version: 66.04
glider: 113
mission: 4
dive: 169
start: 10 12 108 5 11 33
data:
$ID,113
$MISSION,4
$DIVE,169
$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,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,-25155.846
$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,41
$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
$GPS1,050456,6702.874,-5652.872,41,1.2,41,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-59.2
$GPS2,051039,6702.854,-5652.869,19,2.0,19,-37.5
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.218,0.054
$KALMAN_X,5803.9,141.2,-343.4,17397.7,1705.1
$KALMAN_Y,-11434.4,348.6,-171.2,26026.9,-1389.2
$MHEAD_RNG_PITCHd_Wd,321.4,31332,-12.9,-7.021
$D_GRID,600
$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,15,-1.08,-146.0,0.0,0.0,0,126,0.00,0.00,-108.70,0.000,2,0.000,0.000,165,2324,2930
$GC,129,-1.08,-146.0,3.0,-2.1,19,148,8.57,2.38,-3.03,0.000,4,0.258,0.080,2200,3748,3019
$GC,329,-0.68,-146.0,41.5,-16.7,54,336,0.30,2.20,0.00,0.000,6,0.166,0.040,2285,2338,3021
$GC,673,-0.68,-146.0,71.2,-7.4,115,679,0.00,2.20,0.00,0.000,4,0.000,0.052,2285,935,3022
$GC,797,-0.68,-146.0,80.9,-7.4,137,804,0.00,2.22,0.00,0.000,6,0.000,0.048,2285,2346,3022
$GC,1143,-0.73,-146.0,103.1,-6.9,193,1147,0.00,2.28,0.00,0.000,4,0.000,0.065,2285,3746,3022
$GC,1306,-0.84,-146.0,115.1,-7.4,200,1311,0.12,2.17,0.00,0.000,6,0.090,0.039,2238,2336,3022
$GC,1633,-0.76,-146.0,142.4,-8.3,216,1635,0.12,0.00,0.00,0.000,6,0.163,0.000,2270,2334,3022
$GC,1941,-0.76,-146.0,164.9,-7.4,231,1945,0.00,2.30,0.00,0.000,4,0.000,0.065,2270,3746,3022
$GC,2019,-0.85,-146.0,171.0,-7.7,234,2023,0.00,2.17,0.00,0.000,6,0.000,0.040,2270,2336,3022
$GC,2341,-0.92,-146.0,194.3,-7.0,250,2342,0.12,0.00,0.00,0.000,6,0.090,0.000,2223,2335,3021
$GC,2650,-0.83,-146.0,219.7,-8.0,265,2651,0.12,0.00,0.00,0.000,6,0.161,0.000,2256,2334,3021
$GC,2959,-0.83,-146.0,238.7,-6.0,280,2963,0.00,2.33,0.00,0.000,4,0.000,0.065,2256,3756,3021
$GC,3078,-0.90,-146.0,246.0,-6.1,285,3082,0.00,2.20,0.00,0.000,6,0.000,0.039,2257,2328,3021
$GC,3405,-0.95,-146.0,266.9,-6.6,301,3407,0.10,0.00,0.00,0.000,6,0.099,0.000,2219,2327,3020
$GC,3713,-0.88,-146.0,291.5,-8.0,316,3718,0.10,2.33,0.00,0.000,4,0.162,0.064,2244,3743,3021
$GC,3780,-0.93,-146.0,296.2,-7.0,319,3784,0.00,2.17,0.00,0.000,6,0.000,0.040,2244,2331,3020
$GC,4107,-0.93,-146.0,318.1,-6.7,335,4110,0.00,2.17,0.00,0.000,4,0.000,0.053,2245,941,3021
$GC,4201,-0.93,-146.0,325.2,-7.1,339,4205,0.00,2.20,0.00,0.000,6,0.000,0.049,2244,2341,3020
$GC,4528,-0.93,-146.0,348.3,-7.2,355,4532,0.00,2.28,0.00,0.000,4,0.000,0.064,2244,3747,3021
$GC,4623,-0.99,-146.0,355.2,-7.2,359,4627,0.10,2.17,0.00,0.000,6,0.099,0.039,2208,2327,3020
$GC,4949,-0.90,-146.0,381.2,-7.8,375,4953,0.12,2.17,0.00,0.000,4,0.156,0.051,2241,941,3020
$GC,5016,-0.90,-146.0,386.4,-7.6,378,5019,0.00,2.22,0.00,0.000,6,0.000,0.048,2241,2354,3021
$GC,5345,-0.90,-146.0,409.7,-7.2,391,5349,0.00,2.25,0.00,0.000,4,0.000,0.064,2241,3746,3021
$GC,5520,-0.96,-146.0,422.1,-7.2,394,5526,0.00,2.17,0.00,0.000,6,0.000,0.038,2241,2329,3021
$GC,5851,-0.96,-146.0,442.9,-6.0,403,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2329,3021
$GC,6176,-0.96,-146.0,462.5,-6.1,411,6180,0.00,2.33,0.00,0.000,4,0.000,0.064,2241,3752,3021
$GC,6283,-1.03,-146.0,469.1,-6.1,413,6287,0.12,2.17,0.00,0.000,6,0.092,0.038,2195,2333,3021
$GC,6595,-0.92,-146.0,490.3,-6.9,421,6597,0.15,0.00,0.00,0.000,6,0.152,0.000,2237,2330,3021
$GC,6920,-0.92,-146.0,509.5,-6.0,429,6923,0.00,2.33,0.00,0.000,4,0.000,0.064,2237,3752,3022
$GC,7037,-0.98,-146.0,517.0,-6.8,431,7041,0.00,2.17,0.00,0.000,6,0.000,0.038,2237,2334,3022
$GC,7379,-0.98,-146.0,536.6,-5.6,440,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2334,3022
$GC,7704,-0.98,-146.0,555.4,-5.8,448,7708,0.00,2.33,0.00,0.000,4,0.000,0.065,2237,3750,3022
$GC,7777,-1.05,-146.0,559.7,-6.2,449,7782,0.12,2.17,0.00,0.000,6,0.098,0.038,2191,2333,3022
$GC,8119,-0.94,-146.0,583.6,-7.0,458,8121,0.15,0.00,0.00,0.000,6,0.147,0.000,2232,2331,3022
$STATE,8401,end dive,NO_VERTICAL_VELOCITY
$STATE,8401,begin apogee
$GC,8407,-0.34,0.0,585.5,0.0,465,8536,0.40,0.00,126.68,1.231,6,0.110,0.000,2366,2525,2420
$STATE,8537,end apogee,CONTROL_FINISHED_OK
$STATE,8537,begin climb
$GC,8539,1.08,146.0,585.1,0.0,468,8677,1.00,2.62,129.40,1.149,4,0.104,0.062,2667,3921,1824
$GC,8700,0.84,146.0,572.8,10.2,471,8707,0.20,2.38,0.00,0.000,6,0.140,0.038,2614,2529,1823
$GC,9031,0.84,146.4,549.1,7.0,480,9034,0.00,2.38,0.00,0.000,4,0.000,0.064,2615,3931,1821
$GC,9040,0.84,146.4,548.3,7.1,480,9045,0.00,2.30,0.00,0.000,6,0.000,0.038,2614,2510,1820
$GC,9359,0.84,146.4,525.0,7.4,488,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2510,1820
$GC,9684,0.84,146.4,502.2,7.1,496,9688,0.00,2.35,0.00,0.000,4,0.000,0.064,2614,3941,1820
$GC,9696,0.84,147.1,501.4,7.0,496,9700,0.00,2.22,0.00,0.000,6,0.000,0.038,2614,2505,1819
$GC,10013,0.84,147.1,478.9,7.0,504,10017,0.00,2.35,0.00,0.000,4,0.000,0.064,2614,3937,1819
$GC,10022,0.84,147.1,478.1,7.1,504,10027,0.00,2.22,0.00,0.000,6,0.000,0.038,2614,2515,1819
$GC,10341,0.84,147.1,454.9,7.2,512,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2515,1818
$GC,10666,0.86,155.5,432.5,6.7,520,10680,0.00,2.35,8.48,1.019,4,0.000,0.065,2614,3926,1786
$GC,10686,0.86,155.5,431.0,7.6,520,10691,0.00,2.17,0.00,0.000,6,0.000,0.038,2614,2516,1786
$GC,11035,0.87,166.3,407.8,6.7,529,11050,0.00,2.33,10.27,1.034,4,0.000,0.064,2614,3930,1742
$GC,11055,0.87,167.0,406.3,7.0,529,11059,0.00,2.20,0.00,0.000,6,0.000,0.038,2614,2516,1742
$GC,11380,0.93,167.0,383.5,7.2,543,11382,0.10,0.00,0.00,0.000,6,0.091,0.000,2653,2515,1741
$GC,11690,0.87,167.0,357.2,8.5,558,11695,0.12,2.30,0.00,0.000,4,0.143,0.064,2617,3927,1741
$GC,11705,0.82,167.0,355.8,8.2,558,11712,0.00,2.17,0.00,0.000,6,0.000,0.039,2617,2515,1741
$GC,12021,0.88,167.0,333.2,7.3,574,12025,0.00,2.33,0.00,0.000,4,0.000,0.064,2617,3938,1741
$GC,12031,0.88,167.0,332.4,7.2,574,12035,0.00,2.17,0.00,0.000,6,0.000,0.038,2617,2518,1741
$GC,12352,0.94,169.3,309.7,6.9,590,12359,0.10,0.00,4.43,0.752,6,0.092,0.000,2659,2518,1729
$GC,12661,0.87,169.3,283.8,8.1,605,12666,0.12,2.33,0.00,0.000,4,0.140,0.063,2624,3942,1729
$GC,12678,0.82,169.3,282.4,8.1,606,12682,0.00,2.20,0.00,0.000,6,0.000,0.038,2624,2511,1728
$GC,13011,0.88,175.3,259.9,6.8,622,13019,0.00,0.00,6.60,0.872,6,0.000,0.000,2624,2511,1705
$GC,13320,0.95,184.9,239.2,6.7,637,13331,0.00,0.00,9.45,0.936,6,0.000,0.000,2624,2511,1666
$GC,13629,1.03,184.9,217.5,7.2,652,13631,0.12,0.00,0.00,0.000,6,0.082,0.000,2676,2511,1665
$GC,13938,0.95,184.9,189.3,8.8,667,13943,0.12,2.33,0.00,0.000,4,0.130,0.064,2640,3927,1665
$GC,13959,0.90,184.9,187.3,8.9,668,13963,0.00,2.17,0.00,0.000,6,0.000,0.039,2640,2516,1665
$GC,14286,0.92,200.4,164.9,6.5,684,14306,0.00,0.00,13.85,0.962,6,0.000,0.000,2640,2516,1602
$GC,14616,1.03,231.1,144.2,6.0,700,14646,0.00,2.28,25.40,0.975,4,0.000,0.052,2640,1110,1477
$GC,14652,1.21,276.7,142.0,5.5,701,14695,0.20,2.28,37.47,0.943,6,0.066,0.046,2719,2523,1292
$GC,15004,1.12,276.7,108.0,10.2,718,15009,0.15,2.28,0.00,0.000,4,0.128,0.051,2675,1116,1286
$GC,15031,1.18,276.7,105.6,8.2,719,15035,0.00,2.25,0.00,0.000,6,0.000,0.046,2675,2533,1286
$GC,15369,1.26,276.7,79.9,7.5,770,15376,0.12,2.25,0.00,0.000,4,0.074,0.049,2729,1121,1285
$GC,15415,1.26,276.7,75.4,9.8,778,15422,0.00,2.22,0.00,0.000,6,0.000,0.048,2728,2529,1285
$GC,15759,1.26,276.7,42.1,9.3,839,15765,0.00,2.28,0.00,0.000,4,0.000,0.064,2729,3937,1285
$GC,15833,1.16,276.7,34.6,9.9,852,15840,0.15,2.20,0.00,0.000,6,0.137,0.039,2684,2508,1285
$GC,16177,1.32,276.7,12.7,8.4,913,16183,0.12,2.17,0.00,0.000,4,0.078,0.051,2734,1122,1285
$GC,16206,1.40,276.7,9.9,9.1,918,16213,0.00,2.20,0.00,0.000,6,0.000,0.048,2734,2520,1284
$STATE,16284,end climb,SURFACE_DEPTH_REACHED
$STATE,16284,begin surface coast
$FINISH,0.9,1.026009
$STATE,16302,end surface coast,CONTROL_FINISHED_OK
$STATE,16302,begin surface
$SM_CCo,16378,0.00,0.000,0,0,1281,279.40
$SM_GC,1.45,7.28,0.00,0.00,0.077,0.000,0.000,160,2321,1281,-10.40,-0.54,279.40
$RAFOS_CLK,874
$RAFOS,4,1223801053,8.750000,8.736944,72,58,58,56,55,55,773,179,163,145,217,191
$RAFOS,3,1223800457,8.583333,8.571389,62,56,56,55,55,53,138,191,900,219,159,178
$RAFOS,2,1223799856,8.416667,8.404445,68,62,58,56,54,53,566,163,181,221,207,191
$RAFOS,1,1223799244,8.250000,8.234445,62,59,59,58,52,49,199,182,866,215,126,152
$RAFOS,0,1223798673,8.083333,8.075833,60,52,52,51,51,49,169,179,205,223,885,139
$RAFOS_FIX,6606.143066,-6032.984863,121008,040456,4,82,16.10
$IRIDIUM_FIX,6636.54,-5655.33,060198,010113
$TT8_MAMPS,0.027612
$HUMID,1868
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,22.0,35.493
$10V_AH,10.6,14.513
$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,20.675,126.950,372.025,0.000,0.000,25.815,38.909,155.689,0.250,0.000,0.000,20.544,1729.793,12249.723,513.732,1803.857,424.705,33.362,1489.203,0.000,1775.753,1800.000,0.529,0.000
$DEVICE_MAMPS,258.479,79.768,1231.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.787,635.801,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34705,935
$CAP_FILE_SIZE,129808,0
$CFSIZE,260165632,238194688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.9
$GPS,121008,094608,6702.916,-5656.179,53,0.9,53,-37.6