version: 66.04
glider: 113
mission: 4
dive: 442
start: 12 17 108 11 24 34
data:
$ID,113
$MISSION,4
$DIVE,442
$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,-40833.711
$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,42
$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
$GPS1,111702,6703.712,-5702.150,41,1.3,41,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-60.3
$GPS2,112339,6703.684,-5702.143,9,1.6,15,-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,0.197,-0.107
$KALMAN_X,-125562.9,86.1,-185.3,141926.2,873.0
$KALMAN_Y,-8663.0,-453.7,-725.3,26150.9,1380.7
$MHEAD_RNG_PITCHd_Wd,156.1,10291,-12.9,-7.021
$D_GRID,630
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-113.72,0.000,6,0.000,0.000,156,2330,3017
$GC,141,-1.08,-146.0,3.4,-2.7,21,155,8.73,2.38,0.00,0.000,4,0.258,0.061,2201,3748,3019
$GC,162,1.29,-146.0,8.4,-13.0,24,169,1.80,2.17,0.00,0.000,6,0.173,0.036,2713,2335,3021
$GC,509,0.10,-146.0,27.4,-5.9,85,516,0.70,2.38,0.00,0.000,4,0.057,0.063,2439,3746,3022
$GC,764,-0.73,-146.0,46.7,-7.6,130,771,0.52,2.20,0.00,0.000,6,0.094,0.038,2263,2331,3023
$GC,1110,-0.88,-146.0,72.3,-6.4,191,1117,0.00,2.38,0.00,0.000,4,0.000,0.063,2263,3752,3021
$GC,1197,-0.94,-146.0,79.0,-7.9,206,1204,0.12,2.20,0.00,0.000,6,0.097,0.038,2218,2339,3022
$GC,1538,-0.83,-146.0,113.7,-10.8,250,1543,0.15,2.38,0.00,0.000,4,0.152,0.062,2258,3743,3021
$GC,1583,-0.90,-146.0,118.1,-9.4,252,1587,0.00,2.20,0.00,0.000,6,0.000,0.037,2259,2331,3021
$GC,1911,-0.95,-146.0,147.1,-8.5,268,1915,0.12,2.38,0.00,0.000,4,0.094,0.061,2213,3746,3021
$GC,1923,-0.95,-146.0,148.1,-8.3,268,1929,0.00,2.20,0.00,0.000,6,0.000,0.037,2213,2334,3021
$GC,2239,-0.84,-146.0,172.6,-7.2,284,2244,0.15,2.25,0.00,0.000,4,0.156,0.048,2255,928,3022
$GC,2318,-0.84,-146.0,177.7,-6.5,287,2321,0.00,2.28,0.00,0.000,6,0.000,0.046,2255,2351,3022
$GC,2640,-0.88,-146.0,201.8,-8.6,303,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2351,3022
$GC,2949,-0.94,-146.0,225.2,-6.8,318,2951,0.10,0.00,0.00,0.000,6,0.100,0.000,2218,2351,3021
$GC,3258,-0.88,-146.0,247.8,-7.5,333,3262,0.10,2.28,0.00,0.000,4,0.155,0.048,2244,939,3020
$GC,3285,-0.88,-146.0,250.0,-7.6,334,3289,0.00,2.25,0.00,0.000,6,0.000,0.048,2244,2340,3020
$GC,3613,-0.88,-146.0,272.6,-6.8,350,3616,0.00,2.25,0.00,0.000,4,0.000,0.048,2244,933,3020
$GC,3624,-0.88,-146.0,273.5,-6.8,350,3627,0.00,2.25,0.00,0.000,6,0.000,0.044,2243,2343,3020
$GC,3947,-0.88,-146.0,292.8,-5.6,366,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2343,3020
$GC,4255,-0.93,-146.0,311.8,-6.8,381,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2343,3022
$GC,4565,-0.98,-146.0,335.1,-7.4,396,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2343,3023
$GC,4874,-1.04,-146.0,354.6,-5.6,411,4878,0.12,2.33,0.00,0.000,4,0.094,0.060,2192,3745,3023
$GC,4901,-0.97,-146.0,356.7,-7.4,412,4906,0.12,2.17,0.00,0.000,6,0.148,0.035,2224,2337,3023
$GC,5224,-0.97,-146.0,375.3,-5.4,428,5228,0.00,2.35,0.00,0.000,4,0.000,0.060,2224,3748,3023
$GC,5292,-0.97,-146.0,379.1,-5.5,431,5296,0.00,2.20,0.00,0.000,6,0.000,0.035,2225,2328,3023
$GC,5625,-0.97,-146.0,397.8,-5.8,447,5629,0.00,2.35,0.00,0.000,4,0.000,0.058,2224,3744,3023
$GC,5660,-0.97,-146.0,400.0,-6.3,448,5664,0.00,2.17,0.00,0.000,6,0.000,0.035,2225,2336,3024
$GC,5997,-0.97,-146.0,422.9,-7.2,457,6001,0.00,2.35,0.00,0.000,4,0.000,0.059,2224,3750,3024
$GC,6008,-0.97,-146.0,423.9,-7.2,457,6012,0.00,2.20,0.00,0.000,6,0.000,0.034,2224,2327,3024
$GC,6327,-0.97,-146.0,445.3,-6.6,465,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2327,3025
$GC,6652,-0.97,-146.0,465.8,-6.2,473,6656,0.00,2.35,0.00,0.000,4,0.000,0.059,2225,3745,3025
$GC,6669,-0.97,-146.0,466.9,-6.3,473,6673,0.00,2.17,0.00,0.000,6,0.000,0.034,2225,2332,3025
$GC,6982,-0.97,-146.0,486.2,-6.2,481,6986,0.00,2.35,0.00,0.000,4,0.000,0.059,2225,3746,3025
$GC,7023,-1.03,-146.0,488.9,-7.0,481,7029,0.00,2.17,0.00,0.000,6,0.000,0.035,2225,2336,3025
$GC,7355,-1.03,-146.0,509.3,-6.0,490,7358,0.00,2.35,0.00,0.000,4,0.000,0.059,2224,3747,3025
$GC,7383,-1.03,-146.0,511.1,-6.4,490,7387,0.00,2.17,0.00,0.000,6,0.000,0.034,2224,2340,3025
$GC,7726,-1.03,-146.0,530.8,-5.8,499,7730,0.00,2.35,0.00,0.000,4,0.000,0.059,2225,3752,3026
$GC,7738,-1.03,-146.0,531.5,-5.7,499,7742,0.00,2.20,0.00,0.000,6,0.000,0.034,2224,2325,3026
$GC,8057,-1.03,-146.0,550.7,-6.0,507,8061,0.00,2.38,0.00,0.000,4,0.000,0.061,2225,3746,3026
$GC,8068,-1.03,-146.0,551.4,-5.9,507,8072,0.00,2.17,0.00,0.000,6,0.000,0.034,2224,2335,3026
$GC,8388,-1.03,-146.0,570.7,-6.3,515,8392,0.00,2.35,0.00,0.000,4,0.000,0.059,2224,3744,3027
$GC,8417,-1.08,-146.0,572.7,-6.4,515,8422,0.10,2.17,0.00,0.000,6,0.097,0.035,2190,2330,3026
$GC,8759,-0.99,-146.0,598.4,-7.5,524,8764,0.12,2.38,0.00,0.000,4,0.150,0.058,2224,3749,3027
$GC,8850,-1.05,-146.0,604.1,-5.5,526,8854,0.00,2.20,0.00,0.000,6,0.000,0.035,2224,2330,3026
$GC,9174,-1.05,-146.0,623.5,-6.3,534,9178,0.00,2.38,0.00,0.000,4,0.000,0.059,2224,3754,3027
$GC,9191,-1.05,-146.0,624.7,-6.2,534,9195,0.00,2.20,0.00,0.000,6,0.000,0.035,2224,2333,3027
$STATE,9298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9299,begin apogee
$GC,9307,-0.34,0.0,632.1,6.7,537,9441,0.45,0.00,131.02,1.230,6,0.133,0.000,2363,2526,2420
$STATE,9441,end apogee,CONTROL_FINISHED_OK
$STATE,9441,begin climb
$GC,9444,1.08,146.0,634.2,0.0,540,9611,1.05,0.00,146.75,1.101,6,0.095,0.000,2672,2526,1824
$GC,9911,0.90,146.0,597.2,8.7,552,9915,0.15,2.33,0.00,0.000,4,0.146,0.061,2629,3940,1824
$GC,9979,0.80,146.0,591.5,8.5,553,9983,0.00,2.17,0.00,0.000,6,0.000,0.038,2629,2522,1824
$GC,10321,0.82,162.1,568.5,6.5,562,10337,0.00,0.00,14.20,1.119,6,0.000,0.000,2629,2522,1760
$GC,10647,0.83,171.4,546.7,6.7,570,10662,0.00,2.38,9.18,1.051,4,0.000,0.063,2629,3927,1721
$GC,10702,0.74,171.4,542.4,8.5,571,10706,0.15,2.17,0.00,0.000,6,0.146,0.038,2588,2519,1722
$GC,11021,0.96,203.5,523.6,5.9,579,11056,0.17,2.33,27.38,1.167,4,0.074,0.048,2657,1112,1590
$GC,11162,0.96,203.5,512.6,7.8,582,11166,0.00,2.22,0.00,0.000,6,0.000,0.045,2657,2533,1590
$GC,11481,0.91,203.5,486.9,8.2,590,11485,0.10,2.25,0.00,0.000,4,0.156,0.060,2630,3925,1590
$GC,11560,0.85,203.5,480.3,8.6,591,11566,0.00,2.17,0.00,0.000,6,0.000,0.037,2630,2511,1590
$GC,11891,0.85,203.5,457.3,7.1,600,11895,0.00,2.20,0.00,0.000,4,0.000,0.048,2630,1110,1589
$GC,11952,0.94,203.5,452.6,7.3,601,11956,0.00,2.22,0.00,0.000,6,0.000,0.044,2630,2523,1589
$GC,12266,0.94,203.5,429.4,7.4,609,12270,0.00,2.28,0.00,0.000,4,0.000,0.061,2630,3926,1589
$GC,12316,0.94,203.5,425.0,9.4,610,12320,0.00,2.17,0.00,0.000,6,0.000,0.037,2630,2515,1589
$GC,12641,0.94,203.5,401.1,7.5,618,12645,0.00,2.17,0.00,0.000,4,0.000,0.048,2630,1120,1589
$GC,12720,1.03,203.5,395.3,7.5,620,12724,0.10,2.22,0.00,0.000,6,0.083,0.044,2673,2529,1589
$GC,13041,0.93,203.5,365.5,9.9,636,13046,0.12,2.30,0.00,0.000,4,0.136,0.059,2637,3935,1589
$GC,13119,0.87,203.5,358.2,9.3,639,13125,0.00,2.20,0.00,0.000,6,0.000,0.036,2637,2508,1590
$GC,13436,0.87,203.5,334.2,7.1,655,13440,0.00,2.17,0.00,0.000,4,0.000,0.048,2637,1121,1590
$GC,13492,0.97,224.1,330.3,6.3,657,13517,0.00,2.22,17.88,1.012,6,0.000,0.043,2637,2531,1506
$GC,13838,1.05,237.5,307.0,6.6,674,13854,0.10,0.00,12.55,0.956,6,0.084,0.000,2684,2531,1451
$GC,14164,0.98,237.5,277.4,9.2,690,14166,0.15,0.00,0.00,0.000,6,0.126,0.000,2639,2531,1452
$GC,14473,1.04,237.5,254.3,7.9,705,14477,0.10,2.25,0.00,0.000,4,0.084,0.046,2688,1113,1452
$GC,14546,0.99,237.5,247.3,9.4,708,14551,0.15,2.22,0.00,0.000,6,0.128,0.044,2644,2528,1451
$GC,14873,1.04,237.5,223.1,7.4,724,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2528,1451
$GC,15183,1.11,237.5,197.3,8.3,739,15187,0.12,2.28,0.00,0.000,4,0.074,0.059,2700,3924,1452
$GC,15234,0.92,237.5,191.4,12.2,741,15238,0.22,2.17,0.00,0.000,6,0.127,0.036,2635,2512,1452
$GC,15561,1.13,307.3,173.0,4.6,757,15626,0.15,2.28,57.20,0.946,4,0.069,0.047,2701,1113,1166
$GC,15704,1.13,307.3,162.7,7.6,763,15708,0.00,2.22,0.00,0.000,6,0.000,0.043,2701,2530,1164
$GC,16025,1.13,307.3,137.4,7.8,779,16029,0.00,2.25,0.00,0.000,4,0.000,0.061,2700,3927,1163
$GC,16065,1.03,307.3,133.8,9.4,780,16072,0.15,2.17,0.00,0.000,6,0.131,0.037,2656,2509,1163
$GC,16381,1.19,307.3,110.1,8.0,796,16386,0.12,2.20,0.00,0.000,4,0.071,0.048,2709,1114,1162
$GC,16465,1.19,307.3,102.8,8.0,799,16472,0.00,2.22,0.00,0.000,6,0.000,0.045,2709,2520,1162
$GC,16804,1.19,307.3,74.3,8.1,854,16811,0.00,2.25,0.00,0.000,4,0.000,0.049,2709,1110,1161
$GC,16869,1.19,307.3,69.4,7.9,865,16875,0.00,2.25,0.00,0.000,6,0.000,0.044,2709,2534,1161
$GC,17214,1.19,307.3,41.6,7.5,926,17220,0.00,2.28,0.00,0.000,4,0.000,0.061,2709,3929,1161
$GC,17261,1.12,307.3,37.3,8.9,934,17268,0.12,2.20,0.00,0.000,6,0.133,0.038,2673,2509,1161
$GC,17607,1.36,394.2,14.8,4.1,995,17684,0.17,2.35,71.10,0.897,4,0.069,0.050,2748,1115,812
$STATE,17739,end climb,SURFACE_DEPTH_REACHED
$STATE,17739,begin surface coast
$FINISH,0.8,1.013912
$STATE,17757,end surface coast,CONTROL_FINISHED_OK
$STATE,17757,begin surface
$SM_CCo,17839,0.00,0.000,0,0,803,396.65
$SM_GC,1.53,7.10,0.00,0.00,0.061,0.000,0.000,165,2359,803,-10.37,0.54,396.65
$RAFOS_CLK,934
$RAFOS,1,1229530441,16.250000,16.233612,63,60,56,54,53,48,200,146,213,187,165,224
$RAFOS,0,1229529842,16.083334,16.067223,69,60,53,52,51,50,219,204,164,230,150,122
$RAFOS,4,1229517861,12.750000,12.739166,83,60,58,57,57,53,723,213,191,229,154,134
$RAFOS,3,1229517243,12.583333,12.567500,57,56,54,51,51,49,124,162,206,173,222,141
$RAFOS,2,1229516642,12.416667,12.400556,152,71,62,57,55,54,644,170,204,215,226,128
$RAFOS,1,1229516060,12.250000,12.238889,69,60,59,58,55,51,213,162,146,196,230,179
$RAFOS,0,1229515442,12.083333,12.067223,61,61,58,57,51,50,119,219,208,194,177,151
$RAFOS_FIX,6704.075684,-5705.107910,171208,121216,2,118,0.52
$IRIDIUM_FIX,6636.54,-5656.94,130398,060618
$TT8_MAMPS,0.026845
$HUMID,1888
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,20.3,81.073
$10V_AH,10.5,36.467
$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,23.950,166.950,487.250,0.000,0.000,23.463,32.174,191.237,0.250,0.000,0.000,17.361,1881.175,13071.079,650.703,2010.897,624.067,33.382,1756.684,0.000,1971.905,2520.000,0.528,0.000
$DEVICE_MAMPS,258.479,64.428,1229.501,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.696,693.041,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37813,1021
$CAP_FILE_SIZE,148584,0
$CFSIZE,260165632,218226688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1462.9
$GPS,171208,162326,6702.186,-5657.941,39,1.2,39,-37.6