$GC,17592,1.07,263.8,213.3,8.3,779,17596,0.00,2.25,0.00,0.000,6,0.000,0.048,2684,2522,1345
$GC,17920,1.07,263.8,186.1,8.1,795,17921,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2522,1347
$GC,18228,1.07,263.8,161.9,7.3,810,18230,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2522,1346
$GC,18539,1.08,274.0,141.3,6.7,825,18554,0.00,2.28,9.70,0.915,4,0.000,0.054,2684,1117,1302
$GC,18578,1.15,278.8,138.8,6.9,826,18588,0.00,2.22,5.45,0.771,6,0.000,0.048,2684,2521,1283
$GC,18916,1.15,281.5,114.9,6.9,843,18921,0.00,0.00,3.88,0.647,6,0.000,0.000,2684,2521,1272
$GC,19234,1.27,333.6,96.4,5.2,867,19287,0.10,2.38,44.35,0.983,4,0.090,0.054,2730,1120,1059
$GC,19304,1.27,333.6,91.0,7.5,879,19311,0.00,2.28,0.00,0.000,6,0.000,0.048,2730,2518,1057
$GC,19649,1.27,333.6,60.3,8.8,940,19655,0.00,2.25,0.00,0.000,4,0.000,0.054,2730,1116,1056
$GC,19690,1.27,333.6,56.6,8.8,947,19696,0.00,2.25,0.00,0.000,6,0.000,0.049,2730,2534,1056
$GC,20034,1.27,333.6,26.1,7.6,1008,20041,0.00,2.28,0.00,0.000,4,0.000,0.054,2730,1110,1055
$GC,20070,1.35,388.2,24.3,5.2,1014,20122,0.00,2.25,45.78,0.959,6,0.000,0.051,2730,2525,837
$STATE,20351,end climb,SURFACE_DEPTH_REACHED
$STATE,20351,begin surface coast
$FINISH,1.2,1.026430
$STATE,20375,end surface coast,CONTROL_FINISHED_OK
$STATE,20375,begin surface
$SM_CCo,20393,152.38,0.884,1,0,144,558.30
$SM_GC,1.67,0.00,0.00,152.38,0.000,0.000,0.884,159,2337,144,-10.47,-0.11,558.30
$RAFOS_CLK,1214
$RAFOS,0,1227557045,20.083334,20.068056,66,64,59,56,56,54,204,220,195,159,123,179
$RAFOS,4,1227545068,16.750000,16.741112,63,59,49,48,47,44,201,169,220,665,135,123
$RAFOS,3,1227544454,16.583334,16.570555,68,62,57,56,55,51,198,214,805,187,115,175
$RAFOS,2,1227543881,16.416666,16.411388,67,56,53,51,51,50,387,218,202,126,117,153
$RAFOS,1,1227543242,16.250000,16.233889,67,60,58,52,51,48,785,187,220,209,149,133
$RAFOS,0,1227542654,16.083334,16.070555,64,58,58,56,52,52,220,202,128,140,178,234
$RAFOS_FIX,7250.552246,-7243.747559,241108,121256,2,92,57.34
$IRIDIUM_FIX,6620.33,-5735.92,180298,141403
$TT8_MAMPS,0.028379
$HUMID,1841
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,15.50
$XPDR_PINGS,2
$24V_AH,20.2,64.967
$10V_AH,10.5,28.646
$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,21.150,141.775,514.075,152.375,0.000,133.751,186.500,1144.677,0.500,0.000,0.000,105.848,1890.890,15818.526,920.366,2046.243,1838.969,33.374,2007.647,0.000,1928.220,2160.000,0.529,0.000
$DEVICE_MAMPS,253.110,73.632,1320.007,883.584,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.393,729.817,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37862,1068
$CAP_FILE_SIZE,169546,0
$CFSIZE,260165632,225099776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$SOUNDSPEED,1453.7
$GPS,241108,201737,6649.992,-5725.190,29,0.9,30,-37.4