version: 66.04
glider: 113
mission: 4
dive: 441
start: 12 17 108 6 47 41
data:
$ID,113
$MISSION,4
$DIVE,441
$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,-40815.723
$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,38
$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
$GPS1,064015,6703.982,-5657.644,36,1.4,49,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-56.5
$GPS2,064645,6704.017,-5657.718,13,1.4,13,-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,-0.208,0.084
$KALMAN_X,-126832.9,1142.9,-273.7,145435.8,120.8
$KALMAN_Y,-8495.8,-592.1,1255.1,24739.8,-2441.0
$MHEAD_RNG_PITCHd_Wd,329.5,51028,-12.9,-7.021
$D_GRID,592
$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,16,-1.08,-146.0,0.0,0.0,0,160,0.00,0.00,-140.12,0.000,6,0.000,0.000,157,2329,3015
$GC,164,-1.08,-146.0,3.0,-2.0,25,178,8.73,2.25,0.00,0.000,4,0.260,0.051,2198,937,3019
$GC,241,-0.46,-146.0,17.2,-15.7,38,248,0.47,2.25,0.00,0.000,6,0.176,0.048,2331,2352,3021
$GC,587,-0.51,-146.0,47.5,-7.2,99,593,0.00,2.30,0.00,0.000,4,0.000,0.062,2331,3752,3022
$GC,698,-0.63,-146.0,55.6,-7.4,118,705,0.12,2.20,0.00,0.000,6,0.092,0.037,2286,2331,3022
$GC,1043,-0.63,-146.0,83.0,-7.8,179,1049,0.00,2.20,0.00,0.000,4,0.000,0.049,2286,940,3022
$GC,1272,-0.63,-146.0,104.9,-9.2,213,1276,0.00,2.25,0.00,0.000,6,0.000,0.046,2286,2351,3021
$GC,1604,-0.68,-146.0,133.4,-8.1,229,1608,0.00,2.30,0.00,0.000,4,0.000,0.064,2286,3749,3022
$GC,1695,-0.77,-146.0,140.6,-7.6,233,1699,0.00,2.20,0.00,0.000,6,0.000,0.037,2286,2331,3022
$GC,2029,-0.84,-146.0,166.2,-8.0,249,2033,0.12,2.22,0.00,0.000,4,0.087,0.048,2235,931,3022
$GC,2142,-0.71,-146.0,177.5,-9.6,254,2147,0.17,2.28,0.00,0.000,6,0.165,0.047,2281,2351,3022
$GC,2470,-0.79,-146.0,200.7,-6.9,270,2474,0.00,2.33,0.00,0.000,4,0.000,0.064,2281,3750,3022
$GC,2531,-0.94,-146.0,205.1,-7.8,272,2538,0.17,2.20,0.00,0.000,6,0.080,0.038,2219,2337,3021
$GC,2847,-0.83,-146.0,234.1,-9.4,288,2852,0.15,2.25,0.00,0.000,4,0.153,0.049,2258,933,3021
$GC,2961,-0.83,-146.0,243.1,-7.6,293,2965,0.00,2.28,0.00,0.000,6,0.000,0.048,2259,2352,3021
$GC,3295,-0.88,-146.0,265.5,-6.3,309,3299,0.00,2.30,0.00,0.000,4,0.000,0.063,2259,3748,3021
$GC,3380,-0.97,-146.0,271.0,-6.6,312,3386,0.12,2.20,0.00,0.000,6,0.097,0.037,2216,2335,3020
$GC,3696,-0.88,-146.0,294.6,-7.1,328,3700,0.12,2.22,0.00,0.000,4,0.153,0.047,2250,937,3020
$GC,3832,-0.88,-146.0,303.4,-6.6,334,3836,0.00,2.25,0.00,0.000,6,0.000,0.046,2250,2345,3020
$GC,4165,-0.88,-146.0,323.4,-6.3,350,4169,0.00,2.33,0.00,0.000,4,0.000,0.062,2250,3746,3020
$GC,4244,-0.95,-146.0,329.0,-6.9,353,4248,0.00,2.17,0.00,0.000,6,0.000,0.036,2250,2340,3020
$GC,4566,-0.95,-146.0,348.3,-5.7,369,4570,0.00,2.22,0.00,0.000,4,0.000,0.048,2250,932,3021
$GC,4661,-0.95,-146.0,354.5,-6.4,373,4665,0.00,2.25,0.00,0.000,6,0.000,0.045,2250,2341,3021
$GC,4990,-1.00,-146.0,373.7,-5.9,389,4995,0.12,2.30,0.00,0.000,4,0.099,0.059,2204,3743,3022
$GC,5139,-0.94,-146.0,385.6,-8.6,395,5146,0.12,2.17,0.00,0.000,6,0.147,0.036,2237,2338,3022
$GC,5475,-0.94,-146.0,408.6,-6.7,409,5479,0.00,2.20,0.00,0.000,4,0.000,0.047,2237,943,3022
$GC,5615,-0.94,-146.0,418.5,-6.9,412,5619,0.00,2.22,0.00,0.000,6,0.000,0.044,2237,2341,3023
$GC,5939,-0.94,-146.0,438.5,-6.2,420,5943,0.00,2.33,0.00,0.000,4,0.000,0.060,2237,3754,3024
$GC,6053,-0.99,-146.0,445.9,-6.9,422,6057,0.00,2.20,0.00,0.000,6,0.000,0.035,2237,2331,3024
$GC,6404,-0.99,-146.0,467.4,-6.0,431,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2331,3025
$GC,6726,-0.99,-146.0,487.1,-6.3,439,6730,0.00,2.35,0.00,0.000,4,0.000,0.060,2237,3748,3025
$GC,6866,-1.06,-146.0,496.1,-6.8,442,6870,0.12,2.20,0.00,0.000,6,0.096,0.035,2193,2326,3025
$GC,7196,-0.95,-146.0,521.9,-7.8,450,7198,0.15,0.00,0.00,0.000,6,0.146,0.000,2234,2323,3026
$GC,7521,-0.95,-146.0,542.6,-6.2,458,7525,0.00,2.38,0.00,0.000,4,0.000,0.060,2234,3752,3025
$GC,7595,-1.01,-146.0,547.7,-7.2,459,7599,0.00,2.20,0.00,0.000,6,0.000,0.035,2234,2330,3025
$GC,7938,-1.01,-146.0,569.3,-6.4,468,7942,0.00,2.20,0.00,0.000,4,0.000,0.046,2234,932,3026
$GC,8030,-1.01,-146.0,575.8,-6.9,470,8034,0.00,2.25,0.00,0.000,6,0.000,0.044,2234,2350,3026
$STATE,8275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8276,begin apogee
$GC,8283,-0.34,0.0,593.0,6.8,476,8416,0.43,0.00,129.73,1.201,6,0.142,0.000,2363,2519,2420
$STATE,8416,end apogee,CONTROL_FINISHED_OK
$STATE,8416,begin climb
$GC,8420,1.08,146.0,596.4,0.0,479,8576,1.02,2.67,140.75,1.101,4,0.102,0.046,2666,1123,1824
$GC,8611,1.00,147.6,584.2,7.0,483,8615,0.00,2.55,0.00,0.000,6,0.000,0.043,2666,2526,1824
$GC,8948,0.88,147.6,557.4,8.2,492,8952,0.15,2.28,0.00,0.000,4,0.138,0.062,2623,3930,1824
$GC,8960,0.77,147.6,556.6,8.2,492,8963,0.00,2.17,0.00,0.000,6,0.000,0.036,2623,2515,1824
$GC,9279,0.78,152.9,534.7,6.8,500,9292,0.00,2.40,6.75,0.952,4,0.000,0.062,2623,3940,1797
$GC,9299,0.80,169.8,533.4,6.4,500,9321,0.00,2.20,15.48,1.098,6,0.000,0.037,2623,2510,1727
$GC,9646,0.80,169.8,509.5,7.0,509,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2510,1728
$GC,9971,0.82,182.5,487.9,6.6,517,9990,0.00,2.42,11.68,1.075,4,0.000,0.063,2623,3937,1675
$GC,9996,0.85,208.6,486.2,6.1,517,10025,0.00,2.20,22.60,1.119,6,0.000,0.037,2623,2516,1569
$GC,10342,0.97,232.4,463.9,6.2,526,10365,0.08,0.00,20.70,1.104,6,0.099,0.000,2661,2516,1472
$GC,10665,0.97,232.4,438.3,7.9,534,10669,0.00,2.20,0.00,0.000,4,0.000,0.048,2661,1109,1472
$GC,10677,0.97,232.4,437.5,7.7,534,10681,0.00,2.22,0.00,0.000,6,0.000,0.044,2661,2529,1473
$GC,10996,0.97,232.4,412.2,8.0,542,11000,0.00,2.25,0.00,0.000,4,0.000,0.048,2661,1109,1473
$GC,11006,0.97,232.4,411.3,8.0,542,11010,0.00,2.22,0.00,0.000,6,0.000,0.044,2661,2534,1473
$GC,11328,0.97,232.4,386.5,7.8,554,11331,0.00,2.25,0.00,0.000,4,0.000,0.048,2661,1114,1473
$GC,11339,0.97,232.4,385.7,7.4,554,11343,0.00,2.22,0.00,0.000,6,0.000,0.044,2661,2526,1472
$GC,11661,0.98,240.5,364.0,6.7,570,11675,0.00,2.28,8.18,0.927,4,0.000,0.048,2662,1126,1439
$GC,11699,1.01,264.6,361.4,6.2,571,11727,0.00,2.20,20.92,1.030,6,0.000,0.044,2661,2526,1341
$GC,12036,1.01,264.6,337.0,7.7,588,12040,0.00,2.22,0.00,0.000,4,0.000,0.047,2661,1118,1343
$GC,12077,1.07,264.6,333.8,7.7,589,12083,0.00,2.20,0.00,0.000,6,0.000,0.044,2662,2522,1342
$GC,12392,1.07,264.6,307.9,8.1,605,12396,0.00,2.22,0.00,0.000,4,0.000,0.047,2661,1119,1343
$GC,12432,1.15,264.6,304.8,8.2,606,12439,0.10,2.22,0.00,0.000,6,0.084,0.044,2705,2534,1343
$GC,12749,1.05,264.6,273.8,10.0,622,12753,0.15,2.28,0.00,0.000,4,0.126,0.047,2661,1110,1343
$GC,12765,1.05,264.6,272.2,9.7,622,12771,0.00,2.22,0.00,0.000,6,0.000,0.043,2661,2523,1343
$GC,13081,1.05,264.6,246.1,8.7,638,13085,0.00,2.22,0.00,0.000,4,0.000,0.047,2661,1113,1343
$GC,13098,1.10,264.6,244.5,8.8,638,13105,0.00,2.22,0.00,0.000,6,0.000,0.042,2661,2531,1343
$GC,13414,1.15,264.6,214.2,9.8,654,13419,0.10,2.25,0.00,0.000,4,0.084,0.045,2707,1116,1343
$GC,13442,1.15,264.6,210.9,11.5,655,13446,0.00,2.22,0.00,0.000,6,0.000,0.043,2707,2528,1343
$GC,13770,1.09,264.6,173.5,11.2,671,13772,0.12,0.00,0.00,0.000,6,0.129,0.000,2668,2528,1344
$GC,14079,1.16,264.6,148.6,7.5,686,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2528,1345
$GC,14389,1.24,264.7,125.2,7.0,701,14391,0.12,0.00,0.00,0.000,6,0.077,0.000,2720,2528,1345
$GC,14697,1.16,264.7,99.4,7.8,716,14704,0.12,2.28,0.00,0.000,4,0.129,0.048,2683,1110,1344
$GC,14728,1.16,264.7,97.2,7.6,721,14734,0.00,2.25,0.00,0.000,6,0.000,0.044,2683,2528,1345
$GC,15073,1.22,264.7,74.2,7.0,782,15080,0.00,2.25,0.00,0.000,4,0.000,0.047,2683,1116,1344
$GC,15111,1.32,264.7,71.6,7.1,788,15118,0.15,2.25,0.00,0.000,6,0.071,0.045,2744,2532,1344
$GC,15457,1.19,264.7,37.9,9.9,849,15464,0.17,2.33,0.00,0.000,4,0.124,0.061,2691,3933,1343
$GC,15500,1.13,264.7,34.0,9.0,856,15506,0.00,2.20,0.00,0.000,6,0.000,0.038,2691,2520,1343
$GC,15845,1.18,264.7,8.0,7.3,917,15852,0.00,2.22,0.00,0.000,4,0.000,0.050,2691,1117,1343
$GC,15859,1.24,264.7,7.1,7.3,919,15865,0.00,2.25,0.00,0.000,6,0.000,0.045,2691,2531,1343
$STATE,15919,end climb,SURFACE_DEPTH_REACHED
$STATE,15919,begin surface coast
$FINISH,0.9,1.026713
$STATE,15943,end surface coast,CONTROL_FINISHED_OK
$STATE,15943,begin surface
$SM_CCo,16022,0.00,0.000,0,0,1342,264.43
$SM_GC,1.63,7.20,0.00,0.00,0.065,0.000,0.000,156,2331,1342,-10.40,-0.25,264.43
$RAFOS_CLK,840
$RAFOS,4,1229503450,8.750000,8.736111,91,68,67,65,63,55,776,192,211,180,222,153
$RAFOS,3,1229502859,8.583333,8.571944,70,65,59,58,56,48,218,175,208,124,157,133
$RAFOS,2,1229502275,8.416667,8.409722,88,65,57,51,50,50,461,217,192,180,117,157
$RAFOS,1,1229501645,8.250000,8.234722,74,61,58,57,57,52,223,199,208,181,150,852
$RAFOS,0,1229501041,8.083333,8.066944,63,59,54,53,50,50,206,188,151,175,123,215
$RAFOS_FIX,6643.959473,-5915.190918,171208,080856,4,81,17.16
$IRIDIUM_FIX,6636.54,-5655.33,130398,020256
$TT8_MAMPS,0.029913
$HUMID,1922
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,20.3,80.909
$10V_AH,10.5,36.392
$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,20.650,154.050,376.775,0.000,0.000,27.154,40.614,180.673,0.000,0.000,0.000,15.097,1799.553,11579.145,559.971,1932.623,588.040,33.383,1614.406,0.000,1896.124,1800.000,0.529,0.000
$DEVICE_MAMPS,260.013,71.331,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.893,633.844,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34725,934
$CAP_FILE_SIZE,135279,0
$CFSIZE,260165632,218308608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1462.5
$GPS,171208,111702,6703.712,-5702.150,41,1.3,41,-37.6