version: 66.04
glider: 146
mission: 4
dive: 176
start: 6 5 109 3 33 34
data:
$ID,146
$MISSION,4
$DIVE,176
$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,420
$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,-31916.904
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3074
$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,37
$R_STBD_OVSHOOT,59
$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
$GPS1,032630,2256.430,-15744.316,38,1.5,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.0
$GPS2,033238,2256.484,-15744.240,13,1.5,13,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.206,-0.131
$KALMAN_X,-6359.3,45.0,-329.9,48490.6,1807.6
$KALMAN_Y,-114578.0,185.1,-157.9,245058.4,1111.5
$MHEAD_RNG_PITCHd_Wd,227.4,22464,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.0,0.0,0.0,0,96,0.00,0.00,-77.60,0.000,2,0.000,0.000,466,1704,3142
$GC,100,-1.10,-146.0,3.1,-3.2,10,127,13.07,2.35,-7.88,0.000,4,0.176,0.069,2831,331,3554
$GC,153,-1.10,-146.0,18.8,-27.7,17,161,0.00,2.15,0.00,0.000,6,0.000,0.015,2831,1766,3555
$GC,424,-1.10,-146.0,52.3,-12.3,49,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1767,3557
$GC,689,-1.10,-146.0,83.7,-11.3,74,693,0.00,2.45,0.00,0.000,4,0.000,0.056,2831,322,3557
$GC,720,-1.10,-146.0,87.5,-12.6,76,724,0.00,2.03,0.00,0.000,6,0.000,0.019,2831,1714,3557
$GC,989,-1.10,-146.0,117.5,-11.1,101,993,0.00,2.12,0.00,0.000,4,0.000,0.028,2831,3085,3557
$GC,1027,-1.10,-146.0,121.2,-10.4,104,1031,0.00,2.17,0.00,0.000,6,0.000,0.031,2831,1723,3557
$GC,1291,-1.10,-146.0,149.4,-11.2,128,1295,0.00,2.38,0.00,0.000,4,0.000,0.065,2831,318,3557
$GC,1311,-1.10,-146.0,151.8,-10.9,129,1315,0.00,2.08,0.00,0.000,6,0.000,0.021,2831,1735,3557
$GC,1578,-1.10,-146.0,179.7,-9.8,154,1582,0.00,2.08,0.00,0.000,4,0.000,0.028,2831,3074,3558
$GC,1602,-1.10,-146.0,182.0,-9.5,156,1606,0.00,2.17,0.00,0.000,6,0.000,0.028,2831,1712,3558
$GC,1881,-1.10,-146.0,207.4,-8.8,176,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1712,3557
$GC,2125,-1.10,-146.0,228.7,-8.8,182,2129,0.00,2.15,0.00,0.000,4,0.000,0.032,2831,3081,3558
$GC,2164,-1.10,-146.0,231.7,-7.6,182,2170,0.00,2.20,0.00,0.000,6,0.000,0.035,2831,1712,3557
$GC,2415,-1.10,-146.0,251.5,-8.1,189,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1711,3558
$GC,2658,-1.10,-146.0,272.8,-8.8,195,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1712,3557
$GC,2903,-1.10,-146.0,292.3,-7.8,201,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1712,3556
$GC,3146,-1.10,-146.0,309.8,-7.1,207,3150,0.00,2.45,0.00,0.000,4,0.000,0.083,2831,315,3555
$GC,3168,-1.10,-146.0,311.5,-7.5,207,3172,0.00,2.10,0.00,0.000,6,0.000,0.021,2831,1659,3555
$GC,3430,-1.10,-146.0,330.5,-7.1,214,3434,0.00,2.30,0.00,0.000,4,0.000,0.049,2831,3066,3554
$GC,3458,-1.10,-146.0,332.6,-6.9,214,3462,0.00,2.22,0.00,0.000,6,0.000,0.052,2831,1724,3554
$GC,3709,-1.10,-146.0,350.8,-7.4,220,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1723,3552
$GC,3953,-1.10,-146.0,367.9,-7.0,226,3956,0.00,2.20,0.00,0.000,4,0.000,0.046,2831,3070,3551
$GC,3999,-1.10,-146.0,371.0,-6.7,227,4003,0.00,2.28,0.00,0.000,6,0.000,0.050,2831,1711,3551
$GC,4284,-1.10,-146.0,390.2,-7.1,234,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1711,3548
$GC,4527,-1.10,-146.0,408.3,-7.4,240,4530,0.00,2.22,0.00,0.000,4,0.000,0.048,2831,3068,3547
$GC,4573,-1.10,-146.0,411.7,-6.7,241,4577,0.00,2.28,0.00,0.000,6,0.000,0.062,2831,1723,3547
$GC,4858,-1.10,-146.0,431.7,-7.0,248,4862,0.00,2.60,0.00,0.000,4,0.000,0.111,2830,310,3545
$GC,4885,-1.10,-146.0,433.7,-7.2,248,4889,0.00,2.12,0.00,0.000,6,0.000,0.029,2831,1651,3545
$GC,5142,-1.10,-146.0,452.8,-7.5,255,5146,0.00,2.38,0.00,0.000,4,0.000,0.061,2831,3063,3544
$GC,5188,-1.10,-146.0,456.5,-8.2,256,5192,0.00,2.28,0.00,0.000,6,0.000,0.054,2831,1712,3543
$GC,5478,-1.10,-146.0,478.2,-7.2,263,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1712,3542
$GC,5721,-1.10,-146.0,493.3,-6.0,269,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1712,3540
$STATE,5839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5839,begin apogee
$GC,5847,-0.31,0.0,501.4,6.5,272,5970,0.75,0.00,119.35,0.935,6,0.070,0.000,3004,1784,2956
$STATE,5971,end apogee,CONTROL_FINISHED_OK
$STATE,5971,begin climb
$GC,5975,1.10,146.0,505.4,0.0,275,6106,1.27,2.65,123.80,0.911,4,0.035,0.107,3322,419,2359
$GC,6151,1.10,146.0,501.4,9.2,279,6155,0.00,2.30,0.00,0.000,6,0.000,0.039,3322,1816,2354
$GC,6424,1.10,146.0,477.1,9.1,286,6428,0.00,2.50,0.00,0.000,4,0.000,0.073,3323,3247,2349
$GC,6457,1.10,146.0,474.0,9.1,286,6463,0.00,2.42,0.00,0.000,6,0.000,0.054,3323,1829,2349
$GC,6707,1.10,146.0,451.5,9.1,293,6711,0.00,2.35,0.00,0.000,4,0.000,0.040,3323,3243,2346
$GC,6730,1.10,146.0,449.2,10.0,293,6734,0.00,2.40,0.00,0.000,6,0.000,0.055,3323,1828,2346
$GC,6986,1.10,146.0,427.1,8.5,300,6990,0.00,2.58,0.00,0.000,4,0.000,0.097,3323,413,2345
$GC,7025,1.10,146.0,423.0,10.5,301,7030,0.00,2.28,0.00,0.000,6,0.000,0.022,3322,1844,2344
$GC,7309,1.10,146.0,398.0,8.5,308,7313,0.00,2.30,0.00,0.000,4,0.000,0.044,3323,3239,2343
$GC,7371,1.10,146.0,392.7,8.3,309,7375,0.00,2.35,0.00,0.000,6,0.000,0.042,3323,1826,2342
$GC,7633,1.10,146.0,371.1,8.3,316,7637,0.00,2.30,0.00,0.000,4,0.000,0.035,3323,3245,2341
$GC,7723,1.11,157.4,363.5,7.9,318,7737,0.00,2.35,7.82,0.739,6,0.000,0.048,3323,1831,2313
$GC,8006,1.12,166.7,341.0,8.0,325,8020,0.00,2.33,10.02,0.763,4,0.000,0.037,3323,3250,2275
$GC,8067,1.13,170.6,336.0,8.2,326,8076,0.00,2.38,4.88,0.612,6,0.000,0.044,3323,1823,2260
$GC,8338,1.13,170.6,311.5,8.9,333,8342,0.00,2.45,0.00,0.000,4,0.000,0.071,3323,413,2258
$GC,8360,1.13,170.6,309.2,10.3,333,8364,0.00,2.25,0.00,0.000,6,0.000,0.024,3323,1852,2257
$GC,8616,1.13,170.6,285.1,9.4,340,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1853,2257
$GC,8859,1.13,170.6,264.0,8.7,346,8863,0.00,2.42,0.00,0.000,4,0.000,0.056,3323,421,2257
$GC,8881,1.13,170.6,261.9,9.5,346,8885,0.00,2.20,0.00,0.000,6,0.000,0.021,3323,1840,2255
$GC,9142,1.13,172.3,239.6,8.3,353,9146,0.00,2.42,0.00,0.000,4,0.000,0.063,3323,411,2255
$GC,9193,1.13,172.3,235.1,8.8,354,9197,0.00,2.20,0.00,0.000,6,0.000,0.019,3323,1832,2254
$GC,9466,1.18,211.1,214.9,6.8,361,9508,0.00,2.28,35.80,0.730,4,0.000,0.031,3323,3227,2095
$GC,9531,1.18,217.8,210.2,8.1,362,9545,0.00,2.30,7.32,0.609,6,0.000,0.033,3322,1824,2066
$GC,9802,1.18,217.8,186.0,9.4,378,9806,0.00,2.25,0.00,0.000,4,0.000,0.035,3323,3227,2063
$GC,9825,1.18,217.8,183.7,9.1,379,9831,0.00,2.28,0.00,0.000,6,0.000,0.035,3322,1827,2062
$GC,10087,1.18,217.8,158.9,8.9,404,10091,0.00,2.25,0.00,0.000,4,0.000,0.035,3323,3231,2061
$GC,10115,1.18,217.8,156.3,8.7,406,10120,0.00,2.28,0.00,0.000,6,0.000,0.038,3322,1826,2061
$GC,10379,1.18,217.8,134.6,8.5,430,10383,0.00,2.35,0.00,0.000,4,0.000,0.061,3322,427,2061
$GC,10433,1.18,217.8,129.4,10.5,434,10438,0.00,2.17,0.00,0.000,6,0.000,0.025,3323,1855,2060
$GC,10697,1.18,217.8,105.7,8.7,458,10701,0.00,2.15,0.00,0.000,4,0.000,0.029,3323,3214,2060
$GC,10745,1.18,217.8,101.5,8.5,462,10749,0.00,2.25,0.00,0.000,6,0.000,0.034,3322,1820,2059
$GC,11009,1.18,217.8,79.4,8.8,486,11013,0.00,2.33,0.00,0.000,4,0.000,0.061,3323,423,2060
$GC,11035,1.18,217.8,77.2,8.8,488,11039,0.00,2.15,0.00,0.000,6,0.000,0.017,3323,1840,2060
$GC,11305,1.19,225.4,54.6,8.0,513,11319,0.00,2.17,7.40,0.499,4,0.000,0.031,3323,3224,2036
$GC,11356,1.19,225.4,50.1,8.9,517,11360,0.00,2.28,0.00,0.000,6,0.000,0.032,3323,1817,2036
$GC,11620,1.19,225.4,27.7,9.1,543,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1817,2036
$GC,11896,1.26,275.1,8.9,6.4,592,11946,0.10,2.45,43.62,0.527,4,0.064,0.056,3356,418,1833
$STATE,11969,end climb,SURFACE_DEPTH_REACHED
$STATE,11969,begin surface coast
$FINISH,0.8,1.023143
$STATE,12006,end surface coast,CONTROL_FINISHED_OK
$STATE,12007,begin surface
$SM_CCo,12032,117.75,0.518,0,0,1243,420.20
$SM_GC,1.22,0.00,0.00,117.75,0.000,0.000,0.518,471,1747,1243,-11.97,0.76,420.20
$IRIDIUM_FIX,2246.36,-15745.85,300898,000020
$TT8_MAMPS,0.026078
$HUMID,1553
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,22.60
$XPDR_PINGS,87
$24V_AH,23.6,24.290
$10V_AH,10.7,22.343
$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,26.875,137.225,360.025,117.750,0.000,26.302,29.499,174.106,21.750,0.000,0.000,14.541,1179.394,8062.848,549.363,2139.386,592.310,33.379,1357.761,0.000,2147.698,0.000,0.537,0.000
$DEVICE_MAMPS,175.643,175.643,934.973,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,417.195,331.676,468.477,636.242,1343.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44533,608
$CAP_FILE_SIZE,104802,0
$CFSIZE,260165632,220979200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050609,065755,2256.114,-15744.500,67,1.0,67,10.1