version: 66.04
glider: 113
mission: 4
dive: 372
start: 11 30 108 3 22 16
data:
$ID,113
$MISSION,4
$DIVE,372
$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,-31980.066
$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,40
$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
$GPS1,031456,6706.938,-5704.915,41,1.0,41,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-64.9
$GPS2,032121,6707.001,-5704.943,11,1.4,11,-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,0.208,-0.083
$KALMAN_X,-114590.6,473.7,29.6,128321.1,-3321.7
$KALMAN_Y,-1784.8,280.7,492.0,23458.8,1342.4
$MHEAD_RNG_PITCHd_Wd,149.5,14304,-12.9,-7.021
$D_GRID,551
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-102.57,0.000,2,0.000,0.000,164,2332,2981
$GC,125,-1.08,-146.0,3.1,-2.3,18,140,8.60,2.38,-1.25,0.000,4,0.255,0.071,2191,3748,3018
$GC,227,-0.52,-146.0,20.5,-15.6,35,234,0.45,2.17,0.00,0.000,6,0.167,0.036,2319,2330,3020
$GC,572,-0.52,-146.0,49.8,-8.3,96,578,0.00,2.17,0.00,0.000,4,0.000,0.049,2320,938,3019
$GC,584,-0.52,-146.0,50.9,-8.0,98,591,0.00,2.20,0.00,0.000,6,0.000,0.045,2319,2338,3020
$GC,929,-0.62,-146.0,77.1,-8.3,159,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2338,3019
$GC,1274,-0.76,-146.0,99.0,-5.6,220,1280,0.17,2.22,0.00,0.000,4,0.084,0.048,2251,936,3018
$GC,1288,-0.87,-146.0,100.0,-6.0,222,1292,0.00,2.22,0.00,0.000,6,0.000,0.046,2251,2348,3018
$GC,1610,-0.80,-146.0,128.1,-8.6,238,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2348,3018
$GC,1919,-0.80,-146.0,153.4,-7.8,253,1923,0.00,2.28,0.00,0.000,4,0.000,0.064,2250,3742,3017
$GC,1936,-0.80,-146.0,154.9,-8.1,253,1942,0.00,2.15,0.00,0.000,6,0.000,0.035,2250,2338,3017
$GC,2251,-0.80,-146.0,178.3,-7.0,269,2255,0.00,2.33,0.00,0.000,4,0.000,0.061,2250,3750,3016
$GC,2279,-0.80,-146.0,180.2,-7.3,270,2283,0.00,2.17,0.00,0.000,6,0.000,0.035,2250,2327,3016
$GC,2606,-0.80,-146.0,202.8,-6.9,286,2610,0.00,2.33,0.00,0.000,4,0.000,0.060,2250,3745,3015
$GC,2701,-0.80,-146.0,209.7,-7.3,290,2705,0.00,2.17,0.00,0.000,6,0.000,0.035,2250,2325,3015
$GC,3029,-0.80,-146.0,230.0,-6.1,306,3033,0.00,2.33,0.00,0.000,4,0.000,0.059,2250,3745,3016
$GC,3052,-0.80,-146.0,231.4,-5.8,307,3056,0.00,2.15,0.00,0.000,6,0.000,0.035,2250,2336,3016
$GC,3384,-0.80,-146.0,250.3,-5.7,323,3388,0.00,2.30,0.00,0.000,4,0.000,0.058,2250,3745,3017
$GC,3396,-0.80,-146.0,251.1,-5.7,323,3400,0.00,2.15,0.00,0.000,6,0.000,0.033,2250,2332,3017
$GC,3719,-0.80,-146.0,269.2,-5.6,339,3722,0.00,2.33,0.00,0.000,4,0.000,0.058,2250,3753,3018
$GC,3730,-0.80,-146.0,269.8,-5.5,339,3734,0.00,2.15,0.00,0.000,6,0.000,0.033,2250,2340,3018
$GC,4052,-0.80,-146.0,289.4,-6.4,355,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2340,3019
$GC,4361,-0.85,-146.0,310.3,-6.7,370,4365,0.00,2.30,0.00,0.000,4,0.000,0.059,2250,3743,3019
$GC,4372,-0.90,-146.0,311.1,-6.6,370,4376,0.00,2.15,0.00,0.000,6,0.000,0.033,2250,2328,3019
$GC,4695,-0.95,-146.0,332.6,-6.8,386,4699,0.00,2.33,0.00,0.000,4,0.000,0.058,2250,3752,3020
$GC,4735,-1.03,-146.0,335.3,-7.0,387,4742,0.12,2.15,0.00,0.000,6,0.100,0.033,2204,2336,3020
$GC,5051,-0.93,-146.0,359.2,-7.5,403,5055,0.12,2.33,0.00,0.000,4,0.149,0.059,2237,3750,3020
$GC,5129,-0.93,-146.0,364.9,-7.1,406,5135,0.00,2.15,0.00,0.000,6,0.000,0.034,2237,2337,3020
$GC,5445,-0.93,-146.0,384.9,-6.2,422,5448,0.00,2.30,0.00,0.000,4,0.000,0.058,2236,3743,3022
$GC,5468,-0.93,-146.0,386.5,-6.5,423,5472,0.00,2.15,0.00,0.000,6,0.000,0.032,2237,2328,3022
$GC,5799,-0.93,-146.0,407.5,-6.3,436,5803,0.00,2.33,0.00,0.000,4,0.000,0.059,2237,3746,3022
$GC,5810,-0.93,-146.0,408.3,-6.2,436,5814,0.00,2.15,0.00,0.000,6,0.000,0.033,2237,2330,3022
$GC,6129,-0.93,-146.0,427.7,-6.0,444,6133,0.00,2.33,0.00,0.000,4,0.000,0.058,2237,3753,3023
$GC,6140,-0.93,-146.0,428.4,-6.0,444,6144,0.00,2.15,0.00,0.000,6,0.000,0.032,2236,2338,3023
$GC,6459,-0.93,-146.0,447.2,-5.9,452,6463,0.00,2.30,0.00,0.000,4,0.000,0.059,2237,3745,3023
$GC,6521,-0.99,-146.0,451.2,-6.7,453,6524,0.00,2.15,0.00,0.000,6,0.000,0.033,2237,2331,3023
$GC,6834,-0.99,-146.0,469.7,-5.9,461,6838,0.00,2.33,0.00,0.000,4,0.000,0.057,2236,3753,3023
$GC,6859,-1.04,-146.0,471.0,-5.9,461,6863,0.10,2.15,0.00,0.000,6,0.106,0.033,2201,2338,3023
$GC,7207,-0.95,-146.0,494.4,-6.9,470,7212,0.12,2.33,0.00,0.000,4,0.150,0.057,2234,3750,3024
$GC,7218,-0.90,-146.0,495.2,-6.9,470,7223,0.00,2.15,0.00,0.000,6,0.000,0.033,2234,2338,3024
$GC,7532,-0.90,-146.0,514.1,-6.0,478,7536,0.00,2.30,0.00,0.000,4,0.000,0.058,2234,3743,3024
$GC,7542,-0.90,-146.0,514.9,-6.0,478,7546,0.00,2.15,0.00,0.000,6,0.000,0.032,2234,2329,3024
$GC,7860,-0.90,-146.0,534.2,-6.1,486,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2329,3024
$STATE,8142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8142,begin apogee
$GC,8149,-0.34,0.0,552.1,6.2,493,8280,0.43,0.00,128.48,1.142,6,0.135,0.000,2365,2528,2420
$STATE,8281,end apogee,CONTROL_FINISHED_OK
$STATE,8281,begin climb
$GC,8284,1.08,146.0,554.1,0.0,496,8425,1.02,0.00,134.98,1.069,6,0.099,0.000,2677,2527,1824
$GC,8750,0.91,146.0,515.2,9.2,508,8755,0.17,2.28,0.00,0.000,4,0.133,0.058,2625,3927,1824
$GC,8851,0.81,146.0,506.7,8.6,510,8855,0.00,2.15,0.00,0.000,6,0.000,0.035,2625,2519,1824
$GC,9164,0.83,158.6,486.2,6.6,518,9180,0.00,2.20,11.30,0.999,4,0.000,0.046,2625,1120,1773
$GC,9238,0.93,187.9,481.6,6.0,519,9268,0.00,2.20,25.30,1.065,6,0.000,0.043,2625,2523,1654
$GC,9577,1.01,207.2,459.5,6.4,528,9602,0.10,2.35,17.00,1.034,4,0.084,0.059,2669,3929,1575
$GC,9643,0.84,207.2,453.5,10.5,529,9647,0.20,2.17,0.00,0.000,6,0.138,0.035,2613,2513,1575
$GC,9991,0.99,232.5,432.0,6.2,538,10020,0.12,2.28,21.75,1.045,4,0.074,0.046,2667,1114,1472
$GC,10098,0.99,232.5,422.7,8.9,540,10102,0.00,2.22,0.00,0.000,6,0.000,0.042,2667,2536,1473
$GC,10428,0.99,232.5,392.9,9.3,550,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2536,1472
$GC,10736,0.99,232.5,365.4,8.7,565,10740,0.00,2.22,0.00,0.000,4,0.000,0.046,2667,1112,1472
$GC,10792,0.99,232.5,360.5,9.2,567,10796,0.00,2.20,0.00,0.000,6,0.000,0.041,2667,2531,1472
$GC,11114,0.99,232.5,332.5,8.9,583,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2531,1471
$GC,11422,0.99,232.5,304.5,8.8,598,11426,0.00,2.22,0.00,0.000,4,0.000,0.045,2667,1107,1472
$GC,11500,0.99,232.5,297.6,9.0,601,11504,0.00,2.20,0.00,0.000,6,0.000,0.041,2667,2524,1472
$GC,11821,0.99,232.5,270.1,8.4,617,11825,0.00,2.25,0.00,0.000,4,0.000,0.058,2667,3937,1472
$GC,11861,0.88,232.5,266.1,10.5,618,11868,0.15,2.15,0.00,0.000,6,0.137,0.035,2624,2520,1472
$GC,12178,1.03,244.3,245.5,6.6,634,12194,0.12,2.20,11.05,0.890,4,0.076,0.044,2679,1118,1424
$GC,12278,1.03,244.3,236.6,9.2,637,12284,0.00,2.20,0.00,0.000,6,0.000,0.041,2679,2530,1425
$GC,12594,1.03,244.3,208.6,8.7,653,12597,0.00,2.25,0.00,0.000,4,0.000,0.058,2679,3937,1425
$GC,12645,0.90,244.3,203.5,10.2,655,12649,0.17,2.15,0.00,0.000,6,0.131,0.034,2626,2520,1425
$GC,12971,1.06,258.2,182.6,6.5,671,12994,0.15,2.25,12.70,0.871,4,0.067,0.045,2692,1113,1367
$GC,13063,1.06,258.2,173.8,10.3,675,13067,0.12,2.20,0.00,0.000,6,0.131,0.041,2656,2528,1368
$GC,13395,1.14,258.2,146.2,7.7,691,13397,0.10,0.00,0.00,0.000,6,0.080,0.000,2704,2527,1369
$GC,13704,1.09,258.2,117.1,9.3,706,13709,0.12,2.25,0.00,0.000,4,0.123,0.058,2666,3931,1369
$GC,13743,1.09,258.2,113.4,9.0,707,13749,0.00,2.15,0.00,0.000,6,0.000,0.035,2666,2517,1369
$GC,14070,1.20,258.2,88.7,7.4,741,14077,0.12,2.17,0.00,0.000,4,0.071,0.044,2721,1114,1369
$GC,14208,1.20,258.2,76.2,9.4,765,14215,0.10,2.20,0.00,0.000,6,0.130,0.042,2693,2530,1369
$GC,14553,1.25,258.2,47.8,8.2,826,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2530,1370
$GC,14897,1.32,258.2,21.7,7.1,887,14904,0.10,2.22,0.00,0.000,4,0.081,0.045,2737,1119,1370
$GC,14961,1.32,258.2,16.4,8.4,898,14968,0.00,2.20,0.00,0.000,6,0.000,0.043,2737,2526,1370
$STATE,15123,end climb,SURFACE_DEPTH_REACHED
$STATE,15126,begin surface coast
$FINISH,0.9,1.023564
$STATE,15148,end surface coast,CONTROL_FINISHED_OK
$STATE,15148,begin surface
$SM_CCo,15226,0.00,0.000,0,0,1369,257.81
$SM_GC,1.84,7.05,0.00,0.00,0.058,0.000,0.000,159,2332,1369,-10.38,-0.23,257.81
$RAFOS_CLK,766
$RAFOS,4,1228020260,4.750000,4.738889,66,60,55,54,53,51,709,154,202,163,193,219
$RAFOS,3,1228019652,4.583333,4.570000,65,64,63,59,57,52,202,211,220,132,160,142
$RAFOS,2,1228019050,4.416667,4.402778,91,69,60,59,56,51,596,220,163,202,230,133
$RAFOS,1,1228018449,4.250000,4.235833,57,56,55,53,52,48,212,826,168,188,127,90
$RAFOS,0,1228017856,4.083333,4.071111,57,55,55,53,53,53,150,129,204,191,164,217
$RAFOS_FIX,6700.551758,-5704.857910,291108,121220,2,90,0.54
$IRIDIUM_FIX,6641.98,-5709.24,230298,222232
$TT8_MAMPS,0.027612
$HUMID,1879
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,16.70
$XPDR_PINGS,1
$24V_AH,20.7,68.698
$10V_AH,10.6,30.505
$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,20.075,142.975,362.550,0.000,0.000,30.192,31.887,185.745,0.250,0.000,0.000,12.569,1720.586,11055.624,536.653,1750.344,544.979,33.381,1490.015,0.000,1730.207,1800.000,0.529,0.000
$DEVICE_MAMPS,255.411,71.331,1142.063,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.638,630.903,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34685,931
$CAP_FILE_SIZE,128734,0
$CFSIZE,260165632,223428608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$GPS,301108,073731,6706.899,-5704.925,37,1.6,42,-37.7