version: 66.04
glider: 113
mission: 4
dive: 471
start: 12 25 108 21 50 59
data:
$ID,113
$MISSION,4
$DIVE,471
$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,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,558.3028
$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,-73642.969
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,162627,6641.670,-5938.256,0,5105.4,0,-37.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-16.2
$GPS2,162627,6641.670,-5938.256,0,5105.4,0,-37.8
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.217,-0.059
$KALMAN_X,0.0,0.0,0.0,-105172.7,0.0
$KALMAN_Y,0.0,0.0,0.0,-28499.2,0.0
$MHEAD_RNG_PITCHd_Wd,292.6,47432,-12.9,-7.021
$D_GRID,841
$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,-146.0,0.0,0.0,0,158,0.00,0.00,-139.90,0.000,2,0.000,0.000,165,2321,2247
$GC,163,-1.08,-146.0,3.3,-1.2,25,211,8.82,2.53,-32.72,0.000,4,0.267,0.084,2201,3746,3017
$GC,294,-0.83,-146.0,19.8,-15.6,47,301,0.20,2.28,0.00,0.000,6,0.160,0.045,2256,2343,3019
$GC,641,-0.70,-146.0,63.4,-11.8,108,648,0.10,2.38,0.00,0.000,4,0.181,0.058,2282,926,3021
$GC,745,-0.65,-146.0,75.3,-11.5,126,751,0.00,2.38,0.00,0.000,6,0.000,0.056,2282,2345,3021
$GC,1096,-0.65,-146.0,111.7,-8.9,172,1100,0.00,2.45,0.00,0.000,4,0.000,0.073,2282,3755,3021
$GC,1163,-0.74,-146.0,117.6,-8.4,175,1167,0.00,2.30,0.00,0.000,6,0.000,0.043,2282,2332,3021
$GC,1491,-0.79,-146.0,143.7,-7.7,191,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2333,3021
$GC,1799,-0.85,-146.0,170.2,-9.4,206,1804,0.12,2.35,0.00,0.000,4,0.090,0.058,2235,937,3021
$GC,1856,-0.72,-146.0,177.1,-12.2,208,1862,0.17,2.38,0.00,0.000,6,0.173,0.058,2278,2343,3021
$GC,2173,-0.79,-146.0,205.0,-7.9,224,2177,0.00,2.45,0.00,0.000,4,0.000,0.074,2276,3745,3021
$GC,2251,-0.90,-146.0,211.9,-8.9,227,2258,0.12,2.30,0.00,0.000,6,0.100,0.043,2232,2328,3021
$GC,2568,-0.82,-146.0,242.6,-9.5,243,2570,0.10,0.00,0.00,0.000,6,0.170,0.000,2257,2328,3021
$GC,2878,-0.82,-146.0,267.3,-8.1,258,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2328,3021
$GC,3186,-0.82,-146.0,292.9,-8.4,273,3190,0.00,2.53,0.00,0.000,4,0.000,0.071,2257,3756,3021
$GC,3276,-0.91,-146.0,300.4,-8.1,277,3280,0.00,2.30,0.00,0.000,6,0.000,0.044,2257,2343,3021
$GC,3603,-0.91,-146.0,326.5,-8.0,293,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2343,3021
$GC,3913,-0.97,-146.0,351.1,-7.8,308,3914,0.12,0.00,0.00,0.000,6,0.103,0.000,2212,2343,3021
$GC,4223,-0.88,-146.0,380.5,-9.3,323,4224,0.12,0.00,0.00,0.000,6,0.161,0.000,2244,2342,3021
$GC,4530,-0.88,-146.0,403.5,-7.3,337,4534,0.00,2.38,0.00,0.000,4,0.000,0.058,2244,932,3022
$GC,4609,-0.88,-146.0,409.7,-7.5,338,4613,0.00,2.38,0.00,0.000,6,0.000,0.054,2244,2342,3022
$GC,4947,-0.88,-146.0,433.5,-7.1,347,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2342,3022
$GC,5271,-0.93,-146.0,457.1,-7.3,355,5275,0.00,2.47,0.00,0.000,4,0.000,0.071,2245,3757,3022
$GC,5367,-1.02,-146.0,464.1,-6.9,357,5372,0.12,2.30,0.00,0.000,6,0.094,0.041,2203,2336,3022
$GC,5681,-0.93,-146.0,490.6,-8.5,365,5686,0.12,2.35,0.00,0.000,4,0.152,0.054,2237,935,3022
$GC,5754,-0.93,-146.0,496.5,-8.1,366,5758,0.00,2.38,0.00,0.000,6,0.000,0.054,2236,2348,3022
$GC,6086,-0.93,-146.0,519.2,-6.8,374,6090,0.00,2.45,0.00,0.000,4,0.000,0.070,2235,3756,3023
$GC,6154,-1.00,-146.0,524.1,-7.1,375,6158,0.00,2.30,0.00,0.000,6,0.000,0.041,2235,2327,3023
$GC,6497,-1.00,-146.0,547.9,-7.0,384,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2327,3024
$GC,6822,-1.00,-146.0,570.0,-6.8,392,6826,0.00,2.50,0.00,0.000,4,0.000,0.069,2235,3749,3024
$GC,6873,-1.08,-146.0,573.7,-6.8,393,6878,0.12,2.28,0.00,0.000,6,0.103,0.040,2192,2335,3024
$GC,7187,-0.96,-146.0,601.8,-8.8,401,7189,0.12,0.00,0.00,0.000,6,0.153,0.000,2225,2335,3024
$GC,7511,-0.96,-146.0,625.2,-7.1,409,7515,0.00,2.30,0.00,0.000,4,0.000,0.054,2226,939,3025
$GC,7574,-0.96,-146.0,629.8,-7.5,410,7578,0.00,2.33,0.00,0.000,6,0.000,0.051,2226,2342,3025
$GC,7887,-0.96,-146.0,651.9,-7.2,418,7891,0.00,2.42,0.00,0.000,4,0.000,0.067,2226,3743,3025
$GC,7933,-1.03,-146.0,655.3,-7.8,419,7937,0.00,2.25,0.00,0.000,6,0.000,0.040,2226,2337,3025
$GC,8264,-1.03,-146.0,678.9,-6.9,427,8267,0.00,2.33,0.00,0.000,4,0.000,0.053,2225,926,3025
$GC,8314,-1.03,-146.0,682.4,-6.9,428,8319,0.00,2.38,0.00,0.000,6,0.000,0.051,2226,2353,3026
$GC,8634,-1.03,-146.0,705.4,-7.4,436,8638,0.00,2.40,0.00,0.000,4,0.000,0.067,2226,3743,3026
$GC,8680,-1.09,-146.0,708.8,-7.7,437,8685,0.12,2.28,0.00,0.000,6,0.092,0.040,2185,2323,3026
$GC,9000,-1.15,-146.0,732.3,-7.1,445,9004,0.00,2.28,0.00,0.000,4,0.000,0.053,2185,942,3027
$STATE,9137,end dive,NO_VERTICAL_VELOCITY
$STATE,9137,begin apogee
$GC,9148,-0.34,0.0,732.2,0.0,448,9287,0.52,0.00,135.62,1.319,6,0.093,0.000,2365,2518,2421
$STATE,9288,end apogee,CONTROL_FINISHED_OK
$STATE,9288,begin climb
$GC,9291,1.08,146.0,732.3,0.0,451,9555,1.08,2.85,174.80,1.062,4,0.101,0.065,2664,3930,1825
$GC,9601,0.82,146.0,713.2,10.2,458,9606,0.20,2.53,0.00,0.000,6,0.140,0.039,2616,2528,1826
$GC,9944,0.86,174.0,691.3,6.1,467,9978,0.00,2.72,26.65,1.211,4,0.000,0.067,2616,3932,1711
$GC,9996,0.86,174.0,687.6,7.1,468,10001,0.00,2.50,0.00,0.000,6,0.000,0.038,2616,2510,1712
$GC,10310,0.94,193.6,668.4,6.4,476,10331,0.10,0.00,18.80,1.197,6,0.091,0.000,2652,2510,1630
$GC,10635,0.89,193.6,642.4,8.4,484,10637,0.10,0.00,0.00,0.000,6,0.151,0.000,2626,2509,1633
$GC,10960,0.91,210.5,621.3,6.4,492,10978,0.00,0.00,15.50,1.200,6,0.000,0.000,2626,2510,1562
$GC,11285,0.97,217.9,599.3,6.8,500,11295,0.00,0.00,7.93,1.071,6,0.000,0.000,2626,2509,1531
$GC,11610,1.04,230.9,578.1,6.6,508,11625,0.12,0.00,12.35,1.154,6,0.085,0.000,2677,2509,1479
$GC,11935,0.95,230.9,550.6,8.6,516,11940,0.15,2.40,0.00,0.000,4,0.130,0.067,2633,3929,1481
$GC,11975,0.95,230.9,547.2,7.7,517,11979,0.00,2.22,0.00,0.000,6,0.000,0.040,2633,2513,1481
$GC,12306,1.01,243.1,525.0,6.6,525,12321,0.08,0.00,11.68,1.127,6,0.105,0.000,2666,2512,1429
$GC,12632,1.01,243.1,498.5,8.2,533,12633,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2512,1432
$GC,12956,1.01,243.1,471.1,8.6,541,12959,0.00,2.40,0.00,0.000,4,0.000,0.066,2666,3929,1431
$GC,12979,0.93,243.1,469.0,8.8,541,12983,0.12,2.22,0.00,0.000,6,0.150,0.039,2633,2520,1431
$GC,13328,1.04,268.6,446.6,6.2,550,13358,0.10,2.35,22.55,1.156,4,0.097,0.053,2675,1118,1324
$GC,13371,1.05,271.4,443.4,6.9,551,13381,0.00,2.30,3.97,0.722,6,0.000,0.048,2675,2529,1313
$GC,13701,1.05,271.4,417.7,7.7,559,13702,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2529,1315
$GC,14007,1.05,271.4,394.2,7.6,568,14011,0.00,2.30,0.00,0.000,4,0.000,0.052,2675,1115,1315
$GC,14035,1.05,271.4,392.0,7.2,569,14039,0.00,2.28,0.00,0.000,6,0.000,0.048,2675,2525,1315
$GC,14362,1.05,271.4,365.1,8.9,585,14366,0.00,2.35,0.00,0.000,4,0.000,0.066,2675,3930,1315
$GC,14379,1.05,271.4,363.3,9.0,585,14386,0.00,2.22,0.00,0.000,6,0.000,0.040,2675,2520,1316
$GC,14696,1.05,271.4,336.4,8.2,601,14697,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2520,1315
$GC,15005,1.05,271.4,312.6,7.8,616,15009,0.00,2.42,0.00,0.000,4,0.000,0.067,2675,3930,1315
$GC,15017,1.05,271.4,311.5,8.0,616,15021,0.00,2.25,0.00,0.000,6,0.000,0.040,2675,2518,1316
$GC,15340,1.06,279.6,288.2,6.7,632,15354,0.00,2.33,8.27,0.973,4,0.000,0.054,2675,1112,1280
$GC,15367,1.06,279.6,286.2,7.3,633,15371,0.00,2.30,0.00,0.000,6,0.000,0.048,2675,2524,1281
$GC,15694,1.06,279.6,261.0,7.9,649,15695,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2524,1282
$GC,16004,1.08,297.3,239.2,6.4,664,16026,0.00,2.35,16.12,1.048,4,0.000,0.052,2675,1109,1208
$GC,16051,1.22,332.2,236.4,5.8,666,16087,0.10,2.30,30.45,1.054,6,0.088,0.049,2717,2518,1065
$GC,16407,1.22,332.2,206.5,9.2,683,16408,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2518,1062
$GC,16713,1.22,332.2,179.8,8.7,698,16714,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2518,1061
$GC,17022,1.22,332.2,151.8,8.5,713,17023,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2518,1060
$GC,17332,1.22,332.2,125.8,8.3,728,17333,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2518,1059
$GC,17641,1.27,364.6,101.2,5.9,743,17674,0.00,2.35,27.38,1.029,4,0.000,0.056,2717,1120,933
$GC,17710,1.40,395.0,96.9,6.0,752,17746,0.10,2.30,27.77,0.987,6,0.091,0.051,2758,2525,808
$GC,18088,1.40,395.0,63.1,8.4,818,18095,0.00,2.28,0.00,0.000,4,0.000,0.056,2758,1120,803
$GC,18119,1.40,395.0,60.6,7.5,823,18126,0.00,2.28,0.00,0.000,6,0.000,0.052,2758,2531,803
$GC,18464,1.40,395.0,30.9,8.7,884,18470,0.00,2.35,0.00,0.000,4,0.000,0.071,2758,3929,801
$GC,18494,1.40,395.0,28.1,9.1,889,18501,0.00,2.22,0.00,0.000,6,0.000,0.043,2758,2523,801
$STATE,18802,end climb,SURFACE_DEPTH_REACHED
$STATE,18802,begin surface coast
$FINISH,1.6,1.025943
$STATE,18826,end surface coast,CONTROL_FINISHED_OK
$STATE,18826,begin surface
$SM_CCo,18847,152.30,0.918,1,0,144,558.30
$SM_GC,2.00,0.00,0.00,152.30,0.000,0.000,0.918,163,2334,144,-10.46,-0.20,558.30
$RAFOS_CLK,1195
$RAFOS,4,1230252246,0.750000,0.735000,59,59,56,56,52,51,160,187,149,196,228,126
$RAFOS,3,1230251678,0.583333,0.577222,162,69,63,59,59,58,497,193,207,175,116,129
$RAFOS,2,1230251042,0.416667,0.400556,74,58,54,54,54,53,203,185,120,157,221,138
$RAFOS,1,1230250449,0.250000,0.235833,75,65,52,50,50,50,646,158,194,184,143,116
$RAFOS,0,1230249875,0.083333,0.076389,122,59,59,54,52,51,419,212,203,164,187,147
$RAFOS_FIX,6638.368652,-5944.780273,261208,000054,3,120,0.27
$IRIDIUM_FIX,6631.12,-5745.67,160398,040408
$TT8_MAMPS,0.027612
$HUMID,1886
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,20.0,87.267
$10V_AH,10.4,39.831
$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,20.850,137.650,539.850,152.300,0.000,165.082,143.756,0.000,0.250,0.000,0.000,906.426,1736.849,14484.966,929.236,2743.760,720.054,33.350,1979.648,0.000,1829.164,1800.000,0.529,0.000
$DEVICE_MAMPS,266.916,84.370,1319.240,918.099,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.585,647.464,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34736,948
$CAP_FILE_SIZE,137987,0
$CFSIZE,260165632,215605248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,16,0
$SOUNDSPEED,1448.3
$GPS,261208,001954,6638.369,-5944.780,0,3119.7,0,-37.8