version: 66.04
glider: 113
mission: 4
dive: 488
start: 12 29 108 4 2 19
data:
$ID,113
$MISSION,4
$DIVE,488
$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,-103150.63
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,201850,6635.077,-6021.769,0,3084.7,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-47.1
$GPS2,201850,6635.077,-6021.769,0,3084.7,0,-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,-0.171,0.145
$KALMAN_X,92161.7,2854.1,-1884.4,-156741.9,18024.5
$KALMAN_Y,-85168.8,-2637.6,1741.4,-9743.2,-16656.9
$MHEAD_RNG_PITCHd_Wd,348.1,20157,-12.9,-7.021
$D_GRID,500
$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,-146.0,0.0,0.0,0,155,0.00,0.00,-135.62,0.000,2,0.000,0.000,167,2340,2322
$GC,159,-1.08,-146.0,3.2,-4.1,24,201,8.65,2.53,-27.17,0.000,4,0.260,0.087,2199,3755,3018
$GC,271,-0.84,-146.0,19.1,-15.4,43,278,0.20,2.30,0.00,0.000,6,0.166,0.044,2253,2338,3021
$GC,618,-0.69,-146.0,63.4,-12.8,104,625,0.12,2.40,0.00,0.000,4,0.183,0.061,2285,924,3022
$GC,781,-0.63,-146.0,80.7,-10.7,132,788,0.00,2.40,0.00,0.000,6,0.000,0.054,2285,2349,3022
$GC,1113,-0.63,-146.0,113.9,-9.7,172,1118,0.00,2.45,0.00,0.000,4,0.000,0.073,2285,3754,3022
$GC,1217,-0.69,-146.0,123.2,-9.0,176,1221,0.00,2.33,0.00,0.000,6,0.000,0.043,2285,2331,3023
$GC,1539,-0.69,-146.0,155.3,-9.8,192,1542,0.00,2.35,0.00,0.000,4,0.000,0.059,2285,932,3022
$GC,1663,-0.69,-146.0,167.7,-10.2,197,1667,0.00,2.40,0.00,0.000,6,0.000,0.056,2285,2345,3022
$GC,1980,-0.74,-146.0,193.4,-7.2,212,1984,0.00,2.47,0.00,0.000,4,0.000,0.074,2285,3745,3022
$GC,2071,-0.86,-146.0,200.5,-8.2,216,2076,0.15,2.30,0.00,0.000,6,0.084,0.044,2233,2342,3023
$GC,2392,-0.76,-146.0,234.4,-10.3,232,2397,0.15,2.40,0.00,0.000,4,0.165,0.058,2272,932,3023
$GC,2508,-0.76,-146.0,245.7,-9.8,237,2513,0.00,2.40,0.00,0.000,6,0.000,0.055,2272,2345,3022
$GC,2831,-0.84,-146.0,273.0,-7.5,253,2835,0.00,2.47,0.00,0.000,4,0.000,0.072,2272,3750,3023
$GC,2922,-0.96,-146.0,279.5,-6.6,257,2927,0.17,2.33,0.00,0.000,6,0.086,0.041,2215,2328,3023
$GC,3244,-0.85,-146.0,309.5,-9.6,273,3246,0.15,0.00,0.00,0.000,6,0.160,0.000,2254,2328,3023
$GC,3554,-0.85,-146.0,332.8,-7.3,288,3558,0.00,2.53,0.00,0.000,4,0.000,0.071,2254,3746,3023
$GC,3695,-0.95,-146.0,344.0,-7.8,294,3699,0.10,2.33,0.00,0.000,6,0.104,0.043,2221,2332,3023
$GC,4022,-0.90,-146.0,374.6,-8.6,310,4026,0.00,2.35,0.00,0.000,4,0.000,0.058,2221,939,3023
$GC,4085,-0.81,-146.0,380.6,-9.5,312,4092,0.15,2.40,0.00,0.000,6,0.163,0.055,2257,2351,3023
$GC,4421,-0.89,-146.0,407.0,-7.9,327,4425,0.00,2.45,0.00,0.000,4,0.000,0.072,2257,3745,3023
$GC,4579,-1.03,-146.0,419.4,-7.2,330,4584,0.17,2.30,0.00,0.000,6,0.084,0.042,2198,2341,3023
$GC,4922,-0.93,-146.0,450.2,-8.8,339,4927,0.15,2.40,0.00,0.000,4,0.156,0.055,2239,930,3023
$GC,5046,-0.93,-146.0,460.1,-8.0,341,5050,0.00,2.40,0.00,0.000,6,0.000,0.054,2239,2341,3023
$GC,5385,-1.32,-146.0,475.1,-1.1,350,5390,0.28,2.50,0.00,0.000,4,0.076,0.069,2136,3753,3024
$STATE,5512,end dive,NO_VERTICAL_VELOCITY
$STATE,5512,begin apogee
$GC,5526,-0.34,0.0,475.1,0.0,353,5660,0.73,0.00,130.88,1.192,6,0.105,0.000,2365,2513,2420
$STATE,5660,end apogee,CONTROL_FINISHED_OK
$STATE,5660,begin climb
$GC,5664,1.08,146.0,475.1,0.0,356,5811,1.08,2.67,137.18,1.104,4,0.105,0.053,2667,1113,1824
$GC,5848,1.00,146.0,465.6,7.4,360,5853,0.00,2.65,0.00,0.000,6,0.000,0.050,2666,2526,1824
$GC,6198,0.88,146.0,439.7,7.2,369,6203,0.17,2.58,0.00,0.000,4,0.138,0.067,2622,3929,1825
$GC,6209,0.77,146.0,438.7,7.2,369,6214,0.00,2.45,0.00,0.000,6,0.000,0.039,2622,2513,1825
$GC,6523,0.81,173.3,419.6,6.1,377,6550,0.00,0.00,25.12,1.094,6,0.000,0.000,2622,2513,1714
$GC,6849,0.93,217.7,401.4,5.5,385,6892,0.00,0.00,40.72,1.099,6,0.000,0.000,2622,2513,1532
$GC,7198,1.07,238.1,379.7,6.3,401,7220,0.17,0.00,19.40,1.051,6,0.070,0.000,2688,2512,1449
$GC,7528,0.99,238.1,353.4,7.6,417,7533,0.15,2.62,0.00,0.000,4,0.129,0.066,2649,3938,1451
$GC,7540,0.93,238.1,352.3,7.9,417,7546,0.00,2.42,0.00,0.000,6,0.000,0.040,2649,2522,1451
$GC,7857,1.00,248.0,330.8,6.7,433,7872,0.00,2.53,10.27,0.993,4,0.000,0.068,2649,3930,1409
$GC,7924,1.00,248.0,325.9,7.1,435,7928,0.00,2.40,0.00,0.000,6,0.000,0.041,2649,2511,1411
$GC,8251,1.13,292.1,307.0,5.5,451,8296,0.12,2.67,38.53,1.080,4,0.077,0.067,2703,3934,1229
$GC,8303,1.06,292.1,303.2,7.7,453,8308,0.15,2.45,0.00,0.000,6,0.138,0.041,2666,2522,1228
$GC,8625,1.13,292.1,281.0,7.5,469,8629,0.00,2.40,0.00,0.000,4,0.000,0.054,2666,1106,1227
$GC,8637,1.21,292.1,280.0,7.5,469,8642,0.12,2.40,0.00,0.000,6,0.079,0.049,2715,2528,1228
$GC,8954,1.16,292.1,252.4,9.1,484,8956,0.12,0.00,0.00,0.000,6,0.130,0.000,2681,2528,1228
$GC,9263,1.23,292.1,228.7,7.6,499,9268,0.08,2.42,0.00,0.000,4,0.100,0.069,2717,3937,1228
$GC,9274,1.23,292.1,227.8,7.4,499,9280,0.00,2.30,0.00,0.000,6,0.000,0.041,2718,2514,1228
$GC,9590,1.23,292.1,204.5,7.4,515,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2514,1228
$GC,9899,1.23,292.1,179.8,8.1,530,9903,0.00,2.47,0.00,0.000,4,0.000,0.070,2717,3937,1228
$GC,9929,1.14,292.1,177.4,8.6,531,9933,0.15,2.30,0.00,0.000,6,0.139,0.042,2677,2509,1228
$GC,10251,1.29,292.1,155.3,7.3,547,10255,0.15,2.30,0.00,0.000,4,0.079,0.054,2734,1115,1227
$GC,10274,1.44,292.1,153.3,8.4,548,10279,0.00,2.35,0.00,0.000,6,0.000,0.053,2734,2529,1227
$GC,10608,1.52,292.1,125.7,7.8,564,10613,0.12,2.42,0.00,0.000,4,0.081,0.071,2787,3936,1227
$GC,10666,1.17,292.1,120.1,10.6,566,10671,0.35,2.30,0.00,0.000,6,0.140,0.043,2688,2515,1227
$GC,10983,1.29,303.3,100.4,6.6,581,10998,0.10,2.28,10.07,0.973,4,0.092,0.057,2732,1112,1183
$GC,11006,1.34,303.3,98.7,7.1,582,11013,0.00,2.35,0.00,0.000,6,0.000,0.053,2732,2531,1183
$GC,11352,1.37,324.4,73.6,6.3,643,11375,0.00,0.00,18.98,1.013,6,0.000,0.000,2732,2530,1097
$GC,11715,1.37,324.4,49.1,7.6,707,11721,0.00,2.38,0.00,0.000,4,0.000,0.057,2732,1104,1096
$GC,11729,1.37,324.4,48.0,7.7,709,11735,0.00,2.35,0.00,0.000,6,0.000,0.053,2732,2526,1096
$GC,12074,1.44,372.6,22.9,5.4,770,12121,0.00,0.00,41.75,1.002,6,0.000,0.000,2732,2527,901
$STATE,12361,end climb,SURFACE_DEPTH_REACHED
$STATE,12361,begin surface coast
$FINISH,0.8,1.024090
$STATE,12391,end surface coast,CONTROL_FINISHED_OK
$STATE,12391,begin surface
$SM_CCo,12412,172.50,0.903,1,0,145,558.30
$SM_GC,1.09,0.00,0.00,172.50,0.000,0.000,0.903,155,2332,145,-10.49,-0.23,558.30
$RAFOS_CLK,830
$RAFOS,4,1230525841,4.750000,4.733611,63,58,57,56,55,54,191,149,122,210,159,227
$RAFOS,3,1230525253,4.583333,4.570278,65,57,56,55,54,51,225,200,163,190,178,122
$RAFOS,2,1230524647,4.416667,4.401945,65,53,53,51,51,51,174,128,219,200,146,817
$RAFOS,1,1230524041,4.250000,4.233611,68,59,54,52,50,50,208,814,166,178,144,155
$RAFOS,0,1230523445,4.083333,4.068056,136,60,58,53,51,51,628,221,202,174,193,152
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.027612
$HUMID,1900
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,20.4,90.782
$10V_AH,10.4,41.672
$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,21.825,115.975,472.900,172.500,0.000,168.355,144.673,0.000,0.000,0.000,0.000,906.516,1497.270,8758.463,797.320,2500.829,648.457,33.360,1687.065,0.000,1585.186,1800.000,0.528,0.000
$DEVICE_MAMPS,260.013,87.438,1191.918,902.759,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.217,560.339,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28376,826
$CAP_FILE_SIZE,112124,0
$CFSIZE,260165632,214286336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1443.7
$GPS,291208,073358,6633.905,-6039.289,29,5.1,48,-37.9