version: 66.04
glider: 113
mission: 4
dive: 491
start: 12 29 108 17 49 7
data:
$ID,113
$MISSION,4
$DIVE,491
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,1
$ICE_FREEZE_MARGIN,0.1
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-103253.52
$T_RSLEEP,60
$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,18
$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,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,173907,6631.446,-6040.798,36,2.0,42,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-10.4
$GPS2,174845,6631.251,-6040.947,12,2.0,12,-37.8
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,108.5,178201,-12.9,-7.021
$D_GRID,437
$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,17,-1.08,-146.0,0.0,0.0,0,159,0.00,0.00,-136.98,0.000,6,0.000,0.000,156,2330,3016
$GC,163,-1.08,-146.0,0.8,-0.8,25,177,7.40,2.55,0.00,0.000,4,0.130,0.058,2197,946,3018
$GC,432,-1.19,-146.0,0.8,0.4,72,439,0.00,2.55,0.00,0.000,6,0.000,0.051,2197,2352,3018
$GC,779,-1.31,-146.0,0.9,0.1,133,786,0.17,2.55,0.00,0.000,4,0.087,0.056,2143,944,3019
$GC,1041,-1.42,-146.0,0.9,-0.0,179,1048,0.00,2.47,0.00,0.000,6,0.000,0.052,2143,2351,3019
$GC,1388,-1.53,-146.0,0.8,-0.1,240,1394,0.15,2.47,0.00,0.000,4,0.099,0.057,2094,944,3019
$GC,1650,-1.64,-146.0,0.9,-0.2,286,1656,0.00,2.40,0.00,0.000,6,0.000,0.054,2094,2342,3019
$GC,1997,-1.75,-146.0,0.9,-0.0,347,2004,0.15,2.42,0.00,0.000,4,0.094,0.058,2041,943,3019
$GC,2259,-1.87,-146.0,0.9,0.0,393,2266,0.00,2.38,0.00,0.000,6,0.000,0.053,2042,2345,3019
$GC,2606,-1.98,-146.0,0.8,-0.1,454,2613,0.12,2.40,0.00,0.000,4,0.097,0.057,1997,944,3019
$GC,2869,-2.09,-146.0,0.8,0.0,500,2875,0.00,2.38,0.00,0.000,6,0.000,0.053,1996,2353,3018
$GC,3215,-2.20,-146.0,0.9,0.1,561,3222,0.15,2.42,0.00,0.000,4,0.097,0.057,1944,938,3019
$GC,3479,-2.31,-146.0,0.8,0.0,607,3485,0.00,2.38,0.00,0.000,6,0.000,0.054,1944,2345,3019
$GC,3825,-2.43,-146.0,0.8,0.1,668,3832,0.12,2.40,0.00,0.000,4,0.096,0.056,1898,939,3019
$GC,4087,-2.54,-146.0,0.8,0.3,714,4094,0.00,2.38,0.00,0.000,6,0.000,0.054,1898,2346,3019
$GC,4434,-2.65,-146.0,0.9,0.0,775,4440,0.15,2.40,0.00,0.000,4,0.101,0.056,1845,944,3018
$GC,4698,-2.76,-146.0,0.9,-0.1,821,4704,0.00,2.35,0.00,0.000,6,0.000,0.053,1845,2340,3019
$GC,5044,-2.88,-146.0,0.8,0.1,882,5051,0.12,2.40,0.00,0.000,4,0.100,0.057,1799,939,3019
$GC,5308,-2.99,-146.0,0.8,0.1,928,5314,0.00,2.38,0.00,0.000,6,0.000,0.054,1799,2347,3019
$GC,5654,-3.11,-146.0,0.8,0.0,989,5661,0.15,2.42,0.00,0.000,4,0.102,0.056,1745,932,3019
$GC,5916,-3.22,-146.0,0.8,0.2,1035,5922,0.00,2.40,0.00,0.000,6,0.000,0.054,1745,2352,3019
$GC,6262,-3.33,-146.0,0.8,0.1,1096,6269,0.12,2.42,0.00,0.000,4,0.105,0.058,1701,943,3019
$GC,6525,-3.44,-146.0,0.8,0.1,1142,6531,0.00,2.38,0.00,0.000,6,0.000,0.054,1701,2343,3019
$GC,6872,-3.55,-146.0,0.9,-0.6,1203,6878,0.12,2.42,0.00,0.000,4,0.102,0.058,1655,939,3019
$GC,7134,-3.55,-146.0,0.8,0.8,1249,7140,0.00,2.38,0.00,0.000,6,0.000,0.054,1655,2341,3019
$GC,7481,-3.55,-146.0,0.9,0.1,1310,7487,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,936,3018
$GC,7742,-3.55,-146.0,0.8,-0.2,1356,7748,0.00,2.38,0.00,0.000,6,0.000,0.053,1655,2340,3018
$GC,8088,-3.55,-146.0,0.8,0.0,1417,8094,0.00,2.40,0.00,0.000,4,0.000,0.059,1655,937,3019
$GC,8350,-3.55,-146.0,0.8,0.0,1463,8356,0.00,2.40,0.00,0.000,6,0.000,0.054,1655,2352,3019
$GC,8697,-3.55,-146.0,0.9,-0.1,1524,8704,0.00,2.42,0.00,0.000,4,0.000,0.058,1655,932,3019
$GC,8960,-3.55,-146.0,0.9,-0.0,1570,8966,0.00,2.40,0.00,0.000,6,0.000,0.054,1655,2347,3019
$GC,9306,-3.55,-146.0,0.8,0.4,1631,9312,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,943,3019
$GC,9567,-3.55,-146.0,0.8,0.1,1677,9573,0.00,2.38,0.00,0.000,6,0.000,0.054,1655,2343,3019
$GC,9912,-3.55,-146.0,0.9,-2.2,1738,9919,0.00,2.40,0.00,0.000,4,0.000,0.059,1655,943,3019
$GC,10174,-3.55,-146.0,0.8,0.1,1784,10181,0.00,2.38,0.00,0.000,6,0.000,0.054,1655,2344,3019
$GC,10522,-3.55,-146.0,0.8,0.0,1845,10528,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,943,3019
$GC,10784,-3.55,-146.0,0.8,0.1,1891,10791,0.00,2.38,0.00,0.000,6,0.000,0.054,1655,2341,3019
$GC,11131,-3.55,-146.0,0.8,0.2,1952,11137,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,945,3019
$GC,11392,-3.55,-146.0,0.9,-0.3,1998,11398,0.00,2.38,0.00,0.000,6,0.000,0.054,1655,2341,3019
$GC,11739,-3.55,-146.0,0.9,-0.1,2059,11745,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,944,3018
$GC,12001,-3.55,-146.0,0.9,-0.2,2105,12007,0.00,2.38,0.00,0.000,6,0.000,0.054,1655,2345,3019
$GC,12347,-3.55,-146.0,0.8,-0.3,2166,12353,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,942,3018
$GC,12609,-3.55,-146.0,0.8,-0.1,2212,12615,0.00,2.38,0.00,0.000,6,0.000,0.054,1655,2342,3019
$GC,12955,-3.55,-146.0,0.8,0.1,2273,12962,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,940,3019
$GC,13217,-3.55,-146.0,0.9,-0.1,2319,13223,0.00,2.38,0.00,0.000,6,0.000,0.053,1655,2342,3019
$GC,13563,-3.55,-146.0,0.9,0.0,2380,13570,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,944,3019
$GC,13825,-3.55,-146.0,0.8,-0.2,2426,13832,0.00,2.38,0.00,0.000,6,0.000,0.053,1655,2346,3019
$GC,14172,-3.55,-146.0,0.8,0.1,2487,14178,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,943,3019
$GC,14434,-3.55,-146.0,0.8,0.1,2533,14440,0.00,2.38,0.00,0.000,6,0.000,0.053,1655,2346,3019
$GC,14780,-3.55,-146.0,0.8,0.1,2594,14787,0.00,2.40,0.00,0.000,4,0.000,0.058,1655,944,3019
$STATE,15004,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15004,begin apogee
$FREEZE,0.76,-5.886,-0.308
$GC,15015,-0.34,0.0,0.8,0.0,2634,15027,2.35,0.00,7.75,0.906,2,0.135,0.000,2365,2518,2983
$STATE,15028,end apogee,SURFACE_DEPTH_REACHED
$STATE,15028,begin surface coast
$FREEZE,0.77,-5.874,-0.308
$FREEZE,0.85,-5.873,-0.308
$FREEZE,0.79,-5.884,-0.308
$FREEZE,0.86,-5.865,-0.308
$FREEZE,0.81,-5.886,-0.308
$FREEZE,0.77,-5.880,-0.308
$FREEZE,0.84,-5.878,-0.308
$FREEZE,0.80,-5.870,-0.308
$FREEZE,0.83,-5.886,-0.308
$FREEZE,0.81,-5.871,-0.308
$FREEZE,0.75,-5.889,-0.308
$FREEZE,0.81,-5.878,-0.308
$FREEZE,0.80,-5.871,-0.308
$FREEZE,0.79,-5.884,-0.308
$FREEZE,0.86,-5.889,-0.308
$FREEZE,0.86,-5.882,-0.308
$FREEZE,0.91,-5.882,-0.308
$FREEZE,0.86,-5.882,-0.308
$FREEZE,0.82,-5.891,-0.308
$FREEZE,0.85,-5.891,-0.308
$FINISH,0.8,1.003820
$STATE,15143,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15143,begin surface
$SM_CCo,15163,223.62,0.902,0,0,1502,225.19
$SM_GC,0.83,0.00,0.00,223.62,0.000,0.000,0.902,163,2342,1502,-10.46,0.06,225.19
$RAFOS_CLK,889
$RAFOS,4,1230583446,20.750000,20.735001,60,59,55,51,51,50,199,182,147,169,215,131
$RAFOS,3,1230582845,20.583334,20.568056,54,54,52,52,51,46,194,226,129,177,209,154
$RAFOS,2,1230582243,20.416666,20.400833,72,58,57,56,55,52,210,223,146,193,124,134
$RAFOS,1,1230581648,20.250000,20.235556,59,59,58,56,54,53,215,226,191,125,203,139
$RAFOS,0,1230581045,20.083334,20.068056,61,57,57,56,55,52,211,194,162,151,179,139
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6604.29,-6044.13,250398,131334
$TT8_MAMPS,0.028379
$HUMID,1877
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,91.311
$10V_AH,10.4,42.099
$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,17.675,120.875,7.750,223.625,0.000,31.182,33.531,323.111,0.000,0.000,0.000,13.619,4028.675,6638.284,518.443,3883.919,876.521,0.000,2287.874,0.000,3833.683,1800.000,0.546,0.000
$DEVICE_MAMPS,134.992,62.894,905.827,901.992,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1967.869,2013.749,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88001,2655
$CAP_FILE_SIZE,187036,0
$CFSIZE,260165632,214728704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,291208,220707,6624.970,-6045.076,35,1.7,40,-37.7