version: 66.04
glider: 113
mission: 4
dive: 130
start: 10 2 108 2 46 57
data:
$ID,113
$MISSION,4
$DIVE,130
$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,-24349.492
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,023737,6640.223,-6012.904,39,1.2,39,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.1
$GPS2,024602,6640.136,-6012.908,11,1.5,16,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.171,0.145
$KALMAN_X,13547.0,132.0,71.3,-100438.4,-820.3
$KALMAN_Y,-19887.4,-840.2,296.3,-6684.2,-340.4
$MHEAD_RNG_PITCHd_Wd,87.8,17719,-12.9,-7.021
$D_GRID,547
$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,17,-1.08,-146.0,0.0,0.0,0,123,0.00,0.00,-103.32,0.000,2,0.000,0.000,159,2333,2771
$GC,126,-1.08,-146.0,3.1,-2.1,18,145,8.95,0.00,-8.35,0.000,6,0.274,0.000,2200,2333,3017
$GC,483,-0.76,-146.0,55.9,-12.4,81,490,0.22,2.28,0.00,0.000,4,0.166,0.058,2269,925,3023
$GC,619,-0.65,-146.0,69.5,-9.5,105,626,0.10,2.30,0.00,0.000,6,0.177,0.053,2295,2355,3024
$GC,964,-0.70,-146.0,96.8,-8.0,166,970,0.00,2.30,0.00,0.000,4,0.000,0.058,2295,929,3025
$GC,998,-0.70,-146.0,99.8,-8.7,172,1004,0.00,2.28,0.00,0.000,6,0.000,0.051,2295,2353,3025
$GC,1313,-0.79,-146.0,123.1,-7.1,188,1315,0.12,0.00,0.00,0.000,6,0.095,0.000,2249,2354,3025
$GC,1622,-0.79,-146.0,149.5,-8.5,203,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2354,3024
$GC,1931,-0.79,-146.0,175.2,-8.3,218,1935,0.00,2.30,0.00,0.000,4,0.000,0.071,2249,3755,3024
$GC,2013,-0.79,-146.0,182.2,-8.1,221,2020,0.00,2.25,0.00,0.000,6,0.000,0.044,2249,2340,3024
$GC,2329,-0.79,-146.0,205.2,-6.7,237,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2340,3024
$GC,2638,-0.79,-146.0,225.9,-6.8,252,2642,0.00,2.35,0.00,0.000,4,0.000,0.073,2248,3754,3023
$GC,2665,-0.79,-146.0,227.8,-6.9,253,2670,0.00,2.22,0.00,0.000,6,0.000,0.044,2248,2328,3023
$GC,2992,-0.79,-146.0,250.1,-6.6,269,2996,0.00,2.35,0.00,0.000,4,0.000,0.073,2249,3743,3023
$GC,3014,-0.79,-146.0,251.6,-6.9,270,3017,0.00,2.20,0.00,0.000,6,0.000,0.044,2249,2334,3023
$GC,3346,-0.79,-146.0,271.7,-6.0,286,3350,0.00,2.22,0.00,0.000,4,0.000,0.059,2249,930,3023
$GC,3417,-0.79,-146.0,276.7,-7.1,289,3422,0.00,2.28,0.00,0.000,6,0.000,0.054,2248,2339,3023
$GC,3744,-0.79,-146.0,299.9,-7.5,305,3748,0.00,2.25,0.00,0.000,4,0.000,0.058,2249,938,3022
$GC,3776,-0.79,-146.0,302.6,-7.9,306,3781,0.00,2.28,0.00,0.000,6,0.000,0.054,2249,2344,3022
$GC,4098,-0.83,-146.0,327.3,-7.3,322,4101,0.00,2.30,0.00,0.000,4,0.000,0.072,2249,3747,3022
$GC,4153,-0.92,-146.0,331.4,-7.6,324,4157,0.00,2.20,0.00,0.000,6,0.000,0.043,2248,2332,3022
$GC,4474,-0.98,-146.0,353.3,-6.6,340,4479,0.10,2.22,0.00,0.000,4,0.127,0.058,2213,931,3023
$GC,4564,-0.88,-146.0,360.7,-8.4,344,4569,0.12,2.25,0.00,0.000,6,0.173,0.054,2244,2344,3022
$GC,4897,-0.94,-146.0,382.3,-6.5,360,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2344,3023
$GC,5226,-0.99,-146.0,403.1,-6.2,375,5231,0.10,2.28,0.00,0.000,4,0.109,0.071,2207,3743,3023
$GC,5309,-0.95,-146.0,409.6,-7.9,376,5317,0.10,2.20,0.00,0.000,6,0.166,0.043,2231,2329,3022
$GC,5641,-0.95,-146.0,430.9,-6.3,385,5645,0.00,2.35,0.00,0.000,4,0.000,0.072,2230,3746,3022
$GC,5686,-1.00,-146.0,433.7,-6.7,386,5690,0.00,2.20,0.00,0.000,6,0.000,0.042,2231,2329,3023
$GC,6015,-1.00,-146.0,453.7,-6.0,394,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2329,3023
$GC,6340,-1.00,-146.0,473.7,-6.2,402,6344,0.00,2.35,0.00,0.000,4,0.000,0.071,2231,3749,3023
$GC,6379,-1.06,-146.0,476.2,-6.6,402,6386,0.10,2.20,0.00,0.000,6,0.104,0.042,2195,2330,3023
$GC,6710,-0.97,-146.0,499.9,-7.1,411,6714,0.12,2.35,0.00,0.000,4,0.158,0.069,2228,3752,3023
$GC,6787,-1.04,-146.0,505.2,-6.5,412,6791,0.00,2.20,0.00,0.000,6,0.000,0.042,2228,2337,3023
$GC,7124,-1.04,-146.0,525.7,-6.3,421,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2337,3023
$STATE,7447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7447,begin apogee
$GC,7452,-0.34,0.0,547.2,6.6,429,7582,0.45,0.00,127.25,1.257,6,0.142,0.000,2367,2522,2420
$STATE,7583,end apogee,CONTROL_FINISHED_OK
$STATE,7583,begin climb
$GC,7585,1.08,146.0,550.1,0.0,432,7733,1.02,2.65,131.43,1.157,4,0.107,0.054,2667,1114,1824
$GC,7755,0.94,146.0,537.9,9.1,436,7760,0.12,2.50,0.00,0.000,6,0.152,0.048,2638,2531,1821
$GC,8103,0.84,146.0,509.7,8.0,445,8107,0.00,2.40,0.00,0.000,4,0.000,0.069,2638,3936,1820
$GC,8157,0.64,146.0,504.5,10.7,446,8163,0.22,2.30,0.00,0.000,6,0.141,0.042,2574,2515,1820
$GC,8476,0.80,171.8,485.0,6.1,454,8506,0.12,2.38,22.02,1.170,4,0.079,0.055,2623,1118,1719
$GC,8533,0.85,171.8,480.7,7.4,455,8537,0.00,2.33,0.00,0.000,6,0.000,0.049,2622,2531,1718
$GC,8846,0.85,172.8,458.3,7.0,463,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2531,1717
$GC,9171,0.85,172.8,434.2,7.3,471,9175,0.00,2.30,0.00,0.000,4,0.000,0.068,2623,3932,1717
$GC,9198,0.77,172.8,431.8,8.4,471,9202,0.00,2.22,0.00,0.000,6,0.000,0.041,2623,2514,1716
$GC,9540,0.77,173.9,407.3,7.0,480,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2514,1716
$GC,9847,0.77,173.9,385.7,7.1,492,9851,0.00,2.35,0.00,0.000,4,0.000,0.070,2622,3936,1716
$GC,9879,0.69,173.9,383.2,8.4,493,9884,0.15,2.22,0.00,0.000,6,0.145,0.042,2581,2506,1716
$GC,10200,0.99,192.2,363.5,6.4,509,10223,0.20,2.45,17.50,1.134,4,0.077,0.071,2662,3926,1636
$GC,10279,0.76,192.2,356.7,9.3,512,10284,0.22,2.20,0.00,0.000,6,0.144,0.042,2598,2522,1635
$GC,10599,0.96,246.2,339.0,5.2,528,10651,0.15,2.40,44.62,1.137,4,0.075,0.055,2659,1118,1416
$GC,10678,0.96,246.2,333.0,8.8,531,10685,0.00,2.35,0.00,0.000,6,0.000,0.048,2659,2519,1414
$GC,10994,0.96,246.2,307.6,7.9,547,10998,0.00,2.30,0.00,0.000,4,0.000,0.055,2659,1111,1412
$GC,11025,0.96,246.2,305.0,7.9,548,11030,0.00,2.30,0.00,0.000,6,0.000,0.049,2658,2520,1412
$GC,11347,0.96,246.2,279.3,8.1,564,11351,0.00,2.28,0.00,0.000,4,0.000,0.056,2659,1112,1412
$GC,11414,0.96,246.2,273.8,7.9,567,11418,0.00,2.25,0.00,0.000,6,0.000,0.049,2659,2523,1412
$GC,11745,0.96,246.2,248.4,7.2,583,11749,0.00,2.28,0.00,0.000,4,0.000,0.056,2659,1108,1413
$GC,11778,1.03,255.7,246.1,6.7,584,11794,0.00,2.25,9.10,1.004,6,0.000,0.049,2659,2522,1377
$GC,12120,1.03,259.8,222.9,6.9,601,12127,0.00,0.00,4.93,0.835,6,0.000,0.000,2659,2522,1360
$GC,12429,1.03,259.8,200.8,7.3,616,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2523,1359
$GC,12739,1.03,259.8,175.1,9.2,631,12743,0.00,2.28,0.00,0.000,4,0.000,0.058,2659,1110,1359
$GC,12777,1.13,259.8,171.6,9.0,632,12784,0.08,2.25,0.00,0.000,6,0.110,0.051,2692,2524,1359
$GC,13092,1.08,259.8,139.8,9.8,648,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2524,1359
$GC,13402,1.08,259.8,111.3,8.8,663,13405,0.00,2.30,0.00,0.000,4,0.000,0.071,2692,3936,1358
$GC,13446,0.94,259.8,106.7,10.2,665,13451,0.20,2.22,0.00,0.000,6,0.144,0.044,2634,2511,1358
$GC,13780,1.25,259.8,84.0,7.1,709,13787,0.20,2.35,0.00,0.000,4,0.081,0.071,2715,3927,1358
$GC,13815,1.31,259.8,81.2,7.8,715,13821,0.00,2.20,0.00,0.000,6,0.000,0.044,2717,2520,1358
$GC,14159,1.23,259.8,52.6,7.9,776,14165,0.00,2.25,0.00,0.000,4,0.000,0.060,2717,1106,1358
$GC,14199,1.18,259.8,49.5,7.7,783,14206,0.10,2.25,0.00,0.000,6,0.147,0.052,2691,2520,1358
$GC,14543,1.30,310.7,27.0,5.3,844,14592,0.10,2.45,42.00,1.039,4,0.095,0.070,2730,3926,1152
$GC,14659,1.30,310.7,18.4,8.1,864,14666,0.00,2.28,0.00,0.000,6,0.000,0.044,2731,2516,1149
$STATE,14917,end climb,SURFACE_DEPTH_REACHED
$STATE,14917,begin surface coast
$FINISH,0.9,1.025089
$STATE,14952,end surface coast,CONTROL_FINISHED_OK
$STATE,14952,begin surface
$SM_CCo,15027,0.00,0.000,0,0,1142,313.49
$SM_GC,1.70,7.25,0.00,0.00,0.072,0.000,0.000,159,2342,1142,-10.39,0.06,313.49
$RAFOS_CLK,861
$RAFOS,4,1222922657,4.750000,4.738056,98,60,58,55,53,52,765,172,220,193,209,145
$RAFOS,3,1222922081,4.583333,4.578055,75,65,54,54,52,51,548,210,155,170,96,222
$RAFOS,2,1222921468,4.416667,4.407778,67,61,60,53,53,53,812,210,135,156,222,194
$RAFOS,1,1222920847,4.250000,4.235278,83,60,57,57,53,53,697,222,232,180,207,137
$RAFOS,0,1222920243,4.083333,4.067500,115,61,57,56,55,51,556,213,169,139,194,225
$RAFOS_FIX,6641.469238,-6006.075195,021008,040408,4,93,0.93
$IRIDIUM_FIX,6614.97,-6013.96,271297,020259
$TT8_MAMPS,0.027612
$HUMID,1911
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.0,29.084
$10V_AH,10.6,11.312
$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,20.650,129.025,398.850,0.000,0.000,50.443,63.019,211.356,0.000,0.000,0.000,18.060,1674.548,11112.196,543.555,1725.600,491.331,33.364,1486.412,0.000,1694.590,1800.000,0.530,0.000
$DEVICE_MAMPS,273.819,74.399,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.567,624.331,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34696,916
$CAP_FILE_SIZE,124038,0
$CFSIZE,260165632,242049024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.5
$GPS,021008,065901,6640.630,-6009.432,36,1.4,41,-38.0