version: 66.04
glider: 113
mission: 4
dive: 411
start: 12 9 108 15 58 47
data:
$ID,113
$MISSION,4
$DIVE,411
$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,-32743.529
$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,39
$R_STBD_OVSHOOT,29
$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
$GPS1,154755,6702.514,-5704.847,68,1.8,68,-37.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.4
$GPS2,155753,6702.426,-5704.869,13,4.2,32,-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,0.191,0.118
$KALMAN_X,-138374.8,-561.8,-768.0,153993.4,1897.8
$KALMAN_Y,2389.8,176.5,448.7,10968.4,-1854.7
$MHEAD_RNG_PITCHd_Wd,95.8,12228,-12.9,-7.021
$D_GRID,698
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,136,0.00,0.00,-116.90,0.000,6,0.000,0.000,156,2334,3016
$GC,140,-1.08,-146.0,2.9,-3.5,21,154,8.68,2.28,0.00,0.000,4,0.255,0.052,2201,931,3021
$GC,279,-0.56,-146.0,20.1,-9.5,45,286,0.40,2.25,0.00,0.000,6,0.167,0.048,2315,2350,3022
$GC,624,-0.56,-146.0,48.9,-13.4,106,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2350,3023
$GC,968,-0.64,-146.0,78.2,-6.8,167,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2350,3023
$GC,1313,-0.76,-146.0,99.5,-5.4,228,1319,0.15,0.00,0.00,0.000,6,0.086,0.000,2258,2350,3022
$GC,1635,-0.76,-146.0,122.9,-6.3,245,1639,0.00,2.30,0.00,0.000,4,0.000,0.064,2258,3750,3021
$GC,1674,-0.76,-146.0,125.5,-6.8,246,1681,0.00,2.17,0.00,0.000,6,0.000,0.035,2258,2337,3022
$GC,1990,-0.76,-146.0,148.1,-6.5,262,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2337,3021
$GC,2300,-0.76,-146.0,166.2,-5.7,277,2303,0.00,2.33,0.00,0.000,4,0.000,0.061,2258,3745,3021
$GC,2351,-0.76,-146.0,169.3,-6.4,279,2355,0.00,2.17,0.00,0.000,6,0.000,0.035,2258,2330,3021
$GC,2678,-0.76,-146.0,188.5,-5.9,295,2682,0.00,2.17,0.00,0.000,4,0.000,0.047,2258,938,3022
$GC,2718,-0.76,-146.0,191.2,-7.2,296,2724,0.00,2.22,0.00,0.000,6,0.000,0.044,2258,2348,3022
$GC,3035,-0.76,-146.0,211.8,-6.3,312,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2348,3022
$GC,3343,-0.76,-146.0,230.8,-5.9,327,3347,0.00,2.28,0.00,0.000,4,0.000,0.061,2258,3743,3022
$GC,3417,-0.82,-146.0,235.1,-5.5,330,3421,0.00,2.15,0.00,0.000,6,0.000,0.034,2258,2336,3022
$GC,3745,-0.82,-146.0,252.9,-5.8,346,3749,0.00,2.33,0.00,0.000,4,0.000,0.058,2258,3752,3023
$GC,3780,-0.89,-146.0,255.0,-5.9,347,3784,0.00,2.17,0.00,0.000,6,0.000,0.034,2258,2330,3023
$GC,4101,-0.89,-146.0,274.5,-5.9,363,4105,0.00,2.35,0.00,0.000,4,0.000,0.058,2258,3755,3025
$GC,4119,-0.94,-146.0,275.5,-5.6,363,4126,0.10,2.17,0.00,0.000,6,0.096,0.033,2220,2331,3024
$GC,4435,-0.85,-146.0,302.0,-8.6,379,4437,0.12,0.00,0.00,0.000,6,0.158,0.000,2254,2328,3025
$GC,4744,-0.85,-146.0,325.5,-7.5,394,4748,0.00,2.33,0.00,0.000,4,0.000,0.060,2254,3745,3026
$GC,4795,-0.93,-146.0,329.4,-8.3,396,4799,0.00,2.15,0.00,0.000,6,0.000,0.035,2254,2343,3025
$GC,5123,-0.98,-146.0,351.4,-6.3,412,5128,0.12,2.22,0.00,0.000,4,0.093,0.047,2207,931,3025
$GC,5147,-0.90,-146.0,353.1,-7.2,413,5152,0.15,2.25,0.00,0.000,6,0.157,0.044,2245,2355,3025
$GC,5468,-0.90,-146.0,372.9,-5.7,429,5472,0.00,2.28,0.00,0.000,4,0.000,0.059,2245,3750,3024
$GC,5519,-0.97,-146.0,376.0,-5.9,431,5523,0.00,2.17,0.00,0.000,6,0.000,0.034,2245,2331,3024
$GC,5847,-0.97,-146.0,393.4,-5.2,447,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2331,3024
$GC,6173,-0.97,-146.0,411.4,-5.5,458,6177,0.00,2.35,0.00,0.000,4,0.000,0.059,2245,3752,3023
$GC,6213,-1.04,-146.0,413.7,-6.0,458,6220,0.12,2.17,0.00,0.000,6,0.093,0.035,2200,2338,3024
$GC,6545,-0.93,-146.0,438.5,-7.6,467,6550,0.12,2.35,0.00,0.000,4,0.150,0.060,2234,3746,3024
$GC,6618,-0.98,-146.0,443.7,-7.4,468,6622,0.00,2.17,0.00,0.000,6,0.000,0.035,2234,2327,3024
$GC,6955,-0.98,-146.0,464.4,-6.0,477,6959,0.00,2.33,0.00,0.000,4,0.000,0.058,2234,3743,3024
$GC,6996,-1.02,-146.0,467.0,-7.3,477,7002,0.00,2.15,0.00,0.000,6,0.000,0.035,2234,2338,3023
$GC,7327,-1.02,-146.0,487.8,-6.4,486,7331,0.00,2.33,0.00,0.000,4,0.000,0.058,2234,3749,3023
$GC,7383,-1.02,-146.0,491.7,-7.1,487,7387,0.00,2.17,0.00,0.000,6,0.000,0.035,2234,2332,3023
$GC,7702,-1.02,-146.0,512.1,-6.3,495,7705,0.00,2.33,0.00,0.000,4,0.000,0.058,2234,3743,3024
$GC,7741,-1.07,-146.0,514.7,-6.6,495,7748,0.12,2.15,0.00,0.000,6,0.097,0.035,2190,2338,3024
$GC,8073,-0.95,-146.0,539.3,-7.4,504,8078,0.15,2.33,0.00,0.000,4,0.146,0.058,2231,3743,3024
$GC,8101,-0.95,-146.0,541.3,-6.6,504,8104,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2337,3024
$GC,8439,-0.95,-146.0,559.9,-5.4,513,8442,0.00,2.33,0.00,0.000,4,0.000,0.058,2231,3750,3024
$GC,8478,-0.95,-146.0,562.3,-5.7,513,8484,0.00,2.17,0.00,0.000,6,0.000,0.034,2231,2330,3024
$GC,8810,-0.95,-146.0,580.1,-5.4,522,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2330,3024
$GC,9135,-0.95,-146.0,597.9,-5.5,530,9139,0.00,2.35,0.00,0.000,4,0.000,0.058,2231,3752,3024
$GC,9181,-1.00,-146.0,600.6,-5.7,531,9184,0.00,2.17,0.00,0.000,6,0.000,0.035,2231,2330,3025
$GC,9511,-1.00,-146.0,619.1,-5.5,539,9515,0.00,2.33,0.00,0.000,4,0.000,0.058,2231,3743,3025
$GC,9545,-1.05,-146.0,621.0,-5.3,539,9550,0.10,2.15,0.00,0.000,6,0.097,0.034,2193,2336,3025
$GC,9883,-0.94,-146.0,644.1,-7.2,548,9884,0.15,0.00,0.00,0.000,6,0.145,0.000,2235,2334,3025
$GC,10208,-0.94,-146.0,663.0,-6.0,556,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2334,3025
$GC,10534,-1.29,-146.0,670.3,-0.0,564,10538,0.22,2.35,0.00,0.000,4,0.074,0.059,2138,3748,3026
$STATE,10609,end dive,NO_VERTICAL_VELOCITY
$STATE,10609,begin apogee
$GC,10617,-0.34,0.0,670.3,0.0,565,10752,0.68,0.00,131.57,1.233,6,0.109,0.000,2364,2515,2420
$STATE,10753,end apogee,CONTROL_FINISHED_OK
$STATE,10753,begin climb
$GC,10756,1.08,146.0,669.7,0.0,569,10914,1.02,2.62,142.02,1.135,4,0.104,0.045,2667,1116,1824
$GC,11095,0.99,146.0,642.6,9.1,576,11101,0.00,2.30,0.00,0.000,6,0.000,0.043,2667,2524,1823
$GC,11427,0.86,146.0,613.2,8.8,585,11431,0.17,2.25,0.00,0.000,4,0.140,0.058,2615,3934,1822
$GC,11488,0.80,146.0,608.2,7.4,586,11492,0.00,2.17,0.00,0.000,6,0.000,0.036,2615,2507,1822
$GC,11801,0.82,162.2,587.9,6.5,594,11817,0.00,0.00,14.15,1.114,6,0.000,0.000,2615,2507,1758
$GC,12127,0.88,174.6,566.6,6.6,602,12140,0.00,0.00,11.73,1.081,6,0.000,0.000,2615,2507,1708
$GC,12451,0.95,174.6,544.0,7.2,610,12453,0.10,0.00,0.00,0.000,6,0.088,0.000,2660,2506,1710
$GC,12776,0.87,174.6,515.2,8.8,618,12781,0.15,2.33,0.00,0.000,4,0.136,0.059,2615,3932,1709
$GC,12826,0.87,174.6,510.9,8.1,619,12830,0.00,2.17,0.00,0.000,6,0.000,0.036,2615,2506,1709
$GC,13145,0.97,203.9,490.7,6.0,627,13173,0.12,0.00,25.45,1.118,6,0.079,0.000,2666,2505,1588
$GC,13470,0.92,203.9,463.4,8.7,635,13471,0.12,0.00,0.00,0.000,6,0.133,0.000,2629,2505,1589
$GC,13795,0.98,203.9,440.3,7.0,643,13799,0.00,2.17,0.00,0.000,4,0.000,0.048,2629,1108,1589
$GC,13829,1.10,211.8,438.0,6.8,643,13842,0.15,2.20,7.97,0.943,6,0.072,0.042,2691,2523,1556
$GC,14167,0.98,211.8,405.1,9.8,652,14172,0.15,2.25,0.00,0.000,4,0.125,0.058,2646,3926,1557
$GC,14217,0.92,211.8,400.4,8.4,653,14221,0.00,2.15,0.00,0.000,6,0.000,0.035,2645,2515,1557
$GC,14541,0.92,211.8,375.8,7.7,668,14544,0.00,2.17,0.00,0.000,4,0.000,0.047,2645,1110,1557
$GC,14592,0.98,211.8,371.6,7.9,670,14596,0.00,2.20,0.00,0.000,6,0.000,0.042,2646,2522,1557
$GC,14919,0.98,211.8,346.2,7.6,686,14920,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2522,1557
$GC,15228,0.98,211.8,322.9,7.7,701,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2522,1557
$GC,15538,0.99,216.1,300.5,6.9,716,15545,0.00,0.00,5.40,0.780,6,0.000,0.000,2646,2522,1539
$GC,15847,1.01,231.4,280.6,6.5,731,15868,0.00,2.28,13.93,0.957,4,0.000,0.047,2646,1123,1476
$GC,15897,1.13,239.3,277.0,6.8,733,15914,0.12,2.20,8.38,0.867,6,0.082,0.044,2695,2527,1444
$GC,16226,1.05,239.3,246.8,9.7,749,16228,0.12,0.00,0.00,0.000,6,0.133,0.000,2659,2527,1443
$GC,16533,1.05,239.3,222.0,7.8,764,16537,0.00,2.22,0.00,0.000,4,0.000,0.048,2659,1114,1443
$GC,16562,1.12,239.3,219.7,7.4,765,16566,0.00,2.20,0.00,0.000,6,0.000,0.042,2659,2524,1443
$GC,16890,1.20,255.6,196.5,6.5,781,16912,0.12,2.25,14.23,0.907,4,0.079,0.047,2716,1115,1378
$GC,16936,1.11,255.6,192.3,9.0,783,16940,0.15,2.20,0.00,0.000,6,0.130,0.042,2671,2523,1378
$GC,17263,1.11,255.6,165.7,7.3,799,17264,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2523,1379
$GC,17571,1.11,255.6,140.7,8.6,814,17575,0.00,2.22,0.00,0.000,4,0.000,0.047,2671,1107,1379
$GC,17610,1.21,255.6,137.5,7.9,815,17617,0.10,2.20,0.00,0.000,6,0.084,0.041,2711,2520,1379
$GC,17927,1.12,255.6,105.0,10.3,831,17932,0.12,2.28,0.00,0.000,4,0.128,0.056,2673,3937,1380
$GC,17967,1.12,255.6,101.4,8.8,833,17970,0.00,2.17,0.00,0.000,6,0.000,0.035,2673,2510,1380
$GC,18311,1.19,259.6,75.8,6.9,891,18318,0.00,0.00,5.05,0.669,6,0.000,0.000,2673,2510,1361
$GC,18657,1.35,333.9,50.2,4.5,952,18727,0.17,2.28,60.42,0.858,4,0.067,0.049,2748,1126,1056
$GC,18807,1.35,333.9,34.2,12.2,978,18813,0.00,2.20,0.00,0.000,6,0.000,0.045,2748,2528,1054
$STATE,19125,end climb,SURFACE_DEPTH_REACHED
$STATE,19125,begin surface coast
$FINISH,0.5,1.027005
$STATE,19143,end surface coast,CONTROL_FINISHED_OK
$STATE,19143,begin surface
$SM_CCo,19223,0.00,0.000,0,0,1049,336.31
$SM_GC,1.30,7.15,0.00,0.00,0.065,0.000,0.000,165,2339,1049,-10.39,-0.03,336.31
$RAFOS_CLK,994
$RAFOS,4,1228855442,20.750000,20.733889,60,58,57,54,53,51,208,145,218,154,194,179
$RAFOS,3,1228854856,20.583334,20.571112,66,62,61,56,56,54,210,201,144,174,235,222
$RAFOS,2,1228854258,20.416666,20.405001,58,57,56,51,51,51,159,188,210,135,219,559
$RAFOS,1,1228853655,20.250000,20.237499,58,56,55,53,52,50,147,202,190,180,223,166
$RAFOS,0,1228853057,20.083334,20.071388,63,63,60,59,51,50,160,170,192,217,1070,181
$RAFOS,4,1228841042,16.750000,16.733889,61,60,51,51,51,49,185,218,199,153,232,167
$RAFOS,3,1228840458,16.583334,16.571667,58,56,55,54,53,51,187,199,149,210,237,171
$RAFOS,2,1228839856,16.416666,16.404444,63,63,60,59,58,58,140,192,182,210,226,235
$RAFOS,1,1228839246,16.250000,16.235001,64,58,58,55,54,53,217,190,177,199,155,118
$RAFOS,0,1228838644,16.083334,16.067778,59,56,56,56,52,49,176,203,221,230,147,129
$RAFOS_FIX,6702.995605,-5722.701172,091208,000052,3,95,0.49
$IRIDIUM_FIX,6631.12,-5713.57,050398,161605
$TT8_MAMPS,0.027612
$HUMID,1867
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,20.2,75.217
$10V_AH,10.6,33.672
$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,21.475,143.450,440.300,0.000,0.000,50.226,67.204,244.582,0.500,0.000,0.000,34.722,1879.223,14607.594,595.213,2006.909,724.289,33.388,1682.305,0.000,1954.374,3600.000,0.529,0.000
$DEVICE_MAMPS,255.411,63.661,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.389,704.113,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37793,1038
$CAP_FILE_SIZE,148937,0
$CFSIZE,260165632,220520448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1468.5
$GPS,091208,212038,6703.778,-5659.443,39,1.5,39,-37.6