version: 66.04
glider: 113
mission: 4
dive: 435
start: 12 16 108 0 26 11
data:
$ID,113
$MISSION,4
$DIVE,435
$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,-40696.246
$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,35
$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
$GPS1,001758,6701.583,-5709.183,33,8.4,52,-37.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-59.0
$GPS2,002517,6701.562,-5709.041,9,8.5,28,-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,0.198,0.105
$KALMAN_X,-132290.2,542.0,264.7,142717.0,52.6
$KALMAN_Y,-4424.7,1081.0,238.3,15469.3,-5346.6
$MHEAD_RNG_PITCHd_Wd,99.8,15426,-12.9,-7.021
$D_GRID,732
$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,18,-1.08,-146.0,0.0,0.0,0,151,0.00,0.00,-128.25,0.000,6,0.000,0.000,165,2335,3017
$GC,155,-1.08,-146.0,3.5,-2.9,23,169,8.57,2.30,0.00,0.000,4,0.255,0.055,2196,926,3020
$GC,335,-0.60,-146.0,33.2,-14.4,54,342,0.40,2.28,0.00,0.000,6,0.170,0.051,2303,2345,3021
$GC,681,-0.60,-146.0,67.4,-10.2,115,687,0.00,2.33,0.00,0.000,4,0.000,0.066,2303,3748,3023
$GC,733,-0.66,-146.0,72.6,-9.9,124,740,0.00,2.20,0.00,0.000,6,0.000,0.038,2303,2335,3022
$GC,1095,-0.74,-146.0,101.9,-7.3,185,1100,0.12,2.40,0.00,0.000,4,0.097,0.065,2257,3752,3023
$GC,1168,-0.74,-146.0,108.6,-9.0,188,1172,0.00,2.22,0.00,0.000,6,0.000,0.039,2257,2330,3023
$GC,1489,-0.70,-146.0,135.2,-8.4,204,1494,0.12,2.40,0.00,0.000,4,0.160,0.064,2289,3749,3023
$GC,1575,-0.81,-146.0,141.6,-7.0,208,1580,0.12,2.22,0.00,0.000,6,0.097,0.039,2244,2327,3023
$GC,1908,-0.74,-146.0,174.2,-9.8,224,1912,0.12,2.40,0.00,0.000,4,0.163,0.064,2275,3743,3023
$GC,1935,-0.80,-146.0,176.7,-9.0,225,1939,0.00,2.20,0.00,0.000,6,0.000,0.039,2275,2340,3023
$GC,2263,-0.86,-146.0,197.3,-5.8,241,2265,0.10,0.00,0.00,0.000,6,0.114,0.000,2237,2340,3022
$GC,2571,-0.80,-146.0,221.1,-8.3,256,2576,0.10,2.40,0.00,0.000,4,0.167,0.064,2260,3753,3022
$GC,2634,-0.87,-146.0,226.2,-8.0,259,2638,0.00,2.22,0.00,0.000,6,0.000,0.038,2260,2331,3022
$GC,2967,-0.87,-146.0,250.0,-6.4,275,2971,0.00,2.40,0.00,0.000,4,0.000,0.066,2260,3754,3022
$GC,3014,-0.96,-146.0,253.0,-6.6,277,3018,0.12,2.22,0.00,0.000,6,0.106,0.038,2218,2333,3022
$GC,3347,-0.86,-146.0,278.2,-7.2,293,3352,0.12,2.38,0.00,0.000,4,0.158,0.064,2248,3743,3022
$GC,3374,-0.86,-146.0,280.4,-7.2,294,3378,0.00,2.20,0.00,0.000,6,0.000,0.038,2248,2338,3022
$GC,3701,-0.86,-146.0,303.9,-7.7,310,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2338,3022
$GC,4011,-0.86,-146.0,329.4,-8.8,325,4015,0.00,2.38,0.00,0.000,4,0.000,0.064,2248,3744,3022
$GC,4035,-0.86,-146.0,331.5,-8.9,326,4039,0.00,2.20,0.00,0.000,6,0.000,0.038,2248,2337,3022
$GC,4367,-0.86,-146.0,359.7,-8.2,342,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2337,3022
$GC,4678,-0.91,-146.0,382.7,-7.0,357,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2337,3022
$GC,4986,-0.91,-146.0,400.5,-5.2,372,4990,0.00,2.38,0.00,0.000,4,0.000,0.064,2248,3746,3022
$GC,5015,-0.98,-146.0,402.1,-5.6,372,5019,0.10,2.20,0.00,0.000,6,0.114,0.038,2214,2338,3022
$GC,5358,-0.90,-146.0,423.1,-6.0,381,5363,0.10,2.38,0.00,0.000,4,0.166,0.064,2240,3753,3023
$GC,5386,-0.90,-146.0,424.6,-5.3,381,5390,0.00,2.22,0.00,0.000,6,0.000,0.037,2240,2328,3023
$GC,5724,-0.90,-146.0,442.7,-5.7,390,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2329,3023
$GC,6049,-0.90,-146.0,462.0,-6.0,398,6053,0.00,2.40,0.00,0.000,4,0.000,0.064,2240,3746,3023
$GC,6117,-0.97,-146.0,466.5,-6.5,399,6121,0.00,2.20,0.00,0.000,6,0.000,0.038,2240,2340,3023
$GC,6466,-0.97,-146.0,487.9,-6.0,408,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2340,3024
$GC,6791,-0.97,-146.0,505.6,-5.3,416,6795,0.00,2.38,0.00,0.000,4,0.000,0.064,2240,3745,3024
$GC,6838,-1.04,-146.0,508.0,-5.8,417,6842,0.12,2.20,0.00,0.000,6,0.094,0.038,2197,2337,3024
$GC,7168,-0.92,-146.0,529.3,-6.2,425,7173,0.15,2.40,0.00,0.000,4,0.156,0.063,2237,3747,3024
$GC,7209,-0.97,-146.0,531.9,-6.8,426,7213,0.00,2.20,0.00,0.000,6,0.000,0.038,2237,2343,3023
$GC,7539,-0.97,-146.0,553.6,-6.7,434,7543,0.00,2.38,0.00,0.000,4,0.000,0.064,2236,3745,3024
$GC,7561,-0.97,-146.0,555.3,-7.4,434,7565,0.00,2.20,0.00,0.000,6,0.000,0.038,2236,2335,3024
$GC,7909,-0.97,-146.0,580.7,-7.4,443,7913,0.00,2.38,0.00,0.000,4,0.000,0.064,2236,3743,3024
$GC,7931,-0.97,-146.0,582.3,-7.1,443,7935,0.00,2.20,0.00,0.000,6,0.000,0.038,2237,2337,3024
$GC,8279,-0.97,-146.0,605.1,-6.3,452,8283,0.00,2.38,0.00,0.000,4,0.000,0.064,2236,3744,3024
$GC,8313,-1.02,-146.0,607.4,-6.4,452,8318,0.10,2.20,0.00,0.000,6,0.110,0.038,2202,2338,3024
$GC,8651,-0.93,-146.0,632.3,-7.5,461,8656,0.12,2.40,0.00,0.000,4,0.156,0.064,2234,3748,3024
$GC,8679,-0.93,-146.0,634.3,-6.8,461,8683,0.00,2.22,0.00,0.000,6,0.000,0.038,2234,2326,3024
$GC,9016,-0.93,-146.0,656.4,-6.4,470,9020,0.00,2.40,0.00,0.000,4,0.000,0.065,2234,3745,3024
$GC,9063,-0.99,-146.0,659.6,-7.3,471,9067,0.00,2.20,0.00,0.000,6,0.000,0.038,2234,2336,3024
$GC,9393,-0.99,-146.0,680.6,-6.1,479,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2335,3024
$GC,9718,-0.99,-146.0,699.8,-6.0,487,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2335,3023
$GC,10042,-0.99,-146.0,722.7,-7.5,495,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2336,3023
$GC,10369,-1.42,-146.0,729.4,0.1,503,10374,0.30,2.42,0.00,0.000,4,0.075,0.064,2112,3755,3023
$STATE,10406,end dive,NO_VERTICAL_VELOCITY
$STATE,10406,begin apogee
$GC,10416,-0.34,0.0,729.4,0.0,504,10553,0.80,0.00,134.55,1.328,6,0.107,0.000,2368,2516,2420
$STATE,10554,end apogee,CONTROL_FINISHED_OK
$STATE,10554,begin climb
$GC,10557,1.08,146.0,729.5,0.0,507,10797,1.05,2.72,168.27,1.091,4,0.100,0.050,2669,1123,1824
$GC,10907,0.97,146.0,705.8,8.7,515,10912,0.10,2.50,0.00,0.000,6,0.150,0.048,2646,2526,1823
$GC,11226,0.90,146.0,681.6,7.8,523,11230,0.00,2.30,0.00,0.000,4,0.000,0.068,2646,3935,1825
$GC,11318,0.73,146.0,673.3,9.5,525,11322,0.20,2.17,0.00,0.000,6,0.145,0.040,2590,2524,1824
$GC,11649,0.95,183.2,653.5,5.8,533,11691,0.17,2.38,31.92,1.270,4,0.077,0.051,2659,1107,1672
$GC,11771,0.95,183.2,644.6,7.5,535,11776,0.00,2.28,0.00,0.000,6,0.000,0.049,2659,2534,1672
$GC,12110,1.02,183.2,619.5,7.7,544,12113,0.00,2.28,0.00,0.000,4,0.000,0.067,2659,3924,1672
$GC,12275,0.84,183.2,605.1,8.7,547,12279,0.17,2.17,0.00,0.000,6,0.145,0.040,2611,2520,1672
$GC,12618,0.96,212.7,584.0,6.0,556,12649,0.12,2.30,25.30,1.239,4,0.081,0.052,2665,1109,1552
$GC,12683,0.96,212.7,578.7,8.0,557,12687,0.00,2.28,0.00,0.000,6,0.000,0.048,2665,2529,1552
$GC,13026,0.90,212.7,550.7,8.1,566,13030,0.12,2.28,0.00,0.000,4,0.141,0.065,2629,3923,1553
$GC,13071,0.90,212.7,547.1,7.9,567,13077,0.00,2.17,0.00,0.000,6,0.000,0.039,2628,2513,1552
$GC,13403,1.00,236.4,526.3,6.2,575,13429,0.08,2.25,20.67,1.194,4,0.101,0.052,2665,1121,1456
$GC,13457,1.00,236.4,522.2,7.7,576,13461,0.00,2.25,0.00,0.000,6,0.000,0.049,2665,2524,1456
$GC,13770,1.00,236.4,497.1,7.9,584,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2524,1457
$GC,14095,1.00,236.4,470.5,8.4,592,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2524,1456
$GC,14419,1.00,236.4,441.6,8.8,600,14421,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2524,1456
$GC,14745,1.00,236.4,414.7,8.0,608,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2524,1456
$GC,15051,1.00,236.4,390.6,7.7,618,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2524,1457
$GC,15360,1.00,236.4,368.4,7.4,633,15361,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2524,1457
$GC,15669,1.00,236.4,345.1,7.7,648,15673,0.00,2.28,0.00,0.000,4,0.000,0.051,2665,1112,1457
$GC,15715,1.00,236.4,341.8,7.4,650,15719,0.00,2.25,0.00,0.000,6,0.000,0.047,2665,2524,1456
$GC,16048,1.00,239.1,318.0,6.9,666,16057,0.00,2.33,3.83,0.693,4,0.000,0.064,2665,3920,1445
$GC,16086,0.91,239.1,314.7,8.4,667,16093,0.12,2.17,0.00,0.000,6,0.146,0.039,2630,2520,1446
$GC,16403,1.08,287.6,297.2,5.4,683,16450,0.15,2.30,41.03,1.075,4,0.075,0.051,2692,1124,1247
$GC,16495,1.08,287.6,289.7,8.8,687,16499,0.00,2.25,0.00,0.000,6,0.000,0.047,2692,2529,1246
$GC,16823,1.02,287.6,260.2,9.0,703,16825,0.15,0.00,0.00,0.000,6,0.133,0.000,2648,2529,1245
$GC,17131,1.11,287.6,237.6,7.9,718,17136,0.10,2.28,0.00,0.000,4,0.089,0.049,2692,1110,1244
$GC,17187,1.11,287.6,231.8,11.1,720,17191,0.00,2.25,0.00,0.000,6,0.000,0.046,2692,2526,1244
$GC,17510,1.05,287.6,195.8,10.8,736,17514,0.12,2.28,0.00,0.000,4,0.133,0.049,2655,1112,1244
$GC,17549,1.18,287.6,192.3,7.7,737,17555,0.12,2.25,0.00,0.000,6,0.076,0.045,2705,2534,1244
$GC,17865,1.13,287.6,160.0,10.3,753,17867,0.10,0.00,0.00,0.000,6,0.133,0.000,2677,2534,1245
$GC,18174,1.21,313.5,138.6,6.1,768,18202,0.10,2.30,22.05,0.933,4,0.083,0.050,2721,1119,1142
$GC,18237,1.21,313.5,133.5,8.3,771,18241,0.00,2.22,0.00,0.000,6,0.000,0.045,2721,2520,1142
$GC,18570,1.16,313.5,100.8,8.2,787,18575,0.12,2.25,0.00,0.000,4,0.129,0.050,2683,1112,1142
$GC,18605,1.29,343.5,98.7,6.0,790,18636,0.12,2.22,25.80,0.925,6,0.074,0.045,2733,2521,1019
$GC,18975,1.29,343.5,64.6,9.2,855,18982,0.00,2.25,0.00,0.000,4,0.000,0.051,2733,1110,1017
$GC,19051,1.29,343.5,57.4,9.8,868,19057,0.00,2.25,0.00,0.000,6,0.000,0.046,2733,2533,1016
$GC,19395,1.29,343.5,24.9,8.5,929,19401,0.00,2.28,0.00,0.000,4,0.000,0.064,2733,3926,1015
$GC,19437,1.20,343.5,20.6,10.8,936,19444,0.15,2.20,0.00,0.000,6,0.132,0.040,2689,2509,1016
$STATE,19701,end climb,SURFACE_DEPTH_REACHED
$STATE,19701,begin surface coast
$FINISH,1.0,1.016373
$STATE,19741,end surface coast,CONTROL_FINISHED_OK
$STATE,19741,begin surface
$SM_CCo,19821,0.00,0.000,0,0,1013,345.38
$SM_GC,1.69,7.07,0.00,0.00,0.063,0.000,0.000,157,2341,1013,-10.40,0.06,345.38
$RAFOS_CLK,1090
$RAFOS,4,1229402652,4.750000,4.736667,121,67,62,54,51,51,768,200,218,137,182,169
$RAFOS,3,1229402075,4.583333,4.576389,69,62,60,56,56,51,209,149,172,183,230,196
$RAFOS,2,1229401466,4.416667,4.407222,113,64,61,61,53,52,503,196,214,186,225,121
$RAFOS,1,1229400856,4.250000,4.237778,99,62,60,57,51,49,779,204,177,223,422,139
$RAFOS,0,1229400246,4.083333,4.068333,60,59,58,58,55,51,117,162,184,212,151,196
$RAFOS,4,1229388261,0.750000,0.739167,84,63,62,60,58,51,706,174,207,223,190,126
$RAFOS,3,1229387646,0.583333,0.568333,62,62,51,50,49,49,139,216,198,157,187,114
$RAFOS,1,1229386446,0.250000,0.235000,67,58,57,52,52,47,180,217,203,169,115,142
$RAFOS_FIX,6702.147949,-5709.495605,161208,040430,3,111,0.08
$IRIDIUM_FIX,6631.12,-5710.59,110398,191942
$TT8_MAMPS,0.028379
$HUMID,1912
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.10
$XPDR_PINGS,4
$24V_AH,19.9,80.025
$10V_AH,10.5,35.963
$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,22.200,164.775,473.425,0.000,0.000,27.295,32.182,214.438,1.000,0.000,0.000,31.307,1883.561,15010.354,640.453,2072.762,652.045,33.375,1795.356,0.000,2012.869,2520.000,0.529,0.000
$DEVICE_MAMPS,254.644,68.263,1328.444,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.989,678.669,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37795,990
$CAP_FILE_SIZE,153279,0
$CFSIZE,260165632,218689536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$SOUNDSPEED,1459.1
$GPS,161208,055807,6702.614,-5703.070,36,0.8,41,-37.6