version: 66.04
glider: 113
mission: 4
dive: 497
start: 12 30 108 20 49 23
data:
$ID,113
$MISSION,4
$DIVE,497
$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,300
$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,-103477.31
$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,27
$R_STBD_OVSHOOT,19
$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
$GPS1,203152,6609.052,-6058.638,41,4.9,60,-37.3
$_CALLS,3
$_XMS_NAKs,18
$_XMS_TOUTs,3
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-10.3
$GPS2,204901,6608.640,-6059.164,38,1.7,43,-37.3
$SPEED_LIMITS,0.122,0.290
$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,98.3,207444,-8.0,-7.021
$D_GRID,305
$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,16,begin dive
$GC,19,-0.94,-291.9,0.0,0.0,0,228,0.00,0.00,-201.70,0.000,6,0.000,0.000,158,2341,3610
$GC,235,-0.94,-291.9,0.6,0.2,37,249,7.50,2.65,0.00,0.000,4,0.130,0.064,2227,939,3612
$GC,504,-0.83,-291.9,0.6,-0.0,84,510,0.12,2.58,0.00,0.000,6,0.153,0.055,2257,2341,3612
$GC,850,-0.72,-291.9,0.7,0.7,145,857,0.10,2.60,0.00,0.000,4,0.166,0.061,2282,933,3613
$GC,1113,-0.61,-291.9,0.6,2.0,191,1119,0.00,2.53,0.00,0.000,6,0.000,0.054,2282,2345,3613
$GC,1459,-0.50,-291.9,0.7,-0.1,252,1466,0.17,2.55,0.00,0.000,4,0.151,0.061,2331,931,3613
$GC,1722,-0.40,-291.9,0.7,0.1,298,1728,0.00,2.47,0.00,0.000,6,0.000,0.054,2330,2348,3613
$GC,2068,-0.29,-291.9,0.7,-0.2,359,2075,0.15,2.50,0.00,0.000,4,0.162,0.061,2370,936,3613
$GC,2331,-0.19,-291.9,0.7,-0.1,405,2338,0.10,2.45,0.00,0.000,6,0.163,0.055,2393,2353,3613
$GC,2680,-0.08,-291.9,0.7,0.2,466,2687,0.10,2.50,0.00,0.000,4,0.166,0.061,2420,931,3613
$GC,2943,0.03,-291.9,0.7,-0.0,512,2950,0.10,2.42,0.00,0.000,6,0.166,0.055,2444,2342,3613
$GC,3290,0.14,-291.9,0.7,-0.1,573,3296,0.00,2.45,0.00,0.000,4,0.000,0.061,2444,932,3613
$GC,3551,0.24,-291.9,0.6,-0.3,619,3558,0.17,2.42,0.00,0.000,6,0.153,0.055,2488,2346,3613
$GC,3898,0.35,-291.9,0.8,-0.2,680,3905,0.10,2.47,0.00,0.000,4,0.172,0.060,2515,928,3613
$GC,4161,0.46,-291.9,0.7,-0.3,726,4167,0.00,2.42,0.00,0.000,6,0.000,0.055,2515,2346,3613
$GC,4507,0.56,-291.9,0.8,-0.0,787,4514,0.15,2.47,0.00,0.000,4,0.160,0.061,2556,936,3613
$GC,4772,0.66,-291.9,0.7,0.0,833,4778,0.10,2.40,0.00,0.000,6,0.171,0.055,2579,2340,3613
$GC,5119,0.77,-291.9,0.6,0.3,894,5125,0.10,2.47,0.00,0.000,4,0.176,0.061,2604,926,3613
$GC,5381,0.88,-291.9,0.7,-0.0,940,5387,0.10,2.42,0.00,0.000,6,0.167,0.055,2627,2348,3613
$GC,5728,0.98,-291.9,0.7,-0.1,1001,5735,0.08,2.47,0.00,0.000,4,0.179,0.061,2649,929,3613
$GC,5992,1.09,-291.9,0.8,-0.1,1047,5999,0.10,2.42,0.00,0.000,6,0.171,0.055,2672,2346,3613
$GC,6339,1.20,-291.9,0.7,0.0,1108,6346,0.10,2.47,0.00,0.000,4,0.173,0.061,2698,926,3613
$GC,6602,1.30,-291.9,0.7,-0.0,1154,6608,0.00,2.42,0.00,0.000,6,0.000,0.055,2698,2349,3613
$GC,6948,1.41,-291.9,0.7,-0.3,1215,6955,0.17,2.50,0.00,0.000,4,0.159,0.061,2747,930,3613
$GC,7210,1.41,-291.9,0.7,-0.0,1261,7216,0.00,2.42,0.00,0.000,6,0.000,0.056,2747,2345,3613
$GC,7558,1.52,-291.9,0.7,-0.2,1322,7564,0.00,2.45,0.00,0.000,4,0.000,0.062,2747,933,3613
$GC,7820,1.52,-291.9,0.7,0.1,1368,7827,0.00,2.42,0.00,0.000,6,0.000,0.055,2747,2350,3613
$GC,8167,1.52,-291.9,0.8,-0.0,1429,8173,0.00,2.45,0.00,0.000,4,0.000,0.062,2747,937,3613
$GC,8429,1.52,-291.9,0.7,-0.1,1475,8435,0.00,2.42,0.00,0.000,6,0.000,0.056,2747,2352,3613
$GC,8776,1.52,-291.9,0.7,-0.1,1536,8782,0.00,2.45,0.00,0.000,4,0.000,0.061,2747,936,3613
$GC,9037,1.52,-291.9,0.8,-0.1,1582,9043,0.00,2.42,0.00,0.000,6,0.000,0.055,2747,2353,3613
$GC,9384,1.52,-291.9,0.7,-0.0,1643,9390,0.00,2.45,0.00,0.000,4,0.000,0.061,2747,937,3613
$GC,9646,1.52,-291.9,0.8,-0.2,1689,9652,0.00,2.42,0.00,0.000,6,0.000,0.055,2747,2353,3613
$GC,9992,1.52,-291.9,0.7,-0.0,1750,9999,0.00,2.47,0.00,0.000,4,0.000,0.061,2747,927,3613
$GC,10254,1.52,-291.9,0.7,0.1,1796,10260,0.00,2.45,0.00,0.000,6,0.000,0.057,2747,2353,3613
$GC,10601,1.52,-291.9,0.7,0.0,1857,10607,0.00,2.47,0.00,0.000,4,0.000,0.062,2747,930,3613
$GC,10862,1.52,-291.9,0.6,1.6,1903,10869,0.00,2.42,0.00,0.000,6,0.000,0.056,2747,2343,3613
$GC,11209,1.52,-291.9,0.7,0.2,1964,11215,0.00,2.45,0.00,0.000,4,0.000,0.062,2747,934,3613
$GC,11471,1.52,-291.9,0.7,0.1,2010,11478,0.00,2.42,0.00,0.000,6,0.000,0.056,2747,2351,3613
$GC,11819,1.52,-291.9,0.7,-0.5,2071,11826,0.00,2.47,0.00,0.000,4,0.000,0.062,2747,928,3613
$GC,12081,1.52,-291.9,0.6,0.3,2117,12087,0.00,2.42,0.00,0.000,6,0.000,0.056,2747,2340,3613
$GC,12427,1.52,-291.9,0.6,0.2,2178,12434,0.00,2.45,0.00,0.000,4,0.000,0.063,2747,933,3613
$GC,12690,1.52,-291.9,0.7,-0.0,2224,12696,0.00,2.42,0.00,0.000,6,0.000,0.056,2747,2348,3613
$GC,13038,1.52,-291.9,0.7,-0.2,2285,13044,0.00,2.47,0.00,0.000,4,0.000,0.063,2747,930,3613
$GC,13301,1.52,-291.9,0.7,-0.3,2331,13307,0.00,2.42,0.00,0.000,6,0.000,0.055,2747,2344,3613
$GC,13647,1.52,-291.9,0.7,-0.0,2392,13654,0.00,2.45,0.00,0.000,4,0.000,0.062,2747,937,3613
$GC,13909,1.52,-291.9,0.6,0.1,2438,13916,0.00,2.42,0.00,0.000,6,0.000,0.056,2747,2350,3613
$GC,14256,1.52,-291.9,0.6,-0.0,2499,14262,0.00,2.47,0.00,0.000,4,0.000,0.062,2747,932,3613
$GC,14517,1.52,-291.9,0.7,0.1,2545,14524,0.00,2.42,0.00,0.000,6,0.000,0.056,2747,2343,3613
$GC,14864,1.52,-291.9,0.6,0.2,2606,14870,0.00,2.45,0.00,0.000,4,0.000,0.063,2748,938,3614
$STATE,15009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15009,begin apogee
$FREEZE,0.68,-4.073,-0.460
$GC,15021,-0.34,0.0,0.7,0.0,2632,15032,1.10,0.00,8.00,0.887,2,0.065,0.000,2357,2526,3547
$STATE,15034,end apogee,SURFACE_DEPTH_REACHED
$STATE,15034,begin surface coast
$FREEZE,0.68,-4.058,-0.460
$FINISH,0.7,1.006413
$STATE,15040,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15040,begin surface
$SM_CCo,15060,263.92,0.887,0,0,1502,225.19
$SM_GC,0.66,0.00,0.00,263.92,0.000,0.000,0.887,155,2337,1502,-10.49,-0.08,225.19
$RAFOS_CLK,909
$RAFOS,4,1230684245,0.750000,0.734722,66,58,57,51,50,49,202,171,218,144,187,119
$RAFOS,3,1230683642,0.583333,0.567222,64,56,53,52,49,48,214,136,162,194,119,519
$RAFOS,2,1230683046,0.416667,0.401667,59,59,52,51,51,48,162,196,127,116,225,136
$RAFOS,1,1230682446,0.250000,0.235000,72,70,66,58,54,54,199,220,208,163,175,125
$RAFOS,0,1230681841,0.083333,0.066944,67,64,60,58,57,52,209,152,187,135,169,225
$RAFOS,2,1230668643,20.416666,20.400833,55,55,54,54,52,51,160,183,170,207,129,221
$RAFOS_FIX,6634.583008,-6030.056641,291208,040436,2,102,0.22
$IRIDIUM_FIX,6543.17,-6056.21,260398,202034
$TT8_MAMPS,0.027612
$HUMID,1862
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,91.867
$10V_AH,10.4,42.867
$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,16.950,123.700,8.000,263.925,0.000,80.336,92.167,507.510,0.000,0.000,0.000,44.902,3964.923,6697.971,605.724,3845.553,1220.814,0.000,2373.326,0.000,3803.656,1800.000,0.547,0.000
$DEVICE_MAMPS,179.478,63.661,886.652,886.652,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1940.420,2240.800,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88013,2634
$CAP_FILE_SIZE,185830,0
$CFSIZE,260165632,214196224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,311208,010628,6604.542,-6105.160,29,4.4,48,-37.2