version: 66.04
glider: 146
mission: 4
dive: 104
start: 5 26 109 10 26 32
data:
$ID,146
$MISSION,4
$DIVE,104
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,80
$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,200
$T_MISSION,260
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,608.09869
$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,-29617.543
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3070
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,1720
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2956
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.46645
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042941761
$SEABIRD_T_H,0.00062839256
$SEABIRD_T_I,2.3269764e-05
$SEABIRD_T_J,2.4407245e-06
$SEABIRD_C_G,-10.083902
$SEABIRD_C_H,1.128369
$SEABIRD_C_I,-0.0012433155
$SEABIRD_C_J,0.00018910144
$GPS1,102007,2256.613,-15753.625,35,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.9
$GPS2,102538,2256.612,-15753.621,11,1.3,11,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,-0.004
$KALMAN_X,-35556.1,3.6,251.3,61013.7,-352.8
$KALMAN_Y,-91321.1,53.1,824.6,221188.8,-1765.9
$MHEAD_RNG_PITCHd_Wd,80.8,24338,-14.7,-8.333
$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,-1.10,-146.0,0.0,0.0,0,135,0.00,0.00,-116.72,0.000,2,0.000,0.000,472,1703,3347
$GC,139,-1.10,-146.0,3.4,-3.8,15,165,13.20,2.28,-3.72,0.000,4,0.181,0.041,2826,3107,3553
$GC,175,-1.10,-146.0,18.0,-31.0,19,183,0.00,2.28,0.00,0.000,6,0.000,0.039,2827,1724,3553
$GC,449,-1.10,-146.0,54.9,-11.9,51,453,0.00,2.40,0.00,0.000,4,0.000,0.063,2826,312,3554
$GC,469,-1.10,-146.0,57.5,-12.1,52,473,0.00,2.12,0.00,0.000,6,0.000,0.016,2826,1749,3554
$GC,739,-1.10,-146.0,91.5,-13.7,77,743,0.00,2.08,0.00,0.000,4,0.000,0.026,2826,3087,3554
$GC,777,-1.10,-146.0,97.2,-13.0,80,784,0.00,2.22,0.00,0.000,6,0.000,0.038,2827,1722,3555
$GC,1042,-1.10,-146.0,129.5,-11.3,105,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1722,3555
$GC,1304,-1.10,-146.0,158.6,-10.9,130,1308,0.00,2.12,0.00,0.000,4,0.000,0.027,2826,3087,3555
$GC,1349,-1.10,-146.0,163.3,-9.8,134,1353,0.00,2.20,0.00,0.000,6,0.000,0.029,2826,1714,3555
$GC,1611,-1.10,-146.0,189.8,-9.5,158,1615,0.00,2.15,0.00,0.000,4,0.000,0.021,2827,3083,3555
$GC,1648,-1.10,-146.0,192.8,-8.8,161,1652,0.00,2.20,0.00,0.000,6,0.000,0.037,2826,1711,3555
$GC,1903,-1.10,-146.0,213.7,-8.1,173,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1711,3555
$GC,2146,-1.10,-146.0,235.2,-8.8,179,2150,0.00,2.40,0.00,0.000,4,0.000,0.076,2826,322,3555
$GC,2158,-1.10,-146.0,236.3,-8.8,179,2162,0.00,2.08,0.00,0.000,6,0.000,0.025,2826,1685,3555
$GC,2431,-1.10,-146.0,260.6,-9.0,186,2435,0.00,2.30,0.00,0.000,4,0.000,0.041,2826,3120,3554
$GC,2492,-1.10,-146.0,266.6,-9.5,187,2496,0.00,2.30,0.00,0.000,6,0.000,0.044,2826,1718,3554
$GC,2753,-1.10,-146.0,291.5,-9.5,194,2757,0.00,2.47,0.00,0.000,4,0.000,0.088,2826,315,3553
$GC,2794,-1.10,-146.0,295.4,-9.9,195,2798,0.00,2.17,0.00,0.000,6,0.000,0.024,2826,1712,3553
$GC,3078,-1.10,-146.0,319.2,-8.1,202,3082,0.00,2.33,0.00,0.000,4,0.000,0.052,2826,3124,3551
$GC,3111,-1.10,-146.0,321.8,-7.6,202,3117,0.00,2.35,0.00,0.000,6,0.000,0.055,2826,1725,3551
$GC,3362,-1.10,-146.0,340.1,-7.4,209,3367,0.00,2.55,0.00,0.000,4,0.000,0.100,2826,311,3550
$GC,3403,-1.10,-146.0,343.2,-7.8,210,3407,0.00,2.20,0.00,0.000,6,0.000,0.033,2827,1712,3550
$GC,3692,-1.10,-146.0,364.5,-7.3,217,3696,0.00,2.33,0.00,0.000,4,0.000,0.048,2826,3130,3548
$GC,3733,-1.10,-146.0,367.3,-6.9,217,3739,0.00,2.38,0.00,0.000,6,0.000,0.051,2826,1720,3548
$GC,3983,-1.10,-146.0,386.2,-7.7,224,3987,0.00,2.58,0.00,0.000,4,0.000,0.102,2826,305,3546
$GC,4023,-1.10,-146.0,389.6,-8.6,225,4028,0.00,2.25,0.00,0.000,6,0.000,0.033,2826,1724,3546
$GC,4308,-1.10,-146.0,413.9,-8.6,232,4312,0.00,2.35,0.00,0.000,4,0.000,0.053,2826,3134,3544
$GC,4349,-1.10,-146.0,417.4,-8.2,233,4353,0.00,2.42,0.00,0.000,6,0.000,0.063,2826,1711,3544
$GC,4633,-1.10,-146.0,441.1,-8.1,240,4637,0.00,2.62,0.00,0.000,4,0.000,0.112,2826,307,3542
$GC,4660,-1.10,-146.0,443.5,-8.8,240,4664,0.00,2.28,0.00,0.000,6,0.000,0.038,2826,1720,3542
$GC,4911,-1.10,-146.0,464.1,-8.2,246,4915,0.00,2.42,0.00,0.000,4,0.000,0.074,2826,3134,3540
$GC,4939,-1.10,-146.0,466.5,-8.2,246,4943,0.00,2.42,0.00,0.000,6,0.000,0.057,2826,1712,3540
$GC,5195,-1.10,-146.0,485.2,-7.1,253,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1712,3539
$GC,5438,-1.10,-146.0,499.0,-5.4,259,5443,0.00,2.67,0.00,0.000,4,0.000,0.127,2826,309,3538
$STATE,5457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5458,begin apogee
$GC,5468,-0.31,0.0,500.3,5.6,259,5590,0.73,0.00,118.85,0.934,6,0.077,0.000,2996,1831,2956
$STATE,5591,end apogee,CONTROL_FINISHED_OK
$STATE,5591,begin climb
$GC,5594,1.10,146.0,501.3,0.0,262,5726,1.30,2.58,124.18,0.906,4,0.040,0.084,3313,3247,2359
$GC,5763,1.10,146.0,494.5,10.5,266,5768,0.00,2.47,0.00,0.000,6,0.000,0.061,3313,1823,2354
$GC,6042,1.10,146.0,468.5,8.9,273,6046,0.00,2.67,0.00,0.000,4,0.000,0.116,3313,420,2348
$GC,6063,1.10,146.0,466.6,8.4,273,6068,0.00,2.33,0.00,0.000,6,0.000,0.035,3313,1845,2347
$GC,6320,1.12,168.7,447.3,7.5,280,6341,0.00,0.00,19.05,0.853,6,0.000,0.000,3313,1845,2268
$GC,6563,1.12,168.7,426.8,8.5,286,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1845,2263
$GC,6807,1.13,171.4,406.9,8.2,292,6811,0.00,2.33,0.00,0.000,4,0.000,0.048,3313,3246,2261
$GC,6885,1.14,182.6,400.4,7.9,293,6905,0.00,2.38,12.55,0.811,6,0.000,0.045,3313,1823,2211
$GC,7180,1.16,196.3,377.1,7.8,301,7199,0.00,2.38,13.20,0.810,4,0.000,0.033,3313,3244,2154
$GC,7228,1.16,196.3,373.0,8.7,302,7232,0.00,2.40,0.00,0.000,6,0.000,0.046,3313,1821,2153
$GC,7506,1.16,196.3,346.1,10.0,309,7510,0.00,2.30,0.00,0.000,4,0.000,0.034,3313,3253,2150
$GC,7525,1.16,196.3,344.1,10.5,309,7529,0.00,2.38,0.00,0.000,6,0.000,0.044,3313,1824,2150
$GC,7786,1.16,196.3,315.6,10.8,316,7790,0.00,2.28,0.00,0.000,4,0.000,0.030,3313,3251,2149
$GC,7820,1.16,196.3,312.0,10.4,316,7824,0.00,2.35,0.00,0.000,6,0.000,0.041,3313,1825,2148
$GC,8070,1.16,196.3,288.5,9.2,322,8074,0.00,2.42,0.00,0.000,4,0.000,0.075,3313,421,2147
$GC,8105,1.16,196.3,285.0,10.3,322,8111,0.00,2.22,0.00,0.000,6,0.000,0.018,3313,1862,2147
$GC,8356,1.16,200.1,264.0,8.2,329,8359,0.00,2.15,0.00,0.000,4,0.000,0.037,3314,3220,2146
$GC,8389,1.16,200.1,261.0,9.1,329,8393,0.00,2.28,0.00,0.000,6,0.000,0.039,3313,1823,2146
$GC,8641,1.19,220.1,241.9,7.6,335,8667,0.00,2.45,21.08,0.739,4,0.000,0.073,3313,424,2057
$GC,8690,1.19,220.1,237.8,9.1,336,8694,0.00,2.20,0.00,0.000,6,0.000,0.025,3313,1832,2055
$GC,8962,1.19,220.1,214.7,8.5,343,8966,0.00,2.22,0.00,0.000,4,0.000,0.030,3314,3235,2052
$GC,8984,1.19,220.1,212.6,9.0,343,8988,0.00,2.30,0.00,0.000,6,0.000,0.041,3313,1817,2051
$GC,9241,1.19,220.1,189.4,8.9,358,9245,0.00,2.25,0.00,0.000,4,0.000,0.035,3313,3233,2051
$GC,9306,1.19,220.1,183.5,10.0,363,9310,0.00,2.28,0.00,0.000,6,0.000,0.037,3313,1827,2050
$GC,9570,1.20,227.7,161.9,8.0,387,9583,0.00,2.30,7.00,0.579,4,0.000,0.029,3313,3232,2027
$GC,9611,1.20,231.8,158.2,8.2,390,9622,0.00,2.30,5.60,0.532,6,0.000,0.039,3313,1833,2010
$GC,9878,1.21,240.7,136.7,8.0,415,9893,0.00,2.45,9.27,0.589,4,0.000,0.062,3313,423,1973
$GC,9919,1.21,240.7,133.2,8.8,418,9923,0.00,2.17,0.00,0.000,6,0.000,0.025,3313,1843,1972
$GC,10183,1.22,249.1,111.4,8.0,442,10199,0.10,2.17,8.80,0.560,4,0.066,0.028,3343,3219,1940
$GC,10247,1.22,249.1,105.3,10.2,447,10251,0.00,2.28,0.00,0.000,6,0.000,0.034,3344,1819,1939
$GC,10511,1.22,249.1,79.1,10.4,471,10515,0.00,2.35,0.00,0.000,4,0.000,0.058,3343,419,1938
$GC,10548,1.22,249.1,75.2,11.1,474,10552,0.00,2.15,0.00,0.000,6,0.000,0.025,3343,1829,1938
$GC,10812,1.22,249.1,49.5,9.2,498,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1831,1937
$GC,11077,1.22,249.1,25.6,8.8,527,11086,0.00,2.40,0.00,0.000,4,0.000,0.060,3343,425,1938
$GC,11100,1.22,249.1,23.4,8.8,530,11109,0.00,2.17,0.00,0.000,6,0.000,0.017,3343,1841,1938
$STATE,11336,end climb,SURFACE_DEPTH_REACHED
$STATE,11336,begin surface coast
$FINISH,0.5,1.011855
$STATE,11376,end surface coast,CONTROL_FINISHED_OK
$STATE,11376,begin surface
$SM_CCo,11400,289.10,0.518,0,0,476,608.10
$SM_GC,1.09,0.00,0.00,289.10,0.000,0.000,0.518,470,1696,476,-11.96,-0.68,608.10
$IRIDIUM_FIX,2251.04,-15757.57,200898,070738
$TT8_MAMPS,0.026078
$HUMID,1480
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,22.10
$XPDR_PINGS,84
$24V_AH,23.6,16.255
$10V_AH,10.7,13.846
$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,26.850,149.050,339.575,289.100,0.000,23.269,26.801,147.872,21.000,0.000,0.000,13.323,1131.968,7546.484,743.720,2068.310,534.526,33.373,1551.449,0.000,2067.506,0.000,0.536,0.000
$DEVICE_MAMPS,181.012,127.322,934.206,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.438,317.217,447.915,603.550,1272.978,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44595,579
$CAP_FILE_SIZE,103525,0
$CFSIZE,260165632,224763904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260509,134237,2255.425,-15752.076,32,1.0,32,10.1