version: 66.04
glider: 146
mission: 4
dive: 205
start: 6 9 109 18 24 12
data:
$ID,146
$MISSION,4
$DIVE,205
$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,-38118.082
$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,27
$R_STBD_OVSHOOT,50
$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
$GPS1,180257,2254.413,-15743.832,80,99.0,99,10.1
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.0
$GPS2,182320,2254.546,-15743.525,124,99.0,143,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,-0.231
$KALMAN_X,34979.7,546.1,83.9,7454.3,-321.6
$KALMAN_Y,-99445.0,-28.9,-35.8,226407.7,339.9
$MHEAD_RNG_PITCHd_Wd,151.0,10595,-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,-146.0,0.0,0.0,0,136,0.00,0.00,-116.82,0.000,2,0.000,0.000,467,1713,3372
$GC,141,-1.10,-146.0,3.8,-4.8,15,166,12.98,2.25,-3.25,0.000,4,0.175,0.039,2828,3131,3554
$GC,241,-1.10,-146.0,25.2,-8.8,31,249,0.00,2.30,0.00,0.000,6,0.000,0.028,2828,1715,3555
$GC,515,-1.10,-146.0,48.3,-8.0,61,519,0.00,2.35,0.00,0.000,4,0.000,0.057,2828,317,3554
$GC,551,-1.10,-146.0,51.7,-9.9,64,555,0.00,2.12,0.00,0.000,6,0.000,0.014,2828,1772,3554
$GC,822,-1.10,-146.0,75.4,-8.4,89,825,0.00,2.10,0.00,0.000,4,0.000,0.030,2828,3128,3554
$GC,870,-1.10,-146.0,79.5,-7.8,93,874,0.00,2.25,0.00,0.000,6,0.000,0.027,2828,1711,3554
$GC,1142,-1.10,-146.0,100.8,-8.0,118,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1710,3554
$GC,1408,-1.10,-146.0,121.1,-7.2,143,1411,0.00,2.20,0.00,0.000,4,0.000,0.021,2828,3118,3554
$GC,1446,-1.10,-146.0,123.9,-6.9,146,1449,0.00,2.22,0.00,0.000,6,0.000,0.035,2828,1712,3554
$GC,1717,-1.10,-146.0,142.7,-6.7,171,1721,0.00,2.20,0.00,0.000,4,0.000,0.022,2828,3117,3554
$GC,1745,-1.10,-146.0,144.6,-6.9,173,1749,0.00,2.22,0.00,0.000,6,0.000,0.032,2827,1713,3553
$GC,2010,-1.10,-146.0,162.6,-6.8,197,2014,0.00,2.20,0.00,0.000,4,0.000,0.021,2828,3120,3553
$GC,2027,-1.10,-146.0,164.0,-7.1,198,2035,0.00,2.25,0.00,0.000,6,0.000,0.034,2828,1719,3553
$GC,2292,-1.10,-146.0,182.8,-7.0,223,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1719,3552
$GC,2584,-1.10,-146.0,203.0,-6.7,248,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1719,3552
$GC,2828,-1.10,-146.0,219.0,-6.4,254,2831,0.00,2.20,0.00,0.000,4,0.000,0.031,2828,3118,3552
$GC,2850,-1.10,-146.0,220.4,-5.9,254,2854,0.00,2.22,0.00,0.000,6,0.000,0.033,2828,1723,3551
$GC,3115,-1.10,-146.0,234.7,-5.3,261,3119,0.00,2.20,0.00,0.000,4,0.000,0.031,2828,3118,3550
$GC,3132,-1.10,-146.0,235.9,-5.3,261,3136,0.00,2.25,0.00,0.000,6,0.000,0.037,2828,1714,3550
$GC,3401,-1.10,-146.0,251.6,-6.1,268,3405,0.00,2.22,0.00,0.000,4,0.000,0.025,2827,3117,3549
$GC,3425,-1.10,-146.0,253.2,-6.3,268,3429,0.00,2.25,0.00,0.000,6,0.000,0.038,2828,1722,3549
$GC,3686,-1.10,-146.0,269.6,-6.2,275,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1722,3548
$GC,3934,-1.10,-146.0,283.3,-5.5,281,3937,0.00,2.22,0.00,0.000,4,0.000,0.030,2828,3116,3547
$GC,3968,-1.10,-146.0,285.5,-6.0,281,3972,0.00,2.28,0.00,0.000,6,0.000,0.041,2827,1716,3547
$GC,4225,-1.10,-146.0,300.0,-5.8,288,4229,0.00,2.45,0.00,0.000,4,0.000,0.084,2827,309,3545
$GC,4258,-1.10,-146.0,302.2,-6.1,288,4264,0.00,2.17,0.00,0.000,6,0.000,0.027,2828,1720,3545
$GC,4510,-1.10,-146.0,315.9,-5.5,295,4514,0.00,2.25,0.00,0.000,4,0.000,0.042,2827,3130,3544
$GC,4562,-1.10,-146.0,318.8,-5.2,296,4566,0.00,2.30,0.00,0.000,6,0.000,0.044,2828,1719,3543
$GC,4834,-1.10,-146.0,333.0,-5.1,303,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1719,3542
$GC,5078,-1.10,-146.0,344.0,-4.4,309,5082,0.00,2.25,0.00,0.000,4,0.000,0.035,2827,3121,3540
$GC,5112,-1.10,-146.0,345.7,-4.8,309,5116,0.00,2.30,0.00,0.000,6,0.000,0.041,2828,1723,3540
$GC,5365,-1.10,-146.0,357.7,-5.0,315,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1722,3538
$GC,5609,-1.10,-146.0,368.8,-4.4,321,5613,0.00,2.28,0.00,0.000,4,0.000,0.043,2828,3127,3537
$GC,5631,-1.10,-146.0,370.1,-5.0,321,5636,0.00,2.35,0.00,0.000,6,0.000,0.051,2827,1714,3537
$GC,5889,-1.10,-146.0,381.6,-4.6,328,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1714,3535
$GC,6132,-1.10,-146.0,392.3,-4.3,334,6136,0.00,2.28,0.00,0.000,4,0.000,0.038,2827,3116,3534
$GC,6154,-1.10,-146.0,393.4,-4.9,334,6158,0.00,2.35,0.00,0.000,6,0.000,0.050,2828,1714,3534
$GC,6414,-1.10,-146.0,404.9,-4.4,341,6418,0.00,2.55,0.00,0.000,4,0.000,0.102,2828,306,3532
$GC,6442,-1.10,-146.0,406.4,-4.5,341,6446,0.00,2.20,0.00,0.000,6,0.000,0.025,2828,1712,3532
$GC,6698,-1.10,-146.0,418.2,-4.9,348,6702,0.00,2.33,0.00,0.000,4,0.000,0.051,2827,3126,3531
$GC,6748,-1.10,-146.0,421.1,-5.6,349,6752,0.00,2.35,0.00,0.000,6,0.000,0.053,2828,1716,3530
$GC,7024,-1.10,-146.0,437.1,-5.9,356,7028,0.00,2.58,0.00,0.000,4,0.000,0.108,2827,310,3530
$GC,7053,-1.10,-146.0,439.0,-6.2,356,7057,0.00,2.22,0.00,0.000,6,0.000,0.028,2827,1714,3529
$GC,7309,-1.10,-146.0,454.1,-5.7,363,7313,0.00,2.38,0.00,0.000,4,0.000,0.061,2827,3124,3528
$GC,7337,-1.10,-146.0,455.8,-5.8,363,7341,0.00,2.38,0.00,0.000,6,0.000,0.054,2827,1710,3528
$GC,7588,-1.10,-146.0,468.5,-5.0,369,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1710,3526
$STATE,7828,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7828,begin apogee
$GC,7836,-0.31,0.0,479.6,4.5,375,7954,0.75,0.00,114.62,0.932,6,0.059,0.000,3006,1874,2956
$STATE,7955,end apogee,CONTROL_FINISHED_OK
$STATE,7955,begin climb
$GC,7958,1.10,146.0,484.1,0.0,378,8085,1.25,0.00,122.35,0.906,6,0.042,0.000,3326,1873,2360
$GC,8328,1.10,146.0,460.6,9.8,387,8331,0.00,2.22,0.00,0.000,4,0.000,0.044,3326,3203,2349
$GC,8439,1.10,146.0,449.2,10.1,389,8444,0.00,2.35,0.00,0.000,6,0.000,0.054,3326,1823,2347
$GC,8703,1.10,146.0,424.6,9.4,396,8707,0.00,2.28,0.00,0.000,4,0.000,0.040,3326,3204,2345
$GC,8765,1.10,146.0,418.5,9.6,397,8770,0.00,2.33,0.00,0.000,6,0.000,0.048,3326,1826,2345
$GC,9027,1.10,146.0,393.7,9.5,404,9031,0.00,2.28,0.00,0.000,4,0.000,0.035,3326,3218,2343
$GC,9138,1.10,146.0,382.8,9.4,406,9142,0.00,2.33,0.00,0.000,6,0.000,0.044,3326,1828,2343
$GC,9395,1.10,146.0,359.6,9.1,413,9398,0.00,2.22,0.00,0.000,4,0.000,0.034,3325,3208,2342
$GC,9496,1.10,146.0,350.2,8.7,415,9500,0.00,2.30,0.00,0.000,6,0.000,0.046,3326,1826,2341
$GC,9768,1.10,151.1,327.5,8.1,422,9772,0.00,2.22,0.00,0.000,4,0.000,0.033,3326,3211,2341
$GC,9864,1.10,151.1,319.1,8.8,424,9868,0.00,2.28,0.00,0.000,6,0.000,0.036,3326,1817,2340
$GC,10152,1.10,151.1,294.1,9.0,431,10156,0.00,2.22,0.00,0.000,4,0.000,0.036,3326,3208,2339
$GC,10186,1.10,151.1,290.4,9.7,431,10190,0.00,2.22,0.00,0.000,6,0.000,0.034,3325,1830,2339
$GC,10442,1.11,156.0,269.3,8.1,438,10453,0.00,2.22,6.15,0.638,4,0.000,0.029,3325,3213,2319
$GC,10555,1.11,156.0,259.7,8.3,440,10559,0.00,2.25,0.00,0.000,6,0.000,0.031,3326,1827,2318
$GC,10811,1.12,166.5,239.2,7.9,447,10827,0.00,2.22,10.90,0.697,4,0.000,0.030,3326,3210,2277
$GC,10987,1.14,181.3,225.4,7.8,451,11006,0.00,2.22,13.98,0.696,6,0.000,0.036,3326,1826,2217
$GC,11275,1.15,191.0,202.1,8.0,458,11289,0.00,2.25,9.60,0.646,4,0.000,0.028,3326,3211,2176
$GC,11366,1.15,191.0,194.2,9.9,463,11370,0.00,2.25,0.00,0.000,6,0.000,0.040,3326,1823,2174
$GC,11635,1.15,191.0,169.6,8.7,488,11639,0.00,2.22,0.00,0.000,4,0.000,0.026,3325,3215,2173
$GC,11693,1.15,191.0,164.3,9.9,493,11697,0.00,2.25,0.00,0.000,6,0.000,0.037,3326,1825,2173
$GC,11960,1.15,191.0,140.2,8.7,517,11963,0.00,2.22,0.00,0.000,4,0.000,0.028,3326,3222,2173
$GC,12085,1.15,191.0,128.0,9.5,528,12089,0.00,2.25,0.00,0.000,6,0.000,0.038,3326,1827,2173
$GC,12351,1.15,191.0,104.6,8.7,552,12354,0.00,2.20,0.00,0.000,4,0.000,0.032,3326,3220,2173
$GC,12404,1.15,191.1,99.5,8.3,556,12412,0.00,2.28,0.00,0.000,6,0.000,0.038,3326,1826,2173
$GC,12670,1.17,209.0,78.8,7.6,581,12698,0.00,2.28,16.62,0.565,4,0.000,0.031,3326,3220,2102
$GC,12723,1.17,209.0,74.1,8.9,585,12728,0.00,2.25,0.00,0.000,6,0.000,0.039,3326,1829,2101
$GC,12995,1.21,239.4,52.1,7.2,610,13027,0.00,2.25,27.02,0.553,4,0.000,0.025,3326,3224,1977
$GC,13087,1.22,250.5,45.1,7.9,617,13102,0.00,2.28,10.45,0.502,6,0.000,0.032,3326,1823,1934
$GC,13363,1.22,250.5,20.8,8.5,651,13372,0.00,2.25,0.00,0.000,4,0.000,0.027,3326,3218,1930
$GC,13409,1.22,250.5,16.6,9.2,658,13417,0.00,2.28,0.00,0.000,6,0.000,0.039,3326,1830,1929
$STATE,13566,end climb,SURFACE_DEPTH_REACHED
$STATE,13566,begin surface coast
$FINISH,0.6,1.010182
$STATE,13604,end surface coast,CONTROL_FINISHED_OK
$STATE,13604,begin surface
$SM_CCo,13628,280.80,0.506,0,0,476,608.10
$SM_GC,1.05,0.00,0.00,280.80,0.000,0.000,0.506,466,1698,476,-12.00,-0.62,608.10
$IRIDIUM_FIX,2246.36,-15741.52,030998,181835
$TT8_MAMPS,0.025311
$HUMID,1546
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,22.80
$XPDR_PINGS,110
$24V_AH,23.6,28.251
$10V_AH,10.7,26.557
$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,26.475,154.575,331.700,280.800,0.000,147.639,170.079,366.025,27.500,0.000,0.000,145.849,1376.320,9062.521,715.178,2874.659,1102.147,33.366,1664.378,0.000,2530.023,0.000,0.537,0.000
$DEVICE_MAMPS,174.876,120.419,931.905,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,472.214,2008.487,535.719,738.171,1549.319,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50863,692
$CAP_FILE_SIZE,124940,0
$CFSIZE,260165632,219099136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090609,221815,2254.125,-15742.025,69,99.0,88,10.1