version: 66.04
glider: 113
mission: 4
dive: 330
start: 11 20 108 8 6 21
data:
$ID,113
$MISSION,4
$DIVE,330
$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,-29171.09
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,075937,6702.268,-5659.430,38,1.8,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.1
$GPS2,080527,6702.291,-5659.455,8,1.9,8,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.224,0.019
$KALMAN_X,-63110.0,1237.3,-11.2,80089.2,-3760.2
$KALMAN_Y,-24930.1,-674.7,390.5,38960.0,-284.8
$MHEAD_RNG_PITCHd_Wd,122.8,8376,-12.9,-7.021
$D_GRID,653
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-113.45,0.000,2,0.000,0.000,157,2335,2968
$GC,136,-1.08,-146.0,3.1,-1.7,20,155,8.70,2.33,-1.75,0.000,4,0.255,0.072,2201,3736,3018
$GC,207,-0.52,-146.0,16.2,-16.8,32,214,0.40,2.17,0.00,0.000,6,0.161,0.037,2318,2321,3019
$GC,553,-0.52,-146.0,47.3,-8.1,93,559,0.00,2.17,0.00,0.000,4,0.000,0.051,2319,929,3020
$GC,565,-0.52,-146.0,48.6,-8.3,95,571,0.00,2.22,0.00,0.000,6,0.000,0.046,2319,2347,3020
$GC,910,-0.61,-146.0,78.5,-9.0,156,916,0.00,2.25,0.00,0.000,4,0.000,0.061,2318,3746,3019
$GC,945,-0.74,-146.0,81.8,-9.1,162,952,0.15,2.17,0.00,0.000,6,0.088,0.037,2261,2325,3019
$GC,1280,-0.69,-146.0,108.5,-6.5,205,1282,0.10,0.00,0.00,0.000,6,0.161,0.000,2286,2324,3018
$GC,1588,-0.77,-146.0,132.3,-8.1,220,1592,0.00,2.35,0.00,0.000,4,0.000,0.063,2286,3754,3017
$GC,1661,-0.90,-146.0,137.8,-7.1,223,1667,0.17,2.17,0.00,0.000,6,0.081,0.037,2221,2335,3017
$GC,1989,-0.80,-146.0,165.3,-8.3,239,1991,0.15,0.00,0.00,0.000,6,0.156,0.000,2261,2333,3016
$GC,2298,-0.80,-146.0,186.0,-6.5,254,2302,0.00,2.30,0.00,0.000,4,0.000,0.062,2261,3746,3016
$GC,2354,-0.88,-146.0,189.7,-6.8,256,2358,0.00,2.15,0.00,0.000,6,0.000,0.036,2261,2341,3016
$GC,2676,-0.94,-146.0,210.4,-6.2,272,2681,0.12,2.33,0.00,0.000,4,0.100,0.061,2217,3756,3016
$GC,2709,-0.86,-146.0,212.9,-7.8,273,2716,0.12,2.17,0.00,0.000,6,0.153,0.036,2250,2333,3016
$GC,3026,-0.86,-146.0,232.1,-5.8,289,3030,0.00,2.30,0.00,0.000,4,0.000,0.062,2250,3743,3017
$GC,3036,-0.86,-146.0,232.9,-5.9,289,3040,0.00,2.15,0.00,0.000,6,0.000,0.035,2250,2334,3017
$GC,3358,-0.86,-146.0,252.0,-5.8,305,3362,0.00,2.30,0.00,0.000,4,0.000,0.060,2249,3743,3018
$GC,3383,-0.91,-146.0,253.4,-6.7,306,3387,0.00,2.15,0.00,0.000,6,0.000,0.035,2250,2333,3017
$GC,3716,-0.91,-146.0,274.3,-5.8,322,3720,0.00,2.33,0.00,0.000,4,0.000,0.061,2250,3756,3018
$GC,3727,-0.91,-146.0,274.9,-5.7,322,3730,0.00,2.17,0.00,0.000,6,0.000,0.035,2250,2330,3018
$GC,4048,-0.95,-146.0,293.8,-5.8,338,4052,0.00,2.33,0.00,0.000,4,0.000,0.060,2250,3756,3018
$GC,4065,-1.02,-146.0,294.8,-5.4,338,4072,0.12,2.17,0.00,0.000,6,0.095,0.035,2204,2330,3018
$GC,4382,-0.92,-146.0,316.9,-6.9,354,4383,0.12,0.00,0.00,0.000,6,0.150,0.000,2239,2327,3018
$GC,4691,-0.92,-146.0,335.3,-6.2,369,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2327,3019
$GC,5000,-0.92,-146.0,355.8,-6.8,384,5003,0.00,2.30,0.00,0.000,4,0.000,0.059,2239,3747,3020
$GC,5023,-0.92,-146.0,357.3,-6.9,385,5026,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2336,3020
$GC,5356,-0.92,-146.0,379.7,-6.7,401,5360,0.00,2.30,0.00,0.000,4,0.000,0.058,2240,3752,3020
$GC,5395,-0.98,-146.0,382.4,-6.9,402,5401,0.00,2.17,0.00,0.000,6,0.000,0.035,2240,2326,3020
$GC,5712,-0.98,-146.0,403.4,-6.7,417,5715,0.00,2.33,0.00,0.000,4,0.000,0.060,2240,3755,3021
$GC,5780,-1.06,-146.0,408.1,-6.4,418,5784,0.12,2.15,0.00,0.000,6,0.090,0.034,2192,2338,3021
$GC,6127,-0.94,-146.0,436.0,-8.0,427,6132,0.15,2.30,0.00,0.000,4,0.147,0.058,2234,3746,3021
$GC,6168,-1.00,-146.0,438.9,-7.0,428,6172,0.00,2.15,0.00,0.000,6,0.000,0.034,2234,2327,3021
$GC,6498,-1.00,-146.0,460.5,-6.3,436,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2327,3021
$GC,6823,-1.00,-146.0,481.4,-6.7,444,6827,0.00,2.30,0.00,0.000,4,0.000,0.058,2234,3745,3022
$GC,6870,-1.05,-146.0,484.5,-7.0,445,6874,0.10,2.15,0.00,0.000,6,0.104,0.035,2197,2327,3022
$GC,7199,-0.96,-146.0,509.4,-7.4,453,7204,0.12,2.33,0.00,0.000,4,0.153,0.058,2230,3754,3022
$GC,7271,-0.96,-146.0,514.5,-7.5,454,7275,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2335,3022
$GC,7614,-0.96,-146.0,536.5,-6.4,463,7618,0.00,2.30,0.00,0.000,4,0.000,0.059,2231,3752,3022
$GC,7647,-1.01,-146.0,538.7,-6.7,463,7651,0.00,2.15,0.00,0.000,6,0.000,0.034,2231,2333,3022
$GC,7984,-1.01,-146.0,559.9,-6.3,472,7988,0.00,2.33,0.00,0.000,4,0.000,0.061,2231,3753,3022
$GC,8052,-1.07,-146.0,564.3,-6.5,473,8056,0.12,2.15,0.00,0.000,6,0.089,0.035,2184,2329,3022
$GC,8399,-0.94,-146.0,590.1,-7.4,482,8404,0.17,2.33,0.00,0.000,4,0.147,0.060,2234,3743,3022
$GC,8450,-1.01,-146.0,593.3,-6.1,483,8453,0.00,2.15,0.00,0.000,6,0.000,0.034,2233,2327,3022
$GC,8769,-1.01,-146.0,611.7,-5.8,491,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2327,3023
$GC,9093,-1.01,-146.0,630.2,-5.7,499,9097,0.00,2.33,0.00,0.000,4,0.000,0.061,2233,3749,3022
$GC,9117,-1.07,-146.0,631.6,-6.1,499,9122,0.12,2.15,0.00,0.000,6,0.096,0.035,2188,2337,3023
$STATE,9381,end dive,NO_VERTICAL_VELOCITY
$STATE,9381,begin apogee
$GC,9388,-0.34,0.0,633.9,0.0,506,9522,0.52,0.00,130.40,1.196,6,0.102,0.000,2365,2517,2420
$STATE,9522,end apogee,CONTROL_FINISHED_OK
$STATE,9522,begin climb
$GC,9525,1.08,146.0,633.6,0.0,509,9668,1.02,2.72,135.65,1.123,4,0.096,0.058,2677,3934,1824
$GC,9710,0.80,146.0,618.4,12.1,513,9717,0.25,2.40,0.00,0.000,6,0.133,0.035,2610,2519,1824
$GC,10041,0.87,164.9,596.7,6.4,522,10065,0.00,2.30,16.77,1.081,4,0.000,0.046,2611,1109,1747
$GC,10122,1.00,182.8,591.4,6.4,523,10144,0.15,2.25,16.40,1.071,6,0.068,0.043,2674,2539,1674
$GC,10453,0.89,182.8,561.2,9.2,532,10457,0.17,2.22,0.00,0.000,4,0.129,0.059,2622,3930,1675
$GC,10514,0.89,182.8,555.7,8.2,533,10518,0.00,2.15,0.00,0.000,6,0.000,0.036,2622,2505,1674
$GC,10828,0.97,198.1,535.1,6.5,541,10848,0.10,2.22,13.90,1.065,4,0.085,0.048,2665,1116,1612
$GC,10898,0.97,198.1,529.4,8.7,542,10902,0.00,2.20,0.00,0.000,6,0.000,0.043,2665,2520,1613
$GC,11241,0.90,198.1,500.9,8.4,551,11245,0.12,2.25,0.00,0.000,4,0.137,0.058,2628,3930,1613
$GC,11286,0.90,198.1,497.3,8.1,552,11290,0.00,2.15,0.00,0.000,6,0.000,0.036,2627,2515,1613
$GC,11616,0.95,198.1,473.7,7.2,560,11620,0.00,2.17,0.00,0.000,4,0.000,0.047,2627,1109,1613
$GC,11682,1.05,198.1,468.8,7.3,561,11687,0.12,2.20,0.00,0.000,6,0.076,0.042,2679,2528,1612
$GC,12031,0.95,198.1,437.1,9.2,570,12035,0.15,2.25,0.00,0.000,4,0.125,0.058,2634,3936,1612
$GC,12086,0.90,198.1,432.2,8.5,571,12090,0.00,2.15,0.00,0.000,6,0.000,0.035,2633,2522,1613
$GC,12406,0.91,203.3,410.0,6.8,579,12416,0.00,2.20,5.62,0.831,4,0.000,0.046,2633,1109,1591
$GC,12468,1.01,207.8,405.6,6.9,580,12478,0.00,2.20,5.45,0.809,6,0.000,0.042,2633,2525,1572
$GC,12792,1.07,207.8,382.8,7.1,594,12794,0.12,0.00,0.00,0.000,6,0.077,0.000,2691,2525,1574
$GC,13102,0.95,207.8,351.4,10.1,609,13104,0.17,0.00,0.00,0.000,6,0.120,0.000,2637,2525,1574
$GC,13411,1.00,207.8,328.1,7.0,624,13415,0.00,2.20,0.00,0.000,4,0.000,0.046,2637,1116,1574
$GC,13485,1.11,224.2,323.2,6.5,627,13505,0.15,2.20,14.90,0.971,6,0.074,0.042,2700,2534,1507
$GC,13835,0.99,224.2,288.9,10.1,644,13840,0.17,2.22,0.00,0.000,4,0.125,0.058,2646,3930,1508
$GC,13896,0.99,224.2,282.9,9.3,646,13902,0.00,2.15,0.00,0.000,6,0.000,0.035,2646,2512,1508
$GC,14212,1.03,224.2,258.8,7.7,662,14216,0.00,2.15,0.00,0.000,4,0.000,0.047,2646,1117,1508
$GC,14284,1.13,224.2,253.3,7.8,665,14289,0.12,2.17,0.00,0.000,6,0.077,0.042,2701,2522,1508
$GC,14612,1.01,224.2,221.0,9.8,681,14616,0.17,2.25,0.00,0.000,4,0.123,0.058,2647,3927,1508
$GC,14651,1.01,224.2,217.5,8.1,683,14655,0.00,2.15,0.00,0.000,6,0.000,0.035,2647,2508,1508
$GC,14983,1.07,224.2,193.8,7.3,699,14988,0.08,2.15,0.00,0.000,4,0.097,0.045,2689,1119,1509
$GC,15068,1.07,224.2,186.1,10.0,702,15074,0.00,2.17,0.00,0.000,6,0.000,0.042,2689,2522,1508
$GC,15383,1.01,224.2,155.5,9.5,718,15388,0.12,2.25,0.00,0.000,4,0.131,0.058,2653,3930,1508
$GC,15422,1.01,224.2,151.8,8.9,719,15428,0.00,2.15,0.00,0.000,6,0.000,0.035,2652,2511,1508
$GC,15739,1.10,240.3,131.6,6.5,735,15761,0.08,2.20,14.62,0.864,4,0.097,0.046,2693,1112,1441
$GC,15817,1.10,240.3,124.7,9.3,738,15821,0.00,2.20,0.00,0.000,6,0.000,0.041,2693,2529,1441
$GC,16137,1.10,240.3,94.5,9.3,759,16143,0.00,2.22,0.00,0.000,4,0.000,0.059,2693,3924,1442
$GC,16178,1.02,240.3,90.5,9.6,766,16184,0.15,2.15,0.00,0.000,6,0.129,0.035,2649,2507,1442
$GC,16523,1.34,240.3,64.8,7.3,827,16530,0.20,2.15,0.00,0.000,4,0.070,0.044,2732,1116,1442
$GC,16592,1.41,240.3,59.2,7.9,839,16599,0.00,2.20,0.00,0.000,6,0.000,0.044,2732,2532,1443
$GC,16936,1.34,240.3,31.9,8.0,900,16942,0.00,2.22,0.00,0.000,4,0.000,0.061,2732,3925,1442
$GC,17011,1.17,240.3,24.9,9.3,913,17018,0.17,2.15,0.00,0.000,6,0.133,0.036,2680,2508,1442
$GC,17357,1.31,260.5,3.6,6.3,974,17382,0.12,2.20,17.75,0.864,4,0.074,0.048,2735,1117,1358
$STATE,17386,end climb,SURFACE_DEPTH_REACHED
$STATE,17386,begin surface coast
$FINISH,1.1,1.017649
$STATE,17415,end surface coast,CONTROL_FINISHED_OK
$STATE,17415,begin surface
$SM_CCo,17495,0.00,0.000,0,0,1356,260.75
$SM_GC,2.01,7.03,0.00,0.00,0.059,0.000,0.000,164,2349,1356,-10.37,0.25,260.75
$RAFOS_CLK,891
$RAFOS,4,1227185045,12.750000,12.734722,75,56,56,54,53,48,825,197,120,137,214,1387
$RAFOS,3,1227184455,12.583333,12.570833,76,64,62,61,56,54,927,229,219,197,120,178
$RAFOS,2,1227183848,12.416667,12.402223,112,72,60,60,54,53,615,205,218,174,120,242
$RAFOS,1,1227183258,12.250000,12.238334,131,60,59,54,52,52,787,168,210,224,196,184
$RAFOS,0,1227182641,12.083333,12.066944,63,61,59,59,57,54,223,184,203,1057,158,149
$RAFOS,4,1227170656,8.750000,8.737778,59,56,56,56,55,54,752,183,218,130,160,172
$RAFOS,3,1227170046,8.583333,8.568334,72,61,61,58,57,53,975,214,164,205,115,128
$RAFOS,2,1227169444,8.416667,8.401111,67,64,56,54,53,51,634,213,186,117,225,199
$RAFOS,1,1227168845,8.250000,8.234722,82,60,57,56,56,54,857,215,201,224,190,136
$RAFOS_FIX,6702.486328,-5700.903809,201108,121228,4,98,0.07
$IRIDIUM_FIX,6631.12,-5658.34,140298,030300
$TT8_MAMPS,0.027612
$HUMID,1876
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,20.9,61.714
$10V_AH,10.6,27.183
$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,22.600,173.550,371.475,0.000,0.000,31.405,34.404,150.140,0.250,0.000,0.000,10.075,1880.860,12934.847,553.945,1963.882,524.918,33.375,1633.603,0.000,1932.317,3240.000,0.529,0.000
$DEVICE_MAMPS,255.411,72.098,1195.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.268,666.353,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34710,984
$CAP_FILE_SIZE,151039,0
$CFSIZE,260165632,226422784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.3
$GPS,201108,125938,6702.150,-5656.524,35,1.3,35,-37.6