version: 66.04
glider: 113
mission: 4
dive: 19
start: 9 7 108 15 25 40
data:
$ID,113
$MISSION,4
$DIVE,19
$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,412
$T_MISSION,470
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$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,375
$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,-22418.502
$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,2330
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,2708
$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,91.800003
$AH0_10V,61.200001
$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
$GPS1,152008,6639.688,-6031.222,31,1.0,31,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-64.2
$GPS2,152515,6639.711,-6031.117,13,1.8,13,-38.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,332.9,9682,-14.7,-8.010
$D_GRID,506
$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,15,-1.20,-146.0,0.0,0.0,0,128,0.00,0.00,-109.95,0.000,2,0.000,0.000,167,2347,2776
$GC,130,-1.20,-146.0,3.5,-4.9,18,164,8.57,2.40,-14.88,0.000,4,0.274,0.087,2165,3733,3307
$GC,254,-0.87,-146.0,32.5,-15.7,39,261,0.30,2.25,0.00,0.000,6,0.180,0.046,2245,2326,3310
$GC,598,-0.87,-146.0,71.4,-11.2,100,604,0.00,2.25,0.00,0.000,4,0.000,0.058,2245,920,3314
$GC,699,-0.87,-146.0,83.5,-11.9,118,707,0.00,2.28,0.00,0.000,6,0.000,0.056,2245,2332,3315
$GC,1034,-0.92,-146.0,119.5,-10.1,162,1037,0.00,2.33,0.00,0.000,4,0.000,0.076,2245,3742,3315
$GC,1090,-1.05,-146.0,125.0,-9.8,167,1095,0.15,2.22,0.00,0.000,6,0.108,0.045,2194,2325,3315
$GC,1420,-0.96,-146.0,164.6,-11.7,198,1424,0.12,2.22,0.00,0.000,4,0.183,0.060,2226,927,3315
$GC,1530,-0.96,-146.0,176.2,-10.0,207,1537,0.00,2.30,0.00,0.000,6,0.000,0.058,2225,2336,3315
$GC,1855,-0.96,-146.0,206.5,-9.7,238,1859,0.00,2.30,0.00,0.000,4,0.000,0.076,2226,3737,3314
$GC,1934,-1.07,-146.0,214.2,-9.4,245,1937,0.00,2.20,0.00,0.000,6,0.000,0.047,2225,2331,3314
$GC,2264,-1.14,-146.0,247.6,-10.1,276,2268,0.15,2.22,0.00,0.000,4,0.114,0.060,2176,922,3313
$GC,2369,-1.02,-146.0,261.4,-12.8,285,2376,0.15,2.25,0.00,0.000,6,0.193,0.060,2213,2329,3313
$GC,2693,-1.08,-146.0,294.1,-9.4,316,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2329,3313
$GC,3012,-1.13,-146.0,322.8,-8.8,346,3017,0.10,2.25,0.00,0.000,4,0.120,0.061,2179,918,3312
$GC,3074,-1.04,-146.0,329.4,-11.4,351,3079,0.12,2.25,0.00,0.000,6,0.197,0.058,2209,2333,3312
$GC,3398,-1.10,-146.0,359.8,-9.4,381,3402,0.00,2.28,0.00,0.000,4,0.000,0.075,2209,3736,3311
$GC,3481,-1.22,-146.0,367.4,-8.5,388,3488,0.08,2.20,0.00,0.000,6,0.109,0.047,2164,2337,3311
$GC,3807,-1.14,-146.0,402.3,-10.9,419,3812,0.10,2.22,0.00,0.000,4,0.186,0.060,2187,921,3311
$GC,3892,-1.14,-146.0,411.4,-10.5,426,3896,0.00,2.25,0.00,0.000,6,0.000,0.058,2187,2338,3311
$GC,4222,-1.14,-146.0,443.6,-9.7,457,4226,0.00,2.28,0.00,0.000,4,0.000,0.074,2187,3746,3311
$GC,4299,-1.20,-146.0,451.2,-9.2,463,4306,0.00,2.22,0.00,0.000,6,0.000,0.046,2187,2327,3311
$GC,4624,-1.20,-146.0,481.6,-9.0,494,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2327,3311
$STATE,4888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4888,begin apogee
$GC,4892,-0.34,0.0,506.8,9.6,519,5021,0.57,0.00,125.00,1.297,6,0.161,0.000,2364,2585,2708
$STATE,5022,end apogee,CONTROL_FINISHED_OK
$STATE,5022,begin climb
$GC,5024,1.20,146.0,512.2,0.0,532,5162,1.10,0.00,130.18,1.205,6,0.115,0.000,2696,2585,2112
$GC,5481,0.92,146.0,479.1,8.9,575,5485,0.20,2.35,0.00,0.000,4,0.158,0.074,2639,3941,2109
$GC,5602,0.68,146.0,468.8,8.1,585,5610,0.15,2.25,0.00,0.000,6,0.158,0.044,2584,2583,2109
$GC,5927,0.85,224.1,452.4,5.0,616,5998,0.12,0.00,65.72,1.223,6,0.097,0.000,2626,2583,1793
$GC,6316,0.87,240.8,424.2,7.4,653,6338,0.00,2.42,15.23,1.141,4,0.000,0.058,2626,1165,1726
$GC,6343,0.90,264.2,422.2,7.1,655,6373,0.00,2.42,21.23,1.141,6,0.000,0.054,2626,2580,1630
$GC,6692,0.98,282.8,395.5,7.3,688,6715,0.10,2.50,16.98,1.141,4,0.104,0.058,2662,1169,1554
$GC,6720,0.98,282.8,392.8,9.0,690,6726,0.00,2.42,0.00,0.000,6,0.000,0.054,2662,2580,1554
$GC,7045,0.98,282.8,362.7,9.5,721,7049,0.00,2.35,0.00,0.000,4,0.000,0.058,2662,1165,1553
$GC,7055,0.98,282.8,361.7,9.7,722,7059,0.00,2.35,0.00,0.000,6,0.000,0.054,2662,2582,1553
$GC,7385,0.98,282.8,329.9,10.2,753,7388,0.00,2.33,0.00,0.000,4,0.000,0.058,2662,1167,1553
$GC,7406,0.98,282.8,327.7,9.5,755,7410,0.00,2.33,0.00,0.000,6,0.000,0.054,2662,2587,1553
$GC,7737,0.98,282.8,296.1,9.5,786,7740,0.00,2.30,0.00,0.000,4,0.000,0.058,2662,1171,1553
$GC,7759,0.98,282.8,294.0,9.5,788,7763,0.00,2.30,0.00,0.000,6,0.000,0.054,2663,2592,1553
$GC,8089,0.98,282.8,264.3,8.7,819,8092,0.00,2.30,0.00,0.000,4,0.000,0.058,2663,1169,1553
$GC,8133,0.98,282.8,260.7,8.2,823,8137,0.00,2.28,0.00,0.000,6,0.000,0.054,2662,2584,1553
$GC,8463,0.99,288.0,233.8,7.8,854,8475,0.00,2.30,5.78,0.943,4,0.000,0.058,2662,1166,1534
$GC,8480,0.99,290.6,232.4,7.9,855,8489,0.00,2.30,3.85,0.741,6,0.000,0.054,2662,2592,1523
$GC,8804,0.99,290.6,205.2,8.9,886,8808,0.00,2.30,0.00,0.000,4,0.000,0.058,2662,1167,1523
$GC,8815,1.04,290.6,204.3,9.2,887,8819,0.00,2.28,0.00,0.000,6,0.000,0.054,2662,2580,1523
$GC,9145,1.04,290.6,176.3,8.3,918,9149,0.00,2.28,0.00,0.000,4,0.000,0.059,2662,1163,1523
$GC,9168,1.11,290.6,174.4,8.6,920,9172,0.00,2.28,0.00,0.000,6,0.000,0.054,2662,2584,1523
$GC,9500,1.18,297.1,147.5,7.8,951,9513,0.10,0.00,7.10,0.994,6,0.106,0.000,2701,2584,1496
$GC,9829,1.13,297.1,118.5,8.8,982,9832,0.00,2.28,0.00,0.000,4,0.000,0.061,2701,1175,1495
$GC,9839,1.13,297.1,117.4,8.5,983,9843,0.00,2.28,0.00,0.000,6,0.000,0.056,2701,2590,1495
$GC,10170,1.13,297.1,87.4,9.5,1025,10176,0.00,2.30,0.00,0.000,4,0.000,0.061,2701,1160,1495
$GC,10215,1.13,297.1,83.2,9.2,1033,10222,0.00,2.28,0.00,0.000,6,0.000,0.057,2701,2579,1495
$GC,10558,1.13,297.1,52.7,8.3,1094,10564,0.00,2.25,0.00,0.000,4,0.000,0.061,2702,1176,1495
$GC,10586,1.13,297.1,50.3,8.6,1099,10594,0.00,2.25,0.00,0.000,6,0.000,0.058,2701,2583,1495
$GC,10932,1.15,314.2,23.7,7.4,1160,10951,0.00,2.33,14.75,1.070,4,0.000,0.076,2702,3943,1426
$GC,10996,1.10,314.2,18.5,8.7,1171,11004,0.12,2.17,0.00,0.000,6,0.162,0.045,2669,2570,1425
$STATE,11311,end climb,SURFACE_DEPTH_REACHED
$STATE,11311,begin surface coast
$FINISH,0.6,1.024744
$STATE,11353,end surface coast,CONTROL_FINISHED_OK
$STATE,11353,begin surface
$SM_CCo,11367,47.38,1.051,0,0,1179,375.06
$SM_GC,1.36,0.00,0.00,47.38,0.000,0.000,1.051,164,2316,1179,-10.45,-0.40,375.06
$RAFOS_CLK,635
$RAFOS,4,1220805847,16.750000,16.735277,61,59,57,53,51,51,179,161,192,208,145,225
$RAFOS,3,1220805243,16.583334,16.567499,72,65,64,55,54,51,197,166,223,206,121,179
$RAFOS,2,1220804646,16.416666,16.401667,67,62,57,54,54,53,216,204,164,123,194,233
$RAFOS,1,1220804044,16.250000,16.234444,64,63,61,58,56,54,127,198,218,208,186,170
$RAFOS,0,1220803446,16.083334,16.068333,62,55,54,53,49,49,190,213,137,150,79,127
$RAFOS_FIX,6743.925781,-5845.242676,070908,161619,5,65,39.59
$IRIDIUM_FIX,6609.62,-6031.45,021297,121230
$TT8_MAMPS,0.027612
$HUMID,1910
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,21.7,10.766
$10V_AH,10.6,3.062
$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,19.500,110.725,405.800,47.375,0.000,27.873,39.020,139.964,0.000,0.000,0.000,15.112,2196.740,6663.088,608.737,1969.528,353.191,0.000,1636.875,0.000,1961.036,1800.000,0.528,0.000
$DEVICE_MAMPS,273.819,87.438,1296.997,1050.790,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,968.388,841.066,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44092,1234
$CAP_FILE_SIZE,118057,0
$CFSIZE,260165632,250712064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$CURRENT,0.144,341.9,1
$GPS,070908,183808,6641.220,-6035.268,29,1.2,29,-38.0