version: 66.04
glider: 113
mission: 4
dive: 31
start: 9 9 108 5 44 4
data:
$ID,113
$MISSION,4
$DIVE,31
$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,-22639.148
$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,31
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2610
$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
$GPS1,053838,6642.612,-6025.529,30,0.8,30,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.2
$GPS2,054339,6642.583,-6025.433,11,1.1,11,-38.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$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,65.5,22993,-14.7,-8.010
$D_GRID,524
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-120.38,0.000,2,0.000,0.000,166,2327,2891
$GC,140,-1.20,-146.0,3.8,-5.3,19,166,8.52,2.45,-8.32,0.000,4,0.269,0.084,2173,3742,3210
$GC,323,-0.98,-146.0,45.8,-14.2,51,331,0.17,2.28,0.00,0.000,6,0.177,0.045,2219,2320,3215
$GC,668,-0.88,-146.0,86.7,-11.6,112,675,0.10,2.38,0.00,0.000,4,0.189,0.070,2243,3743,3217
$GC,731,-0.93,-146.0,93.4,-10.2,123,739,0.00,2.25,0.00,0.000,6,0.000,0.044,2244,2319,3217
$GC,1067,-0.93,-146.0,125.0,-9.0,160,1071,0.00,2.22,0.00,0.000,4,0.000,0.059,2244,918,3218
$GC,1123,-0.93,-146.0,130.5,-10.4,165,1127,0.00,2.28,0.00,0.000,6,0.000,0.054,2244,2341,3218
$GC,1453,-1.00,-146.0,159.0,-8.7,196,1457,0.10,2.28,0.00,0.000,4,0.120,0.070,2209,3739,3217
$GC,1513,-1.00,-146.0,165.3,-10.1,201,1521,0.00,2.25,0.00,0.000,6,0.000,0.044,2209,2321,3217
$GC,1839,-1.00,-146.0,195.6,-8.8,232,1843,0.00,2.22,0.00,0.000,4,0.000,0.061,2209,916,3216
$GC,1888,-0.93,-146.0,200.4,-9.5,236,1895,0.08,2.28,0.00,0.000,6,0.192,0.056,2231,2322,3216
$GC,2212,-1.00,-146.0,226.5,-8.1,267,2216,0.00,2.30,0.00,0.000,4,0.000,0.074,2231,3737,3216
$GC,2257,-1.11,-146.0,230.1,-8.2,271,2262,0.15,2.20,0.00,0.000,6,0.109,0.045,2181,2325,3216
$GC,2587,-1.01,-146.0,263.9,-10.5,302,2591,0.15,2.22,0.00,0.000,4,0.178,0.061,2218,919,3215
$GC,2702,-1.01,-146.0,275.0,-9.8,312,2709,0.00,2.28,0.00,0.000,6,0.000,0.057,2218,2331,3215
$GC,3028,-1.08,-146.0,303.8,-8.7,343,3032,0.00,2.30,0.00,0.000,4,0.000,0.077,2218,3736,3215
$GC,3111,-1.19,-146.0,311.3,-8.6,350,3119,0.15,2.20,0.00,0.000,6,0.113,0.045,2169,2320,3214
$GC,3436,-1.09,-146.0,345.2,-10.3,381,3441,0.12,2.35,0.00,0.000,4,0.179,0.076,2199,3744,3214
$GC,3475,-1.13,-146.0,348.9,-9.2,384,3479,0.00,2.20,0.00,0.000,6,0.000,0.045,2199,2326,3214
$GC,3805,-1.13,-146.0,377.4,-8.5,415,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2326,3214
$GC,4123,-1.13,-146.0,404.2,-8.2,445,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2326,3214
$GC,4443,-1.13,-146.0,429.9,-7.9,475,4447,0.00,2.33,0.00,0.000,4,0.000,0.077,2199,3740,3214
$GC,4504,-1.22,-146.0,434.9,-7.6,480,4511,0.12,2.17,0.00,0.000,6,0.109,0.044,2158,2329,3213
$GC,4829,-1.11,-146.0,466.5,-10.4,511,4834,0.15,2.33,0.00,0.000,4,0.185,0.075,2196,3744,3214
$GC,4879,-1.18,-146.0,471.0,-8.7,515,4883,0.00,2.20,0.00,0.000,6,0.000,0.044,2196,2319,3214
$GC,5209,-1.18,-146.0,499.3,-8.5,546,5213,0.00,2.33,0.00,0.000,4,0.000,0.074,2196,3739,3214
$GC,5247,-1.26,-146.0,502.5,-8.8,549,5254,0.10,2.20,0.00,0.000,6,0.099,0.044,2154,2331,3214
$STATE,5463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5464,begin apogee
$GC,5468,-0.34,0.0,525.0,10.0,570,5598,0.70,0.00,125.35,1.315,6,0.178,0.000,2361,2589,2610
$STATE,5598,end apogee,CONTROL_FINISHED_OK
$STATE,5599,begin climb
$GC,5600,1.20,146.0,528.7,0.0,583,5738,1.12,0.00,130.62,1.213,6,0.122,0.000,2693,2589,2014
$GC,6055,0.94,146.0,488.7,10.1,627,6060,0.20,2.35,0.00,0.000,4,0.153,0.074,2637,3943,2011
$GC,6172,0.74,146.0,478.1,9.1,637,6177,0.15,2.22,0.00,0.000,6,0.165,0.043,2598,2578,2011
$GC,6501,0.85,197.0,457.9,6.1,668,6552,0.10,2.53,42.75,1.230,4,0.100,0.073,2635,3943,1806
$GC,6573,0.75,197.0,452.0,9.5,674,6581,0.12,2.30,0.00,0.000,6,0.154,0.042,2599,2581,1805
$GC,6898,0.91,230.2,430.3,6.7,705,6934,0.12,2.45,28.60,1.200,4,0.094,0.074,2643,3944,1670
$GC,6950,0.83,230.2,425.8,8.9,709,6958,0.10,2.30,0.00,0.000,6,0.157,0.042,2617,2583,1670
$GC,7278,0.94,242.4,401.3,7.5,740,7296,0.10,0.00,11.20,1.113,6,0.103,0.000,2652,2583,1621
$GC,7612,0.94,242.4,370.4,9.1,772,7616,0.00,2.30,0.00,0.000,4,0.000,0.058,2653,1166,1621
$GC,7646,0.94,242.4,367.4,9.4,775,7650,0.00,2.33,0.00,0.000,6,0.000,0.054,2653,2583,1621
$GC,7977,0.94,242.4,337.0,9.1,806,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2583,1621
$GC,8294,0.94,242.4,307.3,9.3,836,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2583,1621
$GC,8612,0.94,242.4,277.2,9.7,866,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2583,1620
$GC,8931,0.94,242.4,247.4,9.3,896,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2583,1621
$GC,9250,0.94,244.0,221.6,7.9,926,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2583,1621
$GC,9569,0.95,251.5,196.9,7.7,956,9584,0.00,2.28,8.80,1.045,4,0.000,0.075,2653,3937,1584
$GC,9613,0.90,251.5,193.2,8.7,960,9617,0.00,2.15,0.00,0.000,6,0.000,0.044,2653,2565,1585
$GC,9944,0.99,268.6,168.6,7.4,991,9963,0.00,0.00,15.15,1.101,6,0.000,0.000,2653,2564,1515
$GC,10282,1.11,280.5,144.2,7.6,1023,10295,0.10,0.00,11.02,1.054,6,0.106,0.000,2690,2564,1466
$GC,10609,1.11,280.5,117.1,8.1,1054,10612,0.00,2.33,0.00,0.000,4,0.000,0.076,2690,3947,1464
$GC,10653,1.00,280.5,113.1,9.4,1058,10658,0.15,2.17,0.00,0.000,6,0.160,0.045,2651,2572,1464
$GC,10984,1.21,326.0,93.2,6.3,1098,11027,0.17,0.00,37.55,1.103,6,0.092,0.000,2713,2572,1280
$GC,11364,1.21,326.0,57.5,9.3,1165,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2572,1276
$GC,11707,1.30,326.0,26.4,8.5,1226,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2572,1274
$GC,12051,1.55,397.6,5.1,5.3,1287,12096,0.20,0.00,41.38,1.058,2,0.091,0.000,2790,2572,1072
$STATE,12096,end climb,SURFACE_DEPTH_REACHED
$STATE,12096,begin surface coast
$FINISH,0.6,1.024712
$STATE,12118,end surface coast,CONTROL_FINISHED_OK
$STATE,12118,begin surface
$SM_CCo,12193,0.00,0.000,0,0,1064,378.99
$SM_GC,1.30,7.88,0.00,0.00,0.092,0.000,0.000,167,2328,1064,-10.38,-0.03,378.99
$RAFOS_CLK,677
$RAFOS,4,1220949844,8.750000,8.734445,59,56,56,51,51,50,211,181,122,134,168,156
$RAFOS,3,1220949249,8.583333,8.569167,64,58,53,50,48,48,175,195,219,134,151,1099
$RAFOS,2,1220948644,8.416667,8.401111,62,61,59,57,54,51,200,166,187,147,211,126
$RAFOS,1,1220948048,8.250000,8.235556,59,58,52,49,49,48,208,218,131,147,160,114
$RAFOS,0,1220947443,8.083333,8.067500,68,65,58,56,51,44,212,195,178,168,143,129
$RAFOS_FIX,6734.043945,-5828.007812,090908,080837,3,65,13.42
$IRIDIUM_FIX,6614.97,-6033.50,041297,020210
$TT8_MAMPS,0.027612
$HUMID,1927
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,21.7,12.773
$10V_AH,10.6,3.860
$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,21.150,82.975,452.425,0.000,0.000,27.557,32.964,139.969,0.000,0.000,0.000,12.702,2273.122,7297.191,588.206,2045.302,332.725,0.000,1639.404,0.000,2029.906,1800.000,0.528,0.000
$DEVICE_MAMPS,269.217,83.603,1314.638,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.934,885.978,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47198,1298
$CAP_FILE_SIZE,119025,0
$CFSIZE,260165632,249958400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$CURRENT,0.053,201.9,1
$GPS,090908,090908,6643.721,-6023.871,31,1.0,31,-38.1