version: 66.04
glider: 146
mission: 4
dive: 5
start: 5 13 109 1 7 13
data:
$ID,146
$MISSION,4
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$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,66
$T_MISSION,120
$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,1.0232
$MASS,52405
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27760.002
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3041
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3488
$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
$GPS1,005919,2146.946,-15806.429,8,1.0,13,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.3
$GPS2,010619,2146.947,-15806.404,8,1.0,13,9.9
$SPEED_LIMITS,0.144,0.261
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.223,0.136
$KALMAN_X,1795.9,1154.6,763.6,13.3,939.4
$KALMAN_Y,-84.8,-210.7,-182.9,2206.4,16.6
$MHEAD_RNG_PITCHd_Wd,291.4,108069,-17.6,-10.101
$D_GRID,200
$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,-1.28,-146.6,0.0,0.0,0,89,0.00,0.00,-70.55,0.000,2,0.000,0.000,477,2070,3382
$GC,93,-1.28,-146.6,3.6,-6.9,9,127,12.48,2.22,-9.80,0.000,4,0.173,0.048,2756,3444,3957
$GC,218,-1.28,-146.6,37.3,-16.7,26,222,0.00,2.25,0.00,0.000,6,0.000,0.036,2756,2038,3957
$GC,482,-1.28,-146.6,89.0,-18.9,50,486,0.00,2.33,0.00,0.000,4,0.000,0.056,2755,650,3957
$GC,604,-1.28,-146.6,113.6,-19.2,60,612,0.00,2.17,0.00,0.000,6,0.000,0.021,2756,2062,3957
$GC,869,-1.28,-146.6,156.7,-16.1,85,873,0.00,2.38,0.00,0.000,4,0.000,0.063,2756,654,3957
$GC,975,-1.28,-146.6,174.9,-15.6,94,979,0.00,2.15,0.00,0.000,6,0.000,0.034,2756,2052,3957
$STATE,1144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1144,begin apogee
$GC,1151,-0.31,0.0,200.2,14.5,110,1244,0.95,0.00,89.65,0.638,6,0.078,0.000,2970,2053,3487
$STATE,1244,end apogee,CONTROL_FINISHED_OK
$STATE,1244,begin climb
$GC,1248,1.28,146.6,204.4,0.0,112,1371,1.42,2.47,112.53,0.627,4,0.041,0.067,3321,654,2889
$GC,1472,1.66,452.2,216.4,-4.1,117,1723,0.35,2.20,241.73,0.637,6,0.048,0.031,3408,2059,1643
$GC,1986,1.66,452.2,152.4,17.4,146,1990,0.00,2.25,0.00,0.000,4,0.000,0.038,3408,3448,1636
$GC,2170,1.66,452.2,122.0,16.1,162,2174,0.00,2.28,0.00,0.000,6,0.000,0.039,3408,2057,1634
$GC,2439,1.66,452.2,76.3,16.6,187,2443,0.00,2.40,0.00,0.000,4,0.000,0.067,3408,644,1633
$GC,2503,1.66,452.2,65.4,16.1,192,2508,0.00,2.17,0.00,0.000,6,0.000,0.024,3408,2045,1632
$GC,2768,1.66,452.2,28.0,13.5,217,2777,0.00,2.25,0.00,0.000,4,0.000,0.038,3408,3445,1632
$GC,2807,1.66,452.2,22.6,13.0,223,2816,0.00,2.30,0.00,0.000,6,0.000,0.038,3408,2042,1632
$STATE,2947,end climb,SURFACE_DEPTH_REACHED
$STATE,2947,begin surface coast
$FINISH,0.2,0.997516
$STATE,2975,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,3059,0.00,0.000,0,0,1626,456.75
$SM_GC,1.28,11.88,0.00,0.00,0.030,0.000,0.000,471,2039,1626,-11.73,-0.31,456.75
$IRIDIUM_FIX,2138.81,-15809.76,070898,000023
$TT8_MAMPS,0.025311
$HUMID,1521
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,22.00
$XPDR_PINGS,22
$24V_AH,23.7,3.270
$10V_AH,10.9,2.671
$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,27.075,31.825,443.900,0.000,0.000,28.092,36.243,216.204,5.500,0.000,0.000,15.234,477.837,1047.852,421.754,1089.573,453.415,33.330,840.104,0.000,1090.560,0.000,0.538,0.000
$DEVICE_MAMPS,173.342,66.729,638.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,172.061,171.762,246.425,364.593,769.928,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19232,252
$CAP_FILE_SIZE,39036,0
$CFSIZE,260165632,229908480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130509,015919,2147.096,-15806.164,11,1.1,29,9.9