version: 66.03
glider: 146
mission: 2
dive: 16
start: 6 1 108 21 3 36
data:
$ID,146
$MISSION,2
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,480
$D_ABORT,600
$D_NO_BLEED,200
$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,160
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52573
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2100
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-4793.311
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-29.09374
$PRESSURE_SLOPE,0.000115925
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943107
$SEABIRD_T_H,0.00062841887
$SEABIRD_T_I,2.3281167e-05
$SEABIRD_T_J,2.4418403e-06
$SEABIRD_C_G,-10.095174
$SEABIRD_C_H,1.1317128
$SEABIRD_C_I,-0.0020966067
$SEABIRD_C_J,0.00024836216
$GPS1,205835,2218.121,-15725.604,10,3.3,29,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.5
$GPS2,210315,2218.137,-15725.621,15,1.4,15,10.0
$SPEED_LIMITS,0.173,0.350
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$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,300.3,76959,-11.7,-10.000
$D_GRID,480
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.09,-292.0,0.0,0.0,0,103,0.00,0.00,-83.65,0.000,2,0.000,0.000,474,1809,2892
$GC,105,-1.09,-292.0,3.5,-6.9,11,145,12.43,2.17,-21.10,0.000,4,0.141,0.041,2917,3196,3954
$GC,261,-1.09,-292.0,30.9,-13.1,37,265,0.00,2.25,0.00,0.000,6,0.000,0.044,2917,1799,3955
$GC,588,-1.09,-292.0,84.5,-15.3,67,592,0.00,2.53,0.00,0.000,4,0.000,0.096,2917,402,3955
$GC,674,-1.09,-292.0,97.1,-11.6,74,684,0.00,2.28,0.00,0.000,6,0.000,0.045,2917,1796,3955
$GC,1002,-1.09,-292.0,140.3,-14.0,105,1006,0.00,2.55,0.00,0.000,4,0.000,0.094,2917,397,3956
$GC,1044,-1.09,-292.0,146.3,-12.5,108,1054,0.00,2.30,0.00,0.000,6,0.000,0.048,2917,1791,3956
$GC,1371,-1.09,-292.0,185.7,-11.5,139,1375,0.00,2.55,0.00,0.000,4,0.000,0.106,2917,395,3957
$GC,1391,-1.09,-292.0,188.5,-12.0,140,1400,0.00,2.33,0.00,0.000,6,0.000,0.055,2917,1802,3957
$GC,1716,-1.09,-292.0,220.8,-9.8,161,1720,0.00,2.58,0.00,0.000,4,0.000,0.102,2917,402,3958
$GC,1792,-1.09,-292.0,228.9,-9.4,164,1801,0.00,2.33,0.00,0.000,6,0.000,0.055,2917,1789,3958
$GC,2107,-1.09,-292.0,258.8,-9.9,180,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1790,3958
$GC,2419,-1.09,-292.0,288.2,-8.9,195,2423,0.00,2.60,0.00,0.000,4,0.000,0.115,2917,402,3958
$GC,2469,-1.09,-292.0,292.7,-8.5,197,2473,0.00,2.35,0.00,0.000,6,0.000,0.062,2917,1798,3958
$GC,2801,-1.09,-292.0,321.4,-8.5,207,2806,0.00,2.62,0.00,0.000,4,0.000,0.114,2917,404,3958
$GC,2840,-1.09,-292.0,324.9,-8.8,208,2844,0.00,2.40,0.00,0.000,6,0.000,0.067,2917,1804,3958
$GC,3164,-1.09,-292.0,353.3,-9.0,216,3168,0.00,2.67,0.00,0.000,4,0.000,0.122,2917,404,3957
$GC,3190,-1.09,-292.0,355.8,-9.2,216,3194,0.00,2.42,0.00,0.000,6,0.000,0.079,2917,1797,3957
$GC,3527,-1.09,-292.0,384.7,-8.4,225,3531,0.00,2.70,0.00,0.000,4,0.000,0.132,2917,404,3955
$GC,3569,-1.09,-292.0,388.5,-8.2,226,3574,0.00,2.45,0.00,0.000,6,0.000,0.085,2917,1807,3955
$GC,3894,-1.09,-292.0,415.7,-8.5,234,3898,0.00,2.78,0.00,0.000,4,0.000,0.141,2917,400,3953
$GC,3914,-1.09,-292.0,417.7,-9.5,234,3918,0.00,2.47,0.00,0.000,6,0.000,0.084,2917,1792,3953
$GC,4256,-1.09,-292.0,448.0,-8.9,243,4261,0.00,2.75,0.00,0.000,4,0.000,0.140,2917,404,3951
$GC,4288,-1.09,-292.0,450.9,-9.6,243,4295,0.00,2.50,0.00,0.000,6,0.000,0.089,2917,1810,3951
$GC,4619,-1.09,-292.0,478.1,-7.9,252,4624,0.00,2.83,0.00,0.000,4,0.000,0.149,2917,403,3949
$STATE,4645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4645,begin apogee
$GC,4652,-0.31,0.0,480.2,7.9,252,4887,0.73,0.00,232.07,0.904,6,0.077,0.000,3085,1801,2800
$STATE,4888,end apogee,CONTROL_FINISHED_OK
$STATE,4888,begin climb
$GC,4889,1.09,292.0,492.8,0.0,258,5141,1.33,2.92,241.40,0.872,4,0.056,0.148,3400,405,1608
$GC,5179,1.09,292.0,470.6,15.6,265,5184,0.00,2.58,0.00,0.000,6,0.000,0.093,3400,1793,1603
$GC,5504,1.09,292.0,426.3,13.3,273,5507,0.00,2.45,0.00,0.000,4,0.000,0.074,3400,3215,1598
$GC,5535,1.09,292.0,421.8,13.6,273,5540,0.00,2.42,0.00,0.000,6,0.000,0.059,3400,1810,1597
$GC,5872,1.09,292.0,374.7,14.6,282,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1810,1595
$GC,6197,1.09,292.0,330.0,13.6,290,6202,0.00,2.78,0.00,0.000,4,0.000,0.132,3400,388,1594
$GC,6223,1.09,292.0,325.9,15.8,290,6228,0.00,2.47,0.00,0.000,6,0.000,0.074,3399,1809,1592
$GC,6544,1.09,292.0,282.2,13.9,301,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1810,1592
$GC,6851,1.09,292.0,240.5,13.0,316,6855,0.00,2.28,0.00,0.000,4,0.000,0.041,3400,3210,1591
$GC,6878,1.09,292.0,237.3,12.5,317,6882,0.00,2.33,0.00,0.000,6,0.000,0.041,3400,1790,1590
$GC,7192,1.09,292.0,201.9,10.5,332,7196,0.00,2.60,0.00,0.000,4,0.000,0.113,3400,399,1590
$GC,7244,1.09,292.0,196.0,12.2,335,7248,0.00,2.35,0.00,0.000,6,0.000,0.064,3401,1806,1588
$GC,7571,1.09,292.0,161.1,11.4,365,7575,0.00,2.25,0.00,0.000,4,0.000,0.037,3400,3212,1588
$GC,7619,1.09,292.0,155.0,11.7,369,7626,0.00,2.33,0.00,0.000,6,0.000,0.047,3400,1805,1588
$GC,7947,1.09,292.0,117.4,11.0,400,7951,0.00,2.55,0.00,0.000,4,0.000,0.103,3400,402,1588
$GC,7977,1.09,292.0,113.8,12.5,402,7981,0.00,2.28,0.00,0.000,6,0.000,0.048,3400,1811,1587
$GC,8310,1.09,294.8,79.1,9.9,433,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1812,1587
$GC,8627,1.19,374.2,50.9,8.2,463,8701,0.00,2.60,66.70,0.578,4,0.000,0.088,3400,408,1276
$GC,8762,1.19,376.3,37.9,10.0,474,8771,0.00,2.28,0.00,0.000,6,0.000,0.040,3400,1806,1271
$GC,9094,1.19,376.3,5.9,10.5,527,9101,0.00,2.53,0.00,0.000,4,0.000,0.084,3400,408,1270
$GC,9114,1.21,391.4,4.0,9.6,530,9131,0.05,2.22,11.12,0.488,2,0.058,0.038,3425,1800,1225
$STATE,9131,end climb,SURFACE_DEPTH_REACHED
$STATE,9132,begin surface coast
$FINISH,0.5,1.022843
$STATE,9160,end surface coast,CONTROL_FINISHED_OK
$STATE,9160,begin surface
$SM_CCo,9179,93.47,0.518,0,0,761,500.17
$SM_GC,0.99,0.00,0.00,93.47,0.000,0.000,0.518,476,1801,761,-12.34,0.03,500.17
$IRIDIUM_FIX,2209.02,-15722.63,260897,181809
$TT8_MAMPS,0.026078
$HUMID,1492
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,22.30
$XPDR_PINGS,479
$24V_AH,23.7,6.478
$10V_AH,10.2,3.865
$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
$DEVICE_SECS,26.550,104.150,551.300,93.475,0.000,31.591,35.634,128.911,130.000,0.000,0.000,16.619,1000.620,5613.826,688.155,1949.446,311.491,0.000,1399.264,0.000,1925.026,0.000,64.362
$DEVICE_MAMPS,141.128,148.798,904.293,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.488,332.954,471.516,617.090,1300.674,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41279,537
$CAP_FILE_SIZE,82475,0
$CFSIZE,260165632,257150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,010608,233911,2219.196,-15726.756,7,4.4,26,10.0