version: 66.04
glider: 113
mission: 4
dive: 362
start: 11 28 108 1 27 33
data:
$ID,113
$MISSION,4
$DIVE,362
$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,-31807.646
$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,43
$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
$GPS1,012001,6704.568,-5702.230,67,1.2,67,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-63.0
$GPS2,012638,6704.583,-5702.482,13,1.1,13,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.186,-0.125
$KALMAN_X,-79378.4,-149.1,-272.5,95830.2,-2390.5
$KALMAN_Y,-23852.5,482.2,-15.9,41359.2,1930.7
$MHEAD_RNG_PITCHd_Wd,161.4,10861,-12.9,-7.021
$D_GRID,608
$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,-146.0,0.0,0.0,0,127,0.00,0.00,-108.60,0.000,2,0.000,0.000,155,2319,2918
$GC,131,-1.08,-146.0,3.2,-2.2,19,150,8.62,2.35,-3.53,0.000,4,0.255,0.074,2191,3750,3017
$GC,157,1.02,-146.0,8.6,-13.3,23,165,1.65,2.17,0.00,0.000,6,0.176,0.036,2660,2331,3019
$GC,503,-0.05,-146.0,30.0,-5.8,84,509,0.70,0.00,0.00,0.000,6,0.110,0.000,2425,2331,3020
$GC,848,-0.90,-146.0,51.0,-6.4,145,855,0.52,2.20,0.00,0.000,4,0.090,0.048,2234,934,3020
$GC,974,-0.74,-146.0,62.9,-10.3,167,981,0.15,2.22,0.00,0.000,6,0.167,0.046,2272,2348,3020
$GC,1320,-0.80,-146.0,89.2,-7.7,228,1326,0.00,2.22,0.00,0.000,4,0.000,0.048,2272,936,3018
$GC,1333,-0.86,-146.0,90.4,-7.7,230,1340,0.10,2.22,0.00,0.000,6,0.104,0.046,2235,2350,3018
$GC,1666,-0.86,-146.0,120.6,-8.5,259,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2350,3017
$GC,1973,-0.86,-146.0,145.0,-7.6,274,1977,0.00,2.22,0.00,0.000,4,0.000,0.048,2235,936,3017
$GC,2063,-0.79,-146.0,152.7,-8.7,278,2068,0.12,2.22,0.00,0.000,6,0.165,0.046,2267,2348,3017
$GC,2397,-0.89,-146.0,173.3,-5.6,294,2401,0.10,2.22,0.00,0.000,4,0.097,0.046,2231,935,3017
$GC,2408,-0.96,-146.0,174.1,-5.8,294,2412,0.00,2.22,0.00,0.000,6,0.000,0.045,2231,2349,3017
$GC,2730,-0.96,-146.0,195.6,-6.3,310,2734,0.00,2.22,0.00,0.000,4,0.000,0.048,2231,932,3017
$GC,2746,-0.96,-146.0,196.8,-6.4,310,2752,0.00,2.22,0.00,0.000,6,0.000,0.044,2231,2348,3017
$GC,3062,-0.96,-146.0,216.1,-6.2,326,3066,0.00,2.28,0.00,0.000,4,0.000,0.061,2231,3757,3017
$GC,3130,-0.96,-146.0,220.5,-6.5,329,3134,0.00,2.17,0.00,0.000,6,0.000,0.035,2231,2331,3018
$GC,3463,-0.96,-146.0,242.7,-6.8,345,3467,0.00,2.33,0.00,0.000,4,0.000,0.061,2231,3753,3018
$GC,3501,-0.96,-146.0,245.5,-7.2,346,3508,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2336,3018
$GC,3818,-0.96,-146.0,266.2,-6.8,362,3822,0.00,2.30,0.00,0.000,4,0.000,0.059,2231,3747,3019
$GC,3841,-0.96,-146.0,268.1,-7.7,363,3845,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2330,3019
$GC,4173,-0.96,-146.0,291.4,-7.2,379,4177,0.00,2.30,0.00,0.000,4,0.000,0.058,2231,3745,3019
$GC,4189,-0.96,-146.0,292.6,-6.9,379,4196,0.00,2.15,0.00,0.000,6,0.000,0.033,2231,2328,3019
$GC,4506,-0.96,-146.0,313.8,-6.8,395,4510,0.00,2.33,0.00,0.000,4,0.000,0.058,2231,3759,3020
$GC,4539,-0.96,-146.0,316.2,-7.1,396,4543,0.00,2.15,0.00,0.000,6,0.000,0.033,2231,2338,3020
$GC,4860,-0.96,-146.0,338.8,-7.3,412,4864,0.00,2.30,0.00,0.000,4,0.000,0.060,2231,3745,3021
$GC,4884,-0.96,-146.0,340.4,-7.2,413,4888,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2329,3021
$GC,5216,-0.96,-146.0,364.2,-7.1,429,5220,0.00,2.33,0.00,0.000,4,0.000,0.058,2231,3757,3021
$GC,5284,-1.01,-146.0,369.1,-7.3,432,5288,0.00,2.17,0.00,0.000,6,0.000,0.035,2231,2327,3021
$GC,5617,-1.01,-146.0,392.0,-6.8,448,5621,0.00,2.33,0.00,0.000,4,0.000,0.059,2231,3753,3022
$GC,5628,-1.01,-146.0,392.9,-6.8,448,5632,0.00,2.15,0.00,0.000,6,0.000,0.033,2231,2337,3022
$GC,5947,-1.01,-146.0,414.1,-6.7,459,5951,0.00,2.30,0.00,0.000,4,0.000,0.058,2230,3747,3022
$GC,5958,-1.01,-146.0,414.7,-6.4,459,5962,0.00,2.15,0.00,0.000,6,0.000,0.032,2231,2330,3022
$GC,6277,-1.01,-146.0,434.7,-6.1,467,6282,0.00,2.30,0.00,0.000,4,0.000,0.058,2231,3753,3023
$GC,6330,-1.08,-146.0,437.9,-6.4,468,6334,0.10,2.15,0.00,0.000,6,0.098,0.032,2191,2333,3023
$GC,6655,-0.98,-146.0,460.8,-7.0,476,6659,0.12,2.33,0.00,0.000,4,0.145,0.060,2226,3757,3023
$GC,6677,-0.98,-146.0,462.2,-6.7,476,6680,0.00,2.15,0.00,0.000,6,0.000,0.032,2226,2340,3022
$GC,7025,-0.98,-146.0,484.3,-6.5,485,7029,0.00,2.30,0.00,0.000,4,0.000,0.059,2226,3748,3023
$GC,7071,-1.04,-146.0,487.3,-6.7,486,7075,0.00,2.15,0.00,0.000,6,0.000,0.034,2226,2334,3023
$GC,7401,-1.04,-146.0,509.6,-6.8,494,7405,0.00,2.30,0.00,0.000,4,0.000,0.058,2226,3745,3023
$GC,7423,-1.09,-146.0,511.2,-7.2,494,7428,0.12,2.15,0.00,0.000,6,0.087,0.034,2180,2332,3023
$GC,7771,-0.97,-146.0,539.1,-7.8,503,7776,0.17,2.33,0.00,0.000,4,0.143,0.058,2229,3747,3023
$GC,7857,-1.05,-146.0,544.8,-6.8,505,7861,0.10,2.15,0.00,0.000,6,0.096,0.034,2191,2332,3023
$GC,8186,-0.97,-146.0,568.7,-7.3,513,8191,0.12,2.33,0.00,0.000,4,0.145,0.060,2226,3749,3024
$GC,8226,-1.04,-146.0,571.3,-6.7,513,8232,0.00,2.15,0.00,0.000,6,0.000,0.035,2226,2341,3024
$GC,8558,-1.04,-146.0,592.8,-6.4,522,8561,0.00,2.30,0.00,0.000,4,0.000,0.058,2226,3750,3024
$GC,8585,-1.11,-146.0,594.9,-7.8,522,8590,0.12,2.15,0.00,0.000,6,0.087,0.033,2180,2334,3024
$STATE,8803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8803,begin apogee
$GC,8810,-0.34,0.0,611.7,7.5,528,8943,0.60,0.00,129.60,1.183,6,0.143,0.000,2362,2530,2420
$STATE,8943,end apogee,CONTROL_FINISHED_OK
$STATE,8944,begin climb
$GC,8946,1.08,146.0,616.0,0.0,531,9093,1.05,0.00,137.75,1.096,6,0.108,0.000,2671,2530,1824
$GC,9415,0.91,146.0,580.6,8.8,543,9420,0.15,2.28,0.00,0.000,4,0.140,0.058,2628,3933,1824
$GC,9522,0.79,146.0,571.6,8.0,545,9526,0.00,2.15,0.00,0.000,6,0.000,0.035,2628,2526,1824
$GC,9871,0.79,152.4,548.3,6.8,554,9882,0.00,2.28,6.55,0.911,4,0.000,0.047,2628,1109,1798
$GC,9933,0.79,152.4,543.9,7.4,555,9937,0.00,2.20,0.00,0.000,6,0.000,0.042,2628,2524,1799
$GC,10281,0.79,152.4,519.2,7.1,564,10284,0.00,2.22,0.00,0.000,4,0.000,0.058,2628,3926,1800
$GC,10348,0.68,152.4,513.6,8.6,565,10353,0.17,2.15,0.00,0.000,6,0.137,0.035,2575,2510,1799
$GC,10691,0.97,152.4,491.8,7.0,574,10696,0.20,2.33,0.00,0.000,4,0.069,0.059,2661,3936,1799
$GC,10808,0.75,152.4,480.0,11.0,576,10813,0.22,2.17,0.00,0.000,6,0.134,0.035,2594,2509,1799
$GC,11141,0.87,161.8,457.2,6.7,584,11156,0.12,2.22,9.25,0.978,4,0.074,0.046,2651,1118,1760
$GC,11206,0.87,161.8,451.5,8.5,585,11211,0.12,2.20,0.00,0.000,6,0.134,0.042,2614,2531,1760
$GC,11554,0.87,161.8,425.7,7.4,594,11559,0.00,2.22,0.00,0.000,4,0.000,0.060,2614,3924,1761
$GC,11604,0.87,161.8,421.3,9.3,595,11608,0.00,2.15,0.00,0.000,6,0.000,0.035,2614,2506,1761
$GC,11929,0.92,163.5,398.2,7.0,603,11933,0.00,2.15,0.00,0.000,4,0.000,0.046,2614,1116,1761
$GC,11980,1.01,163.5,394.6,7.1,605,11984,0.15,2.20,0.00,0.000,6,0.072,0.043,2678,2530,1761
$GC,12301,0.85,163.5,366.8,8.7,621,12306,0.20,2.25,0.00,0.000,4,0.120,0.059,2611,3926,1761
$GC,12407,0.86,169.4,358.9,6.8,625,12422,0.00,2.15,7.90,0.900,6,0.000,0.035,2610,2509,1730
$GC,12746,0.99,204.9,339.6,5.8,642,12781,0.15,2.22,29.88,1.019,4,0.071,0.047,2677,1120,1584
$GC,12827,0.93,204.9,332.7,8.2,645,12833,0.15,2.20,0.00,0.000,6,0.127,0.043,2633,2520,1584
$GC,13143,0.96,223.2,311.2,6.4,661,13165,0.00,2.28,16.17,0.960,4,0.000,0.058,2633,3926,1510
$GC,13199,0.96,223.2,307.1,8.4,663,13203,0.00,2.15,0.00,0.000,6,0.000,0.035,2633,2520,1510
$GC,13521,1.02,230.0,286.4,6.8,679,13535,0.10,2.25,7.00,0.822,4,0.087,0.046,2679,1112,1482
$GC,13614,1.02,230.0,278.3,8.7,683,13618,0.00,2.20,0.00,0.000,6,0.000,0.042,2679,2529,1484
$GC,13941,0.95,230.0,250.1,8.9,699,13945,0.15,2.25,0.00,0.000,4,0.129,0.058,2633,3937,1483
$GC,13986,0.95,230.0,246.5,7.4,701,13990,0.00,2.15,0.00,0.000,6,0.000,0.035,2633,2516,1484
$GC,14319,1.04,237.8,225.4,6.8,717,14334,0.10,2.20,7.85,0.825,4,0.086,0.045,2679,1126,1450
$GC,14424,1.04,237.8,216.1,8.8,721,14430,0.00,2.17,0.00,0.000,6,0.000,0.042,2679,2524,1452
$GC,14740,0.99,237.8,187.4,8.9,737,14744,0.12,2.25,0.00,0.000,4,0.131,0.058,2640,3925,1452
$GC,14818,0.99,237.8,180.6,8.0,740,14821,0.00,2.15,0.00,0.000,6,0.000,0.034,2640,2506,1452
$GC,15140,1.10,252.0,158.5,6.5,756,15162,0.12,2.20,13.18,0.864,4,0.074,0.046,2696,1123,1392
$GC,15241,1.10,252.0,149.5,9.3,760,15245,0.00,2.17,0.00,0.000,6,0.000,0.042,2696,2518,1393
$GC,15563,1.03,252.0,118.8,9.5,776,15567,0.15,2.25,0.00,0.000,4,0.124,0.057,2650,3927,1393
$GC,15624,1.03,252.0,113.5,8.1,778,15630,0.00,2.15,0.00,0.000,6,0.000,0.035,2650,2511,1393
$GC,15952,1.18,290.7,92.0,5.7,809,15990,0.15,2.28,31.98,0.871,4,0.068,0.046,2718,1114,1234
$GC,16083,1.18,290.7,80.7,9.0,831,16090,0.10,2.20,0.00,0.000,6,0.133,0.042,2690,2523,1233
$GC,16428,1.23,290.7,54.6,7.2,892,16434,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2523,1234
$GC,16772,1.30,290.7,30.1,7.5,953,16779,0.10,2.20,0.00,0.000,4,0.082,0.045,2735,1123,1234
$GC,16830,1.30,290.7,24.9,8.6,963,16837,0.00,2.17,0.00,0.000,6,0.000,0.043,2735,2522,1234
$STATE,17076,end climb,SURFACE_DEPTH_REACHED
$STATE,17077,begin surface coast
$FINISH,1.1,1.026456
$STATE,17102,end surface coast,CONTROL_FINISHED_OK
$STATE,17102,begin surface
$SM_CCo,17180,0.00,0.000,0,0,1232,291.42
$SM_GC,2.05,7.03,0.00,0.00,0.058,0.000,0.000,155,2333,1232,-10.41,-0.20,291.42
$RAFOS_CLK,868
$RAFOS,4,1227847457,4.750000,4.738056,91,60,56,55,53,52,722,192,225,145,120,157
$RAFOS,3,1227846841,4.583333,4.566945,61,56,54,53,52,51,202,167,994,120,179,146
$RAFOS,2,1227846259,4.416667,4.405278,67,66,64,62,57,54,207,153,536,189,117,222
$RAFOS,1,1227845647,4.250000,4.235278,65,60,59,57,55,52,830,159,219,135,201,236
$RAFOS,0,1227845062,4.083333,4.072778,66,65,61,57,51,49,167,145,205,221,234,180
$RAFOS_FIX,6704.132324,-5707.433594,271108,202016,2,99,0.00
$IRIDIUM_FIX,6636.54,-5704.59,210298,202029
$TT8_MAMPS,0.028379
$HUMID,1874
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.70
$XPDR_PINGS,1
$24V_AH,20.7,67.367
$10V_AH,10.6,29.786
$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,24.275,178.150,397.100,0.000,0.000,27.421,32.090,198.808,0.250,0.000,0.000,14.995,1908.426,12428.567,586.662,2048.137,599.461,33.378,1703.213,0.000,2020.338,1800.000,0.528,0.000
$DEVICE_MAMPS,255.411,73.632,1182.714,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.429,684.386,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37899,1011
$CAP_FILE_SIZE,150731,0
$CFSIZE,260165632,224100352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.9
$GPS,281108,061508,6704.205,-5705.257,29,1.0,29,-37.6