version: 66.04
glider: 113
mission: 4
dive: 486
start: 12 28 108 19 28 54
data:
$ID,113
$MISSION,4
$DIVE,486
$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,-99525.047
$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,31
$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
$GPS1,161954,6636.186,-6017.841,0,3093.0,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-42.4
$GPS2,161954,6636.186,-6017.841,0,3093.0,0,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.163,0.155
$KALMAN_X,79281.4,-5291.2,6762.1,-151960.6,-3115.2
$KALMAN_Y,-73265.8,4889.7,-6249.0,-14074.6,2878.8
$MHEAD_RNG_PITCHd_Wd,351.3,21345,-12.9,-7.021
$D_GRID,510
$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,-146.0,0.0,0.0,0,159,0.00,0.00,-139.88,0.000,2,0.000,0.000,160,2330,2357
$GC,163,-1.08,-146.0,3.3,-0.8,25,205,8.98,2.53,-24.52,0.000,4,0.273,0.087,2200,3742,3018
$GC,259,-0.85,-146.0,17.6,-15.2,41,266,0.20,2.28,0.00,0.000,6,0.166,0.044,2253,2342,3020
$GC,605,-0.72,-146.0,62.4,-13.6,102,612,0.10,2.38,0.00,0.000,4,0.189,0.058,2279,933,3021
$GC,710,-0.65,-146.0,74.7,-11.8,120,716,0.00,2.38,0.00,0.000,6,0.000,0.057,2279,2340,3021
$GC,1052,-0.65,-146.0,110.8,-10.5,167,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2340,3021
$GC,1361,-0.65,-146.0,149.2,-11.8,182,1365,0.00,2.40,0.00,0.000,4,0.000,0.059,2278,930,3021
$GC,1440,-0.65,-146.0,158.0,-9.9,185,1444,0.00,2.38,0.00,0.000,6,0.000,0.055,2279,2341,3022
$GC,1762,-0.65,-146.0,187.9,-10.0,201,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2341,3021
$GC,2071,-0.71,-146.0,213.9,-8.2,216,2075,0.00,2.47,0.00,0.000,4,0.000,0.073,2279,3745,3021
$GC,2143,-0.82,-146.0,220.3,-9.0,219,2148,0.00,2.33,0.00,0.000,6,0.000,0.044,2279,2328,3021
$GC,2461,-0.91,-146.0,242.9,-5.9,234,2466,0.15,2.38,0.00,0.000,4,0.097,0.058,2227,930,3021
$GC,2569,-0.79,-146.0,251.5,-8.6,239,2574,0.15,2.40,0.00,0.000,6,0.169,0.055,2262,2347,3021
$GC,2897,-0.84,-146.0,274.9,-7.6,255,2901,0.00,2.47,0.00,0.000,4,0.000,0.074,2262,3752,3021
$GC,3039,-0.93,-146.0,286.5,-8.2,261,3043,0.12,2.33,0.00,0.000,6,0.106,0.042,2220,2328,3021
$GC,3356,-0.85,-146.0,313.6,-8.2,276,3358,0.12,0.00,0.00,0.000,6,0.169,0.000,2252,2328,3022
$GC,3664,-0.90,-146.0,335.6,-7.3,291,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2328,3022
$GC,3974,-0.95,-146.0,360.6,-8.9,306,3979,0.10,2.38,0.00,0.000,4,0.114,0.057,2218,929,3021
$GC,4060,-0.85,-146.0,369.7,-11.1,310,4065,0.15,2.40,0.00,0.000,6,0.161,0.054,2254,2344,3021
$GC,4388,-0.92,-146.0,399.0,-9.0,326,4392,0.00,2.45,0.00,0.000,4,0.000,0.071,2254,3752,3021
$GC,4548,-1.05,-146.0,412.7,-8.1,330,4553,0.17,2.33,0.00,0.000,6,0.086,0.041,2196,2325,3021
$GC,4886,-0.94,-146.0,439.1,-7.3,339,4888,0.15,0.00,0.00,0.000,6,0.156,0.000,2235,2325,3021
$GC,5211,-0.94,-146.0,459.0,-6.2,347,5215,0.00,2.53,0.00,0.000,4,0.000,0.069,2236,3749,3022
$GC,5329,-1.04,-146.0,466.7,-5.6,349,5334,0.10,2.30,0.00,0.000,6,0.109,0.042,2203,2341,3022
$GC,5668,-0.95,-146.0,494.1,-8.8,358,5672,0.10,2.50,0.00,0.000,4,0.125,0.068,2234,3757,3023
$STATE,5818,end dive,NO_VERTICAL_VELOCITY
$STATE,5819,begin apogee
$GC,5829,-0.34,0.0,494.6,0.0,361,5963,0.38,0.00,131.73,1.197,6,0.102,0.000,2363,2503,2420
$STATE,5964,end apogee,CONTROL_FINISHED_OK
$STATE,5964,begin climb
$GC,5968,1.08,146.0,494.6,0.0,364,6160,1.10,2.67,150.38,1.042,4,0.113,0.054,2664,1114,1824
$GC,6413,1.01,146.0,467.2,7.4,374,6418,0.00,2.53,0.00,0.000,6,0.000,0.051,2664,2518,1824
$GC,6727,0.89,159.5,444.6,6.6,382,6743,0.15,0.00,13.23,1.042,6,0.140,0.000,2626,2518,1769
$GC,7051,1.02,256.0,432.0,3.7,390,7147,0.12,2.83,87.47,1.109,4,0.085,0.066,2672,3938,1375
$GC,7155,0.96,256.0,425.1,8.2,392,7160,0.12,2.60,0.00,0.000,6,0.146,0.038,2646,2524,1375
$GC,7498,1.03,256.0,400.4,7.4,401,7503,0.00,2.50,0.00,0.000,4,0.000,0.054,2646,1110,1374
$GC,7516,1.12,256.0,399.2,7.5,401,7521,0.12,2.50,0.00,0.000,6,0.079,0.048,2690,2532,1374
$GC,7849,1.04,256.0,370.3,8.6,417,7854,0.12,2.47,0.00,0.000,4,0.134,0.052,2657,1109,1374
$GC,7867,1.04,256.0,368.8,8.5,418,7871,0.00,2.42,0.00,0.000,6,0.000,0.048,2657,2525,1374
$GC,8195,1.08,256.0,346.1,7.0,434,8199,0.00,2.40,0.00,0.000,4,0.000,0.053,2657,1104,1374
$GC,8218,1.17,261.8,344.4,6.8,435,8229,0.12,2.38,6.05,0.881,6,0.078,0.050,2704,2525,1352
$GC,8540,1.07,261.8,314.5,9.0,450,8545,0.15,2.38,0.00,0.000,4,0.132,0.054,2661,1107,1354
$GC,8574,1.15,262.8,311.8,7.0,451,8581,0.10,2.35,0.00,0.000,6,0.088,0.050,2702,2533,1354
$GC,8890,1.06,262.8,284.6,8.7,467,8895,0.15,2.38,0.00,0.000,4,0.132,0.053,2660,1105,1354
$GC,8904,1.00,262.8,283.6,8.9,467,8910,0.00,2.33,0.00,0.000,6,0.000,0.049,2660,2525,1354
$GC,9221,1.14,317.8,265.7,5.1,483,9271,0.10,0.00,47.62,1.078,6,0.084,0.000,2706,2525,1125
$GC,9569,1.14,317.8,235.1,10.0,500,9573,0.00,2.35,0.00,0.000,4,0.000,0.054,2706,1096,1121
$GC,9604,1.14,317.8,231.7,9.8,501,9608,0.00,2.33,0.00,0.000,6,0.000,0.051,2705,2520,1121
$GC,9920,1.14,317.8,202.9,9.2,516,9924,0.00,2.33,0.00,0.000,4,0.000,0.055,2706,1108,1120
$GC,9931,1.14,317.8,201.9,9.1,516,9937,0.00,2.30,0.00,0.000,6,0.000,0.050,2706,2523,1120
$GC,10247,1.14,317.8,173.2,8.7,532,10251,0.00,2.35,0.00,0.000,4,0.000,0.054,2705,1102,1119
$GC,10276,1.22,317.8,170.9,7.9,533,10280,0.00,2.33,0.00,0.000,6,0.000,0.051,2706,2520,1119
$GC,10598,1.30,337.5,147.8,6.3,549,10620,0.00,2.40,16.50,1.019,4,0.000,0.055,2706,1105,1043
$GC,10646,1.46,371.0,145.0,5.9,551,10682,0.15,2.35,30.23,1.016,6,0.077,0.051,2762,2529,907
$GC,10996,1.39,371.0,117.6,8.2,567,11000,0.10,2.35,0.00,0.000,4,0.147,0.055,2736,1096,901
$GC,11064,1.48,371.0,112.7,7.5,570,11068,0.00,2.35,0.00,0.000,6,0.000,0.054,2736,2529,900
$GC,11393,1.53,371.0,86.3,7.2,606,11400,0.12,2.35,0.00,0.000,4,0.077,0.054,2788,1110,899
$GC,11407,1.53,371.0,85.2,7.6,608,11413,0.00,2.33,0.00,0.000,6,0.000,0.052,2788,2528,899
$GC,11753,1.42,371.0,50.1,10.0,669,11760,0.17,2.38,0.00,0.000,4,0.137,0.055,2738,1110,899
$GC,11802,1.49,371.0,46.4,7.4,677,11808,0.00,2.33,0.00,0.000,6,0.000,0.052,2737,2520,898
$GC,12148,1.55,371.0,19.6,7.8,738,12155,0.12,2.38,0.00,0.000,4,0.077,0.058,2789,1110,898
$GC,12173,1.55,371.0,17.3,8.0,742,12180,0.00,2.35,0.00,0.000,6,0.000,0.054,2789,2525,897
$STATE,12324,end climb,SURFACE_DEPTH_REACHED
$STATE,12324,begin surface coast
$FINISH,1.9,1.025942
$STATE,12342,end surface coast,CONTROL_FINISHED_OK
$STATE,12342,begin surface
$SM_CCo,12363,175.02,0.915,1,0,145,558.30
$SM_GC,2.51,0.00,0.00,175.02,0.000,0.000,0.915,164,2336,145,-10.45,-0.11,558.30
$RAFOS_CLK,817
$RAFOS,4,1230497043,20.750000,20.734167,60,58,54,53,51,51,209,195,167,132,117,231
$RAFOS,3,1230496442,20.583334,20.567223,99,67,58,57,54,54,772,219,183,135,157,203
$RAFOS,2,1230495844,20.416666,20.401112,56,56,55,54,53,52,179,233,160,146,126,200
$RAFOS,1,1230495241,20.250000,20.233612,82,71,65,58,57,52,794,222,180,208,190,165
$RAFOS,0,1230494641,20.083334,20.066944,73,67,55,51,50,50,642,184,217,114,135,194
$RAFOS_FIX,6635.076660,-6021.768555,281208,202050,3,85,0.25
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.027612
$HUMID,1896
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,20.3,90.375
$10V_AH,10.4,41.456
$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,21.600,120.175,483.200,175.025,0.000,168.389,144.524,0.000,0.250,0.000,0.000,906.578,1410.298,8791.827,822.004,2479.782,651.061,33.366,1719.190,0.000,1557.599,1800.000,0.529,0.000
$DEVICE_MAMPS,273.052,86.671,1197.287,915.031,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.258,524.607,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28381,772
$CAP_FILE_SIZE,112485,0
$CFSIZE,260165632,214441984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$SOUNDSPEED,1444.6
$GPS,281208,201850,6635.077,-6021.769,0,3084.7,0,-37.7