version: 66.04
glider: 113
mission: 4
dive: 121
start: 9 30 108 14 28 47
data:
$ID,113
$MISSION,4
$DIVE,121
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,275
$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,-24188.986
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,142255,6642.370,-6043.192,38,1.4,38,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.9
$GPS2,142751,6642.433,-6043.189,12,1.4,12,-38.1
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.165,0.152
$KALMAN_X,18277.4,-319.6,-27.7,-126604.8,389.0
$KALMAN_Y,-12921.9,275.0,2169.8,-12405.2,-1450.8
$MHEAD_RNG_PITCHd_Wd,85.3,35475,-12.9,-7.021
$D_GRID,486
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.08,-145.9,0.0,0.0,0,121,0.00,0.00,-102.47,0.000,2,0.000,0.000,167,2328,2797
$GC,124,-1.08,-146.0,3.5,-3.0,18,149,8.77,2.45,-7.22,0.000,4,0.268,0.084,2192,3739,3018
$GC,403,-0.73,-146.0,52.6,-12.9,67,410,0.30,2.25,0.00,0.000,6,0.171,0.044,2274,2325,3023
$GC,747,-0.73,-146.0,81.2,-9.0,128,754,0.00,2.40,0.00,0.000,4,0.000,0.073,2274,3757,3023
$GC,787,-0.73,-146.0,84.6,-8.7,135,793,0.00,2.22,0.00,0.000,6,0.000,0.043,2274,2341,3024
$GC,1117,-0.73,-146.0,112.6,-8.5,175,1121,0.00,2.25,0.00,0.000,4,0.000,0.058,2274,929,3025
$GC,1238,-0.73,-146.0,123.1,-8.5,180,1243,0.00,2.30,0.00,0.000,6,0.000,0.053,2274,2343,3024
$GC,1560,-0.73,-146.0,144.2,-5.9,196,1564,0.00,2.33,0.00,0.000,4,0.000,0.072,2274,3755,3024
$GC,1593,-0.79,-146.0,146.3,-6.1,197,1597,0.00,2.22,0.00,0.000,6,0.000,0.044,2273,2333,3024
$GC,1914,-0.79,-146.0,166.9,-7.1,213,1917,0.00,2.35,0.00,0.000,4,0.000,0.074,2274,3743,3024
$GC,1959,-0.88,-146.0,170.3,-7.9,215,1963,0.12,2.20,0.00,0.000,6,0.113,0.044,2232,2337,3024
$GC,2290,-0.79,-146.0,201.1,-9.3,231,2292,0.12,0.00,0.00,0.000,6,0.169,0.000,2264,2337,3024
$GC,2599,-0.79,-146.0,225.5,-8.1,246,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2337,3024
$GC,2909,-0.85,-146.0,250.5,-8.2,261,2913,0.00,2.33,0.00,0.000,4,0.000,0.073,2263,3745,3023
$GC,2941,-0.93,-146.0,253.2,-8.0,262,2945,0.12,2.22,0.00,0.000,6,0.108,0.044,2220,2319,3023
$GC,3262,-0.85,-146.0,279.8,-7.6,278,3267,0.12,2.38,0.00,0.000,4,0.172,0.073,2248,3745,3023
$GC,3306,-0.90,-146.0,282.6,-6.3,280,3310,0.00,2.20,0.00,0.000,6,0.000,0.045,2248,2340,3023
$GC,3632,-0.90,-146.0,302.1,-6.0,296,3635,0.00,2.22,0.00,0.000,4,0.000,0.059,2248,934,3022
$GC,3670,-0.90,-146.0,304.8,-6.7,297,3676,0.00,2.25,0.00,0.000,6,0.000,0.054,2248,2343,3022
$GC,3986,-0.90,-146.0,323.0,-5.5,313,3989,0.00,2.30,0.00,0.000,4,0.000,0.072,2248,3745,3022
$GC,4080,-0.97,-146.0,328.2,-5.8,317,4085,0.08,2.20,0.00,0.000,6,0.135,0.044,2219,2331,3022
$GC,4407,-0.91,-146.0,349.3,-6.7,333,4410,0.00,2.20,0.00,0.000,4,0.000,0.059,2219,941,3022
$GC,4433,-0.82,-146.0,351.3,-8.0,334,4438,0.15,2.25,0.00,0.000,6,0.170,0.054,2258,2350,3022
$GC,4760,-0.92,-146.0,370.4,-5.7,350,4762,0.10,0.00,0.00,0.000,6,0.108,0.000,2222,2351,3022
$GC,5069,-0.92,-146.0,393.0,-7.9,365,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2351,3022
$GC,5375,-0.92,-146.0,416.3,-7.6,375,5378,0.00,2.30,0.00,0.000,4,0.000,0.071,2222,3756,3022
$GC,5480,-0.92,-146.0,425.0,-8.5,377,5484,0.00,2.22,0.00,0.000,6,0.000,0.043,2221,2344,3022
$GC,5794,-0.92,-146.0,447.7,-6.9,385,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2343,3022
$GC,6119,-0.92,-146.0,469.1,-6.7,393,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2343,3022
$STATE,6400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6400,begin apogee
$GC,6405,-0.34,0.0,487.7,6.5,400,6534,0.47,0.00,125.62,1.243,6,0.154,0.000,2364,2527,2420
$STATE,6535,end apogee,CONTROL_FINISHED_OK
$STATE,6535,begin climb
$GC,6537,1.08,146.0,490.0,0.0,403,6670,1.02,0.00,128.57,1.147,6,0.114,0.000,2666,2526,1824
$GC,6984,0.90,146.0,453.0,9.1,414,6989,0.15,2.45,0.00,0.000,4,0.146,0.070,2627,3937,1821
$GC,7028,0.75,146.0,449.2,8.4,415,7033,0.12,2.33,0.00,0.000,6,0.153,0.042,2595,2516,1821
$GC,7352,0.87,186.3,430.6,5.6,423,7394,0.12,2.40,33.78,1.160,4,0.085,0.057,2642,1126,1659
$GC,7421,0.87,186.3,425.4,7.9,424,7426,0.00,2.38,0.00,0.000,6,0.000,0.051,2642,2533,1658
$GC,7744,0.83,186.3,397.8,8.7,433,7749,0.12,2.35,0.00,0.000,4,0.152,0.069,2610,3937,1658
$GC,7782,0.83,186.3,394.3,8.5,435,7786,0.00,2.28,0.00,0.000,6,0.000,0.041,2610,2508,1657
$GC,8108,0.92,186.3,369.6,7.4,451,8113,0.10,2.25,0.00,0.000,4,0.091,0.055,2651,1109,1658
$GC,8146,0.92,186.3,366.4,8.4,453,8150,0.00,2.28,0.00,0.000,6,0.000,0.051,2650,2523,1657
$GC,8472,0.86,186.3,339.8,7.9,469,8474,0.12,0.00,0.00,0.000,6,0.148,0.000,2615,2523,1657
$GC,8782,0.99,233.3,321.7,5.4,484,8823,0.12,0.00,38.47,1.144,6,0.087,0.000,2664,2524,1468
$GC,9130,0.99,233.3,293.1,8.6,501,9134,0.00,2.30,0.00,0.000,4,0.000,0.056,2664,1114,1466
$GC,9168,0.99,233.3,289.7,8.8,502,9175,0.00,2.30,0.00,0.000,6,0.000,0.049,2664,2520,1465
$GC,9484,0.99,233.3,262.4,8.5,518,9488,0.00,2.30,0.00,0.000,4,0.000,0.067,2664,3928,1465
$GC,9516,0.88,233.3,259.3,9.4,519,9521,0.15,2.22,0.00,0.000,6,0.147,0.042,2623,2508,1466
$GC,9837,1.06,279.4,241.1,5.4,535,9881,0.15,2.38,37.97,1.111,4,0.080,0.057,2680,1118,1279
$GC,9909,1.06,279.4,235.5,8.1,538,9913,0.00,2.33,0.00,0.000,6,0.000,0.048,2680,2533,1277
$GC,10235,1.06,279.4,207.7,8.5,554,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2533,1275
$GC,10545,1.06,279.4,181.2,8.8,569,10549,0.00,2.30,0.00,0.000,4,0.000,0.058,2680,1111,1275
$GC,10594,1.06,279.4,176.8,8.4,571,10598,0.00,2.30,0.00,0.000,6,0.000,0.050,2680,2528,1274
$GC,10920,1.06,279.4,149.1,8.4,587,10924,0.00,2.28,0.00,0.000,4,0.000,0.058,2680,1113,1274
$GC,10942,1.06,279.4,147.2,8.6,588,10946,0.00,2.22,0.00,0.000,6,0.000,0.051,2681,2520,1274
$GC,11274,1.06,279.4,119.0,8.3,604,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2520,1274
$GC,11587,1.11,279.4,95.4,7.8,625,11593,0.00,2.25,0.00,0.000,4,0.000,0.058,2680,1116,1273
$GC,11644,1.20,279.4,90.8,8.4,635,11651,0.00,2.25,0.00,0.000,6,0.000,0.051,2680,2532,1273
$GC,11988,1.25,279.4,61.2,7.9,696,11995,0.10,2.30,0.00,0.000,4,0.090,0.072,2721,3931,1272
$GC,12006,1.25,279.4,59.6,8.3,699,12013,0.00,2.22,0.00,0.000,6,0.000,0.045,2721,2510,1272
$GC,12350,1.25,279.4,29.5,8.3,760,12356,0.00,2.38,0.00,0.000,4,0.000,0.074,2721,3936,1272
$GC,12390,1.13,279.4,25.7,9.6,767,12397,0.15,2.22,0.00,0.000,6,0.150,0.045,2679,2513,1272
$GC,12735,1.48,311.4,6.4,5.9,828,12766,0.22,2.35,25.62,1.032,4,0.077,0.058,2770,1111,1150
$STATE,12793,end climb,SURFACE_DEPTH_REACHED
$STATE,12793,begin surface coast
$FINISH,1.4,1.025072
$STATE,12800,end surface coast,CONTROL_FINISHED_OK
$STATE,12800,begin surface
$SM_CCo,12877,0.00,0.000,0,0,1144,313.00
$SM_GC,1.69,7.47,0.00,0.00,0.077,0.000,0.000,160,2340,1144,-10.40,-0.03,313.00
$RAFOS_CLK,735
$RAFOS,4,1222793043,16.750000,16.734167,67,55,55,55,53,53,886,184,235,141,165,220
$RAFOS,3,1222792445,16.583334,16.568056,83,59,54,53,51,51,823,195,121,148,213,175
$RAFOS,2,1222791869,16.416666,16.408056,112,58,55,54,53,52,883,179,193,274,165,215
$RAFOS,1,1222791246,16.250000,16.235001,61,57,52,51,50,49,205,119,167,177,154,226
$RAFOS,0,1222790677,16.083334,16.076944,91,60,55,53,52,50,438,194,155,219,138,120
$RAFOS_FIX,6642.990723,-6036.768555,300908,161645,3,95,0.70
$IRIDIUM_FIX,6614.97,-6038.24,251297,111153
$TT8_MAMPS,0.027612
$HUMID,1887
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.1,27.783
$10V_AH,10.6,10.759
$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,20.525,109.975,390.050,0.000,0.000,29.836,34.974,127.263,0.000,0.000,0.000,13.824,1496.745,9306.362,517.099,1520.778,349.891,33.365,1354.828,0.000,1507.523,1800.000,0.531,0.000
$DEVICE_MAMPS,267.683,84.370,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.947,571.354,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31583,839
$CAP_FILE_SIZE,106859,0
$CFSIZE,260165632,242585600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$GPS,300908,180456,6643.255,-6040.272,39,1.6,39,-38.1