version: 66.04
glider: 113
mission: 4
dive: 444
start: 12 17 108 21 50 10
data:
$ID,113
$MISSION,4
$DIVE,444
$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,-40884.293
$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,47
$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
$GPS1,213337,6701.894,-5702.334,36,1.1,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.2
$GPS2,214915,6701.876,-5702.343,13,1.5,13,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_MID
$TGT_LATLONG,6656.000,-5805.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.156,0.161
$KALMAN_X,-124053.9,-699.7,-425.2,141295.7,3765.9
$KALMAN_Y,-11353.5,290.0,674.6,23353.0,-3047.4
$MHEAD_RNG_PITCHd_Wd,353.6,46749,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,135,0.00,0.00,-115.60,0.000,6,0.000,0.000,161,2331,3015
$GC,139,-1.08,-146.0,2.7,-1.6,21,152,8.75,2.35,0.00,0.000,4,0.262,0.059,2192,3742,3019
$GC,249,-0.50,-146.0,20.6,-16.4,40,256,0.50,2.17,0.00,0.000,6,0.174,0.037,2330,2337,3022
$GC,595,-0.54,-146.0,50.6,-8.1,101,601,0.00,2.22,0.00,0.000,4,0.000,0.050,2330,931,3023
$GC,704,-0.60,-146.0,59.6,-8.2,120,710,0.10,2.25,0.00,0.000,6,0.111,0.047,2296,2340,3023
$GC,1049,-0.60,-146.0,86.4,-6.8,181,1055,0.00,2.33,0.00,0.000,4,0.000,0.061,2296,3753,3023
$GC,1212,-0.69,-146.0,96.8,-6.7,209,1218,0.00,2.22,0.00,0.000,6,0.000,0.037,2296,2326,3022
$GC,1548,-0.75,-146.0,118.5,-6.7,231,1553,0.08,2.22,0.00,0.000,4,0.113,0.049,2261,935,3022
$GC,1685,-0.67,-146.0,129.6,-8.4,237,1690,0.12,2.25,0.00,0.000,6,0.166,0.047,2292,2339,3023
$GC,2012,-0.76,-146.0,150.1,-6.1,253,2016,0.00,2.33,0.00,0.000,4,0.000,0.062,2290,3742,3023
$GC,2211,-0.88,-146.0,163.5,-6.4,261,2218,0.17,2.20,0.00,0.000,6,0.084,0.037,2229,2331,3022
$GC,2527,-0.77,-146.0,191.8,-9.0,277,2532,0.15,2.40,0.00,0.000,4,0.156,0.062,2269,3744,3023
$GC,2606,-0.85,-146.0,198.4,-8.3,280,2612,0.00,2.20,0.00,0.000,6,0.000,0.038,2270,2340,3022
$GC,2922,-0.91,-146.0,221.9,-7.1,296,2924,0.12,0.00,0.00,0.000,6,0.089,0.000,2223,2340,3022
$GC,3232,-0.81,-146.0,249.1,-8.9,311,3233,0.15,0.00,0.00,0.000,6,0.157,0.000,2264,2338,3021
$GC,3542,-0.86,-146.0,271.8,-6.9,326,3546,0.00,2.38,0.00,0.000,4,0.000,0.064,2263,3742,3022
$GC,3615,-0.96,-146.0,277.0,-7.0,329,3620,0.15,2.20,0.00,0.000,6,0.091,0.038,2213,2338,3021
$GC,3938,-0.84,-146.0,300.3,-6.7,345,3943,0.15,2.28,0.00,0.000,4,0.155,0.048,2255,928,3021
$GC,4045,-0.84,-146.0,306.3,-5.0,350,4049,0.00,2.30,0.00,0.000,6,0.000,0.048,2255,2353,3021
$GC,4379,-0.89,-146.0,323.5,-5.4,366,4382,0.00,2.33,0.00,0.000,4,0.000,0.062,2255,3745,3021
$GC,4540,-1.00,-146.0,333.2,-5.9,373,4545,0.15,2.20,0.00,0.000,6,0.087,0.037,2203,2334,3020
$GC,4872,-0.88,-146.0,359.5,-8.2,389,4877,0.15,2.25,0.00,0.000,4,0.147,0.048,2245,938,3020
$GC,4984,-0.88,-146.0,368.2,-7.9,394,4988,0.00,2.28,0.00,0.000,6,0.000,0.048,2245,2350,3021
$GC,5312,-0.88,-146.0,391.3,-6.8,410,5316,0.00,2.33,0.00,0.000,4,0.000,0.063,2245,3745,3021
$GC,5436,-0.96,-146.0,400.0,-6.6,415,5440,0.00,2.20,0.00,0.000,6,0.000,0.036,2245,2334,3021
$GC,5773,-0.96,-146.0,421.8,-6.4,424,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2333,3022
$GC,6099,-1.01,-146.0,442.0,-6.1,432,6101,0.10,0.00,0.00,0.000,6,0.101,0.000,2206,2334,3023
$GC,6424,-0.93,-146.0,465.1,-7.1,440,6426,0.12,0.00,0.00,0.000,6,0.153,0.000,2240,2331,3024
$GC,6748,-0.93,-146.0,483.3,-5.3,448,6752,0.00,2.38,0.00,0.000,4,0.000,0.061,2240,3746,3024
$GC,6833,-0.99,-146.0,488.3,-6.2,449,6839,0.00,2.20,0.00,0.000,6,0.000,0.036,2240,2335,3024
$GC,7165,-0.99,-146.0,506.1,-5.3,458,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2335,3025
$GC,7490,-0.99,-146.0,524.8,-5.9,466,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2335,3026
$GC,7815,-0.99,-146.0,544.7,-6.3,474,7819,0.00,2.38,0.00,0.000,4,0.000,0.061,2240,3745,3026
$GC,7930,-1.07,-146.0,552.2,-6.4,476,7934,0.15,2.20,0.00,0.000,6,0.088,0.037,2189,2337,3026
$GC,8278,-0.93,-146.0,579.7,-7.8,485,8282,0.17,2.25,0.00,0.000,4,0.148,0.049,2239,942,3025
$GC,8350,-0.93,-146.0,584.8,-6.8,486,8354,0.00,2.25,0.00,0.000,6,0.000,0.046,2239,2341,3026
$GC,8687,-0.93,-146.0,605.1,-6.1,495,8691,0.00,2.33,0.00,0.000,4,0.000,0.061,2239,3750,3026
$GC,8852,-1.00,-146.0,615.7,-6.5,498,8856,0.00,2.20,0.00,0.000,6,0.000,0.036,2239,2337,3025
$GC,9195,-1.00,-146.0,636.9,-6.1,507,9199,0.00,2.25,0.00,0.000,4,0.000,0.050,2239,937,3026
$GC,9273,-1.00,-146.0,642.3,-7.1,508,9277,0.00,2.28,0.00,0.000,6,0.000,0.047,2239,2347,3026
$GC,9605,-1.00,-146.0,662.6,-5.9,516,9609,0.00,2.35,0.00,0.000,4,0.000,0.064,2239,3750,3026
$GC,9752,-1.07,-146.0,671.8,-6.2,519,9757,0.12,2.22,0.00,0.000,6,0.094,0.037,2196,2327,3026
$GC,10071,-0.95,-146.0,694.8,-7.3,527,10076,0.12,2.42,0.00,0.000,4,0.153,0.062,2229,3752,3025
$STATE,10113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10113,begin apogee
$GC,10123,-0.34,0.0,698.1,8.0,528,10260,0.45,0.00,133.62,1.297,6,0.138,0.000,2365,2508,2420
$STATE,10261,end apogee,CONTROL_FINISHED_OK
$STATE,10261,begin climb
$GC,10264,1.08,146.0,700.5,0.0,531,10521,1.05,2.78,173.70,1.032,4,0.102,0.061,2666,3920,1823
$GC,10552,0.84,146.0,678.6,10.0,538,10557,0.20,2.50,0.00,0.000,6,0.137,0.036,2617,2523,1824
$GC,10872,0.86,160.4,657.4,6.5,546,10891,0.00,2.40,13.07,1.148,4,0.000,0.065,2616,3920,1767
$GC,10898,0.89,181.6,655.6,6.3,546,10923,0.00,2.22,19.77,1.180,6,0.000,0.038,2616,2503,1679
$GC,11244,0.98,197.9,633.0,6.5,555,11264,0.12,2.40,14.45,1.171,4,0.081,0.065,2665,3930,1613
$GC,11270,0.92,197.9,630.7,8.2,555,11275,0.12,2.22,0.00,0.000,6,0.150,0.038,2631,2507,1613
$GC,11612,0.92,197.9,604.5,7.8,564,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2507,1613
$GC,11938,0.97,197.9,579.0,8.0,572,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2507,1613
$GC,12262,0.97,197.9,552.1,8.1,580,12266,0.00,2.38,0.00,0.000,4,0.000,0.065,2631,3936,1613
$GC,12284,0.97,197.9,550.0,9.0,580,12288,0.00,2.22,0.00,0.000,6,0.000,0.039,2631,2511,1613
$GC,12633,0.97,197.9,522.8,7.8,589,12637,0.00,2.38,0.00,0.000,4,0.000,0.064,2631,3933,1612
$GC,12650,0.97,197.9,521.3,8.0,589,12653,0.00,2.20,0.00,0.000,6,0.000,0.038,2631,2521,1611
$GC,12963,0.97,197.9,497.2,7.5,597,12967,0.00,2.35,0.00,0.000,4,0.000,0.065,2631,3927,1611
$GC,12979,0.97,197.9,495.8,7.9,597,12984,0.00,2.20,0.00,0.000,6,0.000,0.038,2631,2510,1611
$GC,13293,0.97,197.9,472.1,7.6,605,13297,0.00,2.38,0.00,0.000,4,0.000,0.064,2631,3932,1611
$GC,13314,0.97,197.9,470.2,8.0,605,13318,0.00,2.22,0.00,0.000,6,0.000,0.038,2631,2506,1611
$GC,13663,1.02,197.9,444.1,7.4,614,13667,0.10,2.38,0.00,0.000,4,0.094,0.064,2675,3928,1611
$GC,13696,0.83,197.9,440.7,10.3,614,13701,0.22,2.20,0.00,0.000,6,0.137,0.038,2611,2515,1611
$GC,14034,0.96,216.4,418.4,6.4,623,14056,0.12,2.38,16.23,1.110,4,0.077,0.063,2665,3931,1537
$GC,14112,0.81,216.4,410.9,9.9,624,14119,0.20,2.20,0.00,0.000,6,0.136,0.039,2607,2517,1537
$GC,14426,0.97,240.0,391.2,6.2,635,14452,0.15,2.28,20.23,1.091,4,0.070,0.050,2668,1109,1441
$GC,14458,0.97,240.0,388.6,7.7,636,14462,0.00,2.28,0.00,0.000,6,0.000,0.045,2668,2532,1441
$GC,14779,0.93,240.0,359.7,8.9,652,14781,0.12,0.00,0.00,0.000,6,0.140,0.000,2632,2533,1442
$GC,15089,1.01,240.0,337.4,7.1,667,15093,0.10,2.28,0.00,0.000,4,0.091,0.048,2677,1109,1442
$GC,15106,1.07,245.7,336.2,6.8,667,15117,0.00,2.25,6.38,0.868,6,0.000,0.044,2677,2533,1418
$GC,15439,1.00,245.7,305.4,9.4,684,15444,0.10,2.25,0.00,0.000,4,0.142,0.048,2650,1114,1420
$GC,15455,1.00,245.7,303.7,9.5,684,15461,0.00,2.22,0.00,0.000,6,0.000,0.044,2649,2526,1420
$GC,15771,1.05,245.7,276.1,8.9,700,15775,0.00,2.25,0.00,0.000,4,0.000,0.048,2650,1114,1421
$GC,15787,1.12,245.7,274.6,8.7,700,15794,0.12,2.22,0.00,0.000,6,0.077,0.044,2704,2524,1421
$GC,16104,1.02,245.7,239.8,10.7,716,16108,0.17,2.33,0.00,0.000,4,0.124,0.061,2651,3940,1422
$GC,16127,1.02,245.7,237.5,8.9,717,16131,0.00,2.20,0.00,0.000,6,0.000,0.037,2650,2515,1421
$GC,16460,1.10,245.7,212.5,7.2,733,16462,0.10,0.00,0.00,0.000,6,0.081,0.000,2696,2515,1422
$GC,16769,1.03,245.7,185.3,8.7,748,16774,0.15,2.22,0.00,0.000,4,0.132,0.048,2653,1120,1423
$GC,16779,1.03,245.7,184.3,8.9,748,16783,0.00,2.25,0.00,0.000,6,0.000,0.044,2652,2533,1423
$GC,17102,1.17,283.3,164.8,5.7,764,17144,0.12,2.38,32.10,0.971,4,0.074,0.048,2707,1115,1265
$GC,17150,1.11,283.3,161.0,8.0,766,17155,0.12,2.25,0.00,0.000,6,0.128,0.044,2671,2521,1264
$GC,17477,1.19,283.3,136.9,7.6,782,17482,0.08,2.25,0.00,0.000,4,0.097,0.048,2709,1109,1263
$GC,17495,1.24,283.3,135.6,7.3,782,17501,0.00,2.25,0.00,0.000,6,0.000,0.045,2708,2534,1263
$GC,17810,1.24,283.3,106.3,9.7,798,17814,0.00,2.28,0.00,0.000,4,0.000,0.049,2709,1109,1263
$GC,17861,1.24,283.3,101.1,10.2,800,17865,0.00,2.25,0.00,0.000,6,0.000,0.046,2709,2524,1263
$GC,18205,1.24,283.3,67.3,9.3,859,18211,0.00,2.25,0.00,0.000,4,0.000,0.049,2708,1120,1262
$GC,18240,1.24,283.3,64.2,8.8,865,18247,0.00,2.22,0.00,0.000,6,0.000,0.046,2709,2519,1261
$GC,18585,1.24,283.3,37.2,8.0,926,18591,0.00,2.28,0.00,0.000,4,0.000,0.049,2709,1109,1261
$GC,18609,1.24,283.3,35.2,8.0,930,18616,0.00,2.25,0.00,0.000,6,0.000,0.044,2709,2522,1261
$GC,18954,1.27,301.5,9.1,6.4,991,18978,0.00,2.33,15.18,0.893,4,0.000,0.050,2709,1116,1191
$GC,18986,1.30,323.3,7.1,6.3,996,19010,0.00,2.25,19.10,0.875,6,0.000,0.045,2709,2528,1102
$STATE,19054,end climb,SURFACE_DEPTH_REACHED
$STATE,19054,begin surface coast
$FINISH,0.8,1.017045
$STATE,19083,end surface coast,CONTROL_FINISHED_OK
$STATE,19083,begin surface
$SM_CCo,19162,0.00,0.000,0,0,1098,324.29
$SM_GC,1.67,6.95,0.00,0.00,0.058,0.000,0.000,156,2339,1098,-10.39,-0.03,324.29
$RAFOS_CLK,1050
$RAFOS,4,1229561074,0.750000,0.742778,91,69,59,58,56,55,651,163,206,133,148,176
$RAFOS,3,1229560475,0.583333,0.576389,61,56,54,53,53,53,210,180,191,124,146,157
$RAFOS,2,1229559841,0.416667,0.400278,161,58,58,55,53,51,644,214,124,171,189,141
$RAFOS,1,1229559253,0.250000,0.236944,62,61,56,54,53,51,152,206,187,805,225,167
$RAFOS,0,1229558681,0.083333,0.078056,63,59,59,54,50,48,205,164,217,145,126,115
$RAFOS_FIX,6701.452148,-5707.058105,181208,000016,2,126,0.35
$IRIDIUM_FIX,6636.54,-5655.33,130398,161629
$TT8_MAMPS,0.027612
$HUMID,1896
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.10
$XPDR_PINGS,2
$24V_AH,20.1,81.413
$10V_AH,10.5,36.625
$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,22.450,178.050,463.825,0.000,0.000,31.486,41.424,713.276,0.500,0.000,0.000,15.094,1909.223,14226.850,699.398,2117.599,1146.649,33.378,1856.134,0.000,2069.189,1800.000,0.528,0.000
$DEVICE_MAMPS,262.314,65.195,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.703,690.478,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37932,1013
$CAP_FILE_SIZE,155531,0
$CFSIZE,260165632,218464256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$SOUNDSPEED,1461.0
$GPS,181208,031101,6702.131,-5701.430,36,1.5,36,-37.6