version: 66.04
glider: 113
mission: 4
dive: 368
start: 11 29 108 8 2 46
data:
$ID,113
$MISSION,4
$DIVE,368
$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,-31899.842
$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,29
$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
$GPS1,075458,6705.069,-5704.304,38,2.6,57,-37.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-59.6
$GPS2,080151,6705.083,-5704.368,11,1.5,11,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.211,-0.076
$KALMAN_X,-101883.0,491.1,-292.2,116322.4,-2372.6
$KALMAN_Y,-12025.1,-805.6,122.8,31616.8,905.4
$MHEAD_RNG_PITCHd_Wd,147.6,12433,-12.9,-7.021
$D_GRID,604
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-119.53,0.000,2,0.000,0.000,159,2333,2972
$GC,142,-1.08,-146.0,3.2,-2.4,21,161,8.68,2.25,-1.52,0.000,4,0.257,0.060,2201,926,3019
$GC,241,-0.55,-146.0,21.0,-16.2,38,248,0.40,2.22,0.00,0.000,6,0.163,0.045,2317,2342,3019
$GC,586,-0.55,-146.0,50.9,-7.6,99,592,0.00,2.28,0.00,0.000,4,0.000,0.062,2317,3750,3020
$GC,599,-0.55,-146.0,51.9,-7.5,101,605,0.00,2.17,0.00,0.000,6,0.000,0.035,2317,2323,3020
$GC,944,-0.64,-146.0,77.9,-6.8,162,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2324,3018
$GC,1287,-0.77,-146.0,96.3,-4.9,223,1294,0.17,2.35,0.00,0.000,4,0.083,0.061,2247,3752,3018
$GC,1351,-0.72,-146.0,100.9,-7.2,232,1357,0.12,2.17,0.00,0.000,6,0.162,0.036,2280,2334,3017
$GC,1668,-0.77,-146.0,122.8,-7.4,248,1672,0.00,2.30,0.00,0.000,4,0.000,0.061,2279,3746,3016
$GC,1679,-0.83,-146.0,123.7,-7.8,248,1683,0.10,2.15,0.00,0.000,6,0.101,0.035,2242,2340,3016
$GC,2000,-0.77,-146.0,149.0,-7.8,264,2005,0.10,2.33,0.00,0.000,4,0.166,0.061,2268,3756,3016
$GC,2040,-0.85,-146.0,152.0,-7.1,266,2043,0.00,2.17,0.00,0.000,6,0.000,0.035,2268,2331,3016
$GC,2373,-0.91,-146.0,174.0,-6.4,282,2378,0.12,2.30,0.00,0.000,4,0.088,0.059,2220,3746,3016
$GC,2384,-0.91,-146.0,174.9,-6.2,282,2391,0.00,2.15,0.00,0.000,6,0.000,0.034,2220,2334,3016
$GC,2700,-0.81,-146.0,199.1,-7.9,298,2705,0.15,2.33,0.00,0.000,4,0.157,0.059,2261,3750,3016
$GC,2712,-0.74,-146.0,200.1,-8.1,298,2718,0.00,2.15,0.00,0.000,6,0.000,0.035,2261,2341,3017
$GC,3029,-0.80,-146.0,219.6,-6.3,314,3033,0.00,2.30,0.00,0.000,4,0.000,0.061,2261,3754,3017
$GC,3040,-0.86,-146.0,220.4,-6.3,314,3044,0.00,2.15,0.00,0.000,6,0.000,0.033,2261,2340,3017
$GC,3362,-0.92,-146.0,240.7,-6.4,330,3364,0.10,0.00,0.00,0.000,6,0.108,0.000,2222,2340,3018
$GC,3671,-0.85,-146.0,263.5,-7.2,345,3676,0.12,2.33,0.00,0.000,4,0.152,0.060,2256,3750,3018
$GC,3681,-0.85,-146.0,264.4,-7.3,345,3685,0.00,2.15,0.00,0.000,6,0.000,0.034,2256,2340,3018
$GC,4003,-0.91,-146.0,284.8,-6.0,361,4007,0.00,2.30,0.00,0.000,4,0.000,0.060,2256,3746,3019
$GC,4021,-0.99,-146.0,285.9,-6.1,361,4028,0.12,2.15,0.00,0.000,6,0.086,0.034,2208,2331,3019
$GC,4337,-0.90,-146.0,308.2,-7.0,377,4342,0.12,2.33,0.00,0.000,4,0.149,0.059,2242,3750,3019
$GC,4400,-0.96,-146.0,312.2,-6.0,379,4406,0.00,2.15,0.00,0.000,6,0.000,0.034,2242,2338,3019
$GC,4716,-0.96,-146.0,329.1,-5.3,395,4720,0.00,2.30,0.00,0.000,4,0.000,0.060,2242,3745,3020
$GC,4727,-0.96,-146.0,329.7,-5.0,395,4731,0.00,2.15,0.00,0.000,6,0.000,0.033,2242,2328,3020
$GC,5049,-0.96,-146.0,346.5,-5.4,411,5053,0.00,2.33,0.00,0.000,4,0.000,0.058,2242,3757,3020
$GC,5060,-0.96,-146.0,347.2,-5.4,411,5063,0.00,2.15,0.00,0.000,6,0.000,0.033,2242,2340,3020
$GC,5381,-0.96,-146.0,365.2,-5.6,427,5385,0.00,2.30,0.00,0.000,4,0.000,0.058,2242,3749,3021
$GC,5420,-1.02,-146.0,367.6,-5.8,428,5427,0.12,2.15,0.00,0.000,6,0.087,0.033,2194,2336,3021
$GC,5737,-0.90,-146.0,390.7,-7.6,444,5739,0.17,0.00,0.00,0.000,6,0.142,0.000,2244,2333,3022
$GC,6064,-0.94,-146.0,411.4,-6.3,456,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2333,3022
$GC,6390,-0.99,-146.0,430.6,-5.8,464,6392,0.10,0.00,0.00,0.000,6,0.097,0.000,2205,2333,3022
$GC,6714,-0.91,-146.0,452.6,-6.8,472,6719,0.12,2.33,0.00,0.000,4,0.146,0.058,2240,3752,3023
$GC,6725,-0.86,-146.0,453.2,-6.6,472,6729,0.00,2.15,0.00,0.000,6,0.000,0.033,2240,2340,3023
$GC,7045,-0.91,-146.0,471.9,-5.9,480,7049,0.00,2.30,0.00,0.000,4,0.000,0.058,2240,3745,3023
$GC,7057,-0.96,-146.0,472.7,-5.9,480,7060,0.00,2.15,0.00,0.000,6,0.000,0.033,2240,2331,3023
$GC,7376,-0.96,-146.0,491.7,-5.8,488,7379,0.00,2.33,0.00,0.000,4,0.000,0.059,2240,3753,3023
$GC,7404,-1.04,-146.0,493.4,-6.6,488,7409,0.12,2.15,0.00,0.000,6,0.090,0.033,2193,2338,3023
$GC,7748,-0.92,-146.0,517.2,-6.9,497,7753,0.15,2.33,0.00,0.000,4,0.143,0.058,2235,3749,3024
$GC,7770,-0.92,-146.0,518.8,-6.6,497,7774,0.00,2.15,0.00,0.000,6,0.000,0.034,2235,2337,3024
$GC,8113,-0.92,-146.0,538.4,-5.8,506,8117,0.00,2.30,0.00,0.000,4,0.000,0.058,2235,3748,3024
$GC,8164,-0.98,-146.0,541.6,-6.3,507,8168,0.00,2.15,0.00,0.000,6,0.000,0.033,2235,2331,3024
$GC,8488,-0.98,-146.0,561.5,-6.2,515,8492,0.00,2.30,0.00,0.000,4,0.000,0.059,2235,3743,3024
$GC,8500,-1.03,-146.0,562.3,-6.2,515,8505,0.10,2.15,0.00,0.000,6,0.105,0.033,2200,2326,3024
$GC,8820,-0.95,-146.0,585.5,-7.4,523,8825,0.12,2.33,0.00,0.000,4,0.148,0.058,2233,3745,3024
$GC,8853,-1.02,-146.0,587.8,-6.4,523,8860,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2325,3024
$STATE,9141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9141,begin apogee
$GC,9148,-0.34,0.0,604.6,5.8,531,9280,0.43,0.00,129.18,1.174,6,0.131,0.000,2367,2521,2420
$STATE,9281,end apogee,CONTROL_FINISHED_OK
$STATE,9281,begin climb
$GC,9284,1.08,146.0,606.7,0.0,534,9424,0.98,0.00,135.52,1.102,6,0.100,0.000,2666,2520,1824
$GC,9731,0.94,146.0,568.9,9.1,545,9736,0.12,2.30,0.00,0.000,4,0.145,0.058,2631,3941,1824
$GC,9821,0.83,146.0,561.1,9.0,547,9825,0.00,2.17,0.00,0.000,6,0.000,0.035,2631,2515,1824
$GC,10145,0.83,146.0,536.9,7.6,555,10148,0.00,2.17,0.00,0.000,4,0.000,0.045,2631,1107,1824
$GC,10195,0.83,146.0,533.2,7.6,556,10199,0.00,2.20,0.00,0.000,6,0.000,0.042,2631,2524,1823
$GC,10520,0.83,146.0,509.7,7.4,564,10524,0.00,2.22,0.00,0.000,4,0.000,0.058,2631,3930,1823
$GC,10598,0.72,146.0,502.5,9.3,565,10602,0.15,2.15,0.00,0.000,6,0.142,0.035,2587,2513,1822
$GC,10935,0.92,185.9,482.8,5.7,574,10977,0.17,2.25,33.35,1.095,4,0.064,0.045,2662,1125,1662
$GC,11024,0.92,185.9,475.4,8.5,576,11028,0.12,2.20,0.00,0.000,6,0.135,0.042,2627,2527,1662
$GC,11353,0.92,185.9,451.6,7.1,584,11357,0.00,2.22,0.00,0.000,4,0.000,0.059,2627,3929,1662
$GC,11398,0.92,185.9,448.0,8.4,585,11402,0.00,2.15,0.00,0.000,6,0.000,0.035,2627,2508,1662
$GC,11728,0.92,189.6,424.9,6.9,593,11737,0.00,2.17,4.38,0.726,4,0.000,0.046,2627,1111,1647
$GC,11807,1.02,202.9,419.6,6.6,594,11827,0.12,2.20,12.65,0.995,6,0.076,0.041,2679,2531,1592
$GC,12150,0.92,202.9,387.3,9.6,606,12155,0.15,2.25,0.00,0.000,4,0.123,0.058,2633,3937,1593
$GC,12234,0.92,202.9,379.4,8.5,609,12240,0.00,2.15,0.00,0.000,6,0.000,0.035,2633,2513,1593
$GC,12551,0.96,202.9,356.7,7.1,625,12554,0.00,2.15,0.00,0.000,4,0.000,0.046,2633,1120,1593
$GC,12619,1.05,202.9,351.8,7.4,628,12623,0.10,2.17,0.00,0.000,6,0.087,0.042,2678,2520,1593
$GC,12951,0.96,202.9,319.8,10.0,644,12955,0.12,2.25,0.00,0.000,4,0.122,0.057,2640,3927,1593
$GC,13035,0.89,202.9,311.7,9.1,647,13041,0.00,2.15,0.00,0.000,6,0.000,0.035,2640,2509,1593
$GC,13350,0.89,202.9,286.7,7.7,663,13354,0.00,2.15,0.00,0.000,4,0.000,0.046,2640,1119,1593
$GC,13423,0.96,202.9,281.1,8.0,666,13427,0.00,2.17,0.00,0.000,6,0.000,0.042,2640,2523,1593
$GC,13750,0.97,213.4,257.8,6.7,682,13762,0.00,0.00,9.85,0.883,6,0.000,0.000,2640,2524,1550
$GC,14059,1.04,224.6,237.1,6.6,697,14076,0.08,2.22,11.02,0.884,4,0.094,0.045,2680,1111,1504
$GC,14122,1.04,224.6,231.8,8.7,699,14126,0.00,2.20,0.00,0.000,6,0.000,0.041,2680,2528,1505
$GC,14455,0.98,224.6,201.9,8.5,715,14459,0.12,2.25,0.00,0.000,4,0.133,0.058,2642,3929,1505
$GC,14533,0.98,224.6,195.4,8.0,718,14537,0.00,2.15,0.00,0.000,6,0.000,0.035,2641,2512,1505
$GC,14856,1.06,227.3,173.1,6.9,734,14866,0.10,2.20,3.88,0.592,4,0.081,0.045,2691,1123,1493
$GC,14950,1.06,227.3,164.8,8.7,738,14954,0.10,2.17,0.00,0.000,6,0.133,0.041,2663,2525,1494
$GC,15277,1.07,230.3,141.1,6.9,754,15286,0.00,2.28,4.07,0.605,4,0.000,0.059,2663,3923,1481
$GC,15337,1.01,230.3,136.2,8.5,756,15343,0.00,2.12,0.00,0.000,6,0.000,0.035,2663,2522,1483
$GC,15653,1.01,230.3,114.4,7.1,772,15657,0.00,2.17,0.00,0.000,4,0.000,0.046,2663,1113,1483
$GC,15721,1.14,246.1,109.7,6.5,775,15743,0.00,2.20,14.40,0.848,6,0.000,0.041,2663,2533,1416
$GC,16069,1.24,249.1,86.0,6.9,818,16076,0.15,0.00,3.88,0.565,6,0.065,0.000,2727,2533,1404
$GC,16415,1.14,249.1,56.3,8.1,879,16421,0.17,2.22,0.00,0.000,4,0.122,0.044,2673,1117,1406
$GC,16462,1.27,266.5,53.2,6.4,887,16487,0.12,2.17,15.75,0.833,6,0.075,0.042,2726,2518,1333
$GC,16826,1.27,266.5,25.3,7.4,951,16832,0.00,2.25,0.00,0.000,4,0.000,0.058,2726,3933,1334
$GC,16912,1.12,266.5,16.9,10.5,966,16919,0.17,2.15,0.00,0.000,6,0.128,0.035,2677,2515,1333
$STATE,17148,end climb,SURFACE_DEPTH_REACHED
$STATE,17148,begin surface coast
$FINISH,0.8,1.014512
$STATE,17183,end surface coast,CONTROL_FINISHED_OK
$STATE,17183,begin surface
$SM_CCo,17262,0.00,0.000,0,0,1332,266.89
$SM_GC,1.86,6.85,0.00,0.00,0.058,0.000,0.000,164,2334,1332,-10.37,-0.17,266.89
$RAFOS_CLK,871
$RAFOS,3,1227962042,12.583333,12.567223,66,59,56,54,53,48,190,202,218,160,112,149
$RAFOS,2,1227961444,12.416667,12.401111,99,64,61,55,55,53,624,199,209,222,178,156
$RAFOS,1,1227960854,12.250000,12.237223,82,57,54,54,54,53,800,206,156,121,132,215
$RAFOS,0,1227960246,12.083333,12.068334,59,58,57,55,51,50,173,206,149,116,126,135
$RAFOS,4,1227948257,8.750000,8.738055,64,64,60,59,51,50,186,203,149,213,228,124
$RAFOS,3,1227947659,8.583333,8.571944,68,59,58,58,56,53,217,191,121,233,156,140
$RAFOS,2,1227947044,8.416667,8.401111,72,64,63,56,56,53,623,177,211,155,201,165
$RAFOS,1,1227946442,8.250000,8.233889,62,59,56,56,52,51,225,195,144,171,215,132
$RAFOS,0,1227945843,8.083333,8.067500,67,59,58,56,53,46,169,200,223,187,116,144
$RAFOS_FIX,6700.551758,-5704.857910,291108,121220,2,90,0.54
$IRIDIUM_FIX,6636.54,-5715.22,230298,030347
$TT8_MAMPS,0.029146
$HUMID,1864
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.70
$XPDR_PINGS,2
$24V_AH,20.8,68.185
$10V_AH,10.6,30.227
$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,21.700,168.975,377.925,0.000,0.000,22.768,31.435,220.714,0.500,0.000,0.000,12.684,1918.494,12631.734,574.716,1976.455,596.154,33.379,1652.768,0.000,1938.463,3600.000,0.528,0.000
$DEVICE_MAMPS,256.945,62.127,1173.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.429,686.305,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37895,1014
$CAP_FILE_SIZE,152568,0
$CFSIZE,260165632,223674368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.0
$GPS,291108,125207,6705.345,-5703.400,25,1.3,25,-37.7