version: 66.04
glider: 146
mission: 4
dive: 13
start: 5 13 109 20 19 17
data:
$ID,146
$MISSION,4
$DIVE,13
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,750
$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,300
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27900.326
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3120
$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,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,73
$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
$GPS1,200907,2153.406,-15809.354,30,0.9,30,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.7
$GPS2,201820,2153.460,-15809.426,10,1.3,10,9.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.196,0.170
$KALMAN_X,3445.0,-2679.1,-1005.5,-1218.5,2698.3
$KALMAN_Y,-2892.6,130.8,-267.7,16818.3,6.0
$MHEAD_RNG_PITCHd_Wd,301.1,96800,-17.5,-10.000
$D_GRID,600
$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,-1.27,-146.0,0.0,0.0,0,104,0.00,0.00,-85.57,0.000,2,0.000,0.000,479,1922,3302
$GC,108,-1.27,-146.0,3.3,-5.2,11,133,13.15,2.20,-4.60,0.000,4,0.177,0.046,2836,3267,3553
$GC,286,-1.27,-146.0,34.8,-11.2,38,291,0.00,2.22,0.00,0.000,6,0.000,0.038,2835,1897,3554
$GC,556,-1.27,-146.0,66.8,-11.7,63,560,0.00,2.40,0.00,0.000,4,0.000,0.061,2835,496,3555
$GC,678,-1.27,-146.0,81.9,-12.3,73,686,0.00,2.15,0.00,0.000,6,0.000,0.024,2835,1885,3556
$GC,941,-1.27,-146.0,110.1,-10.3,98,945,0.00,2.38,0.00,0.000,4,0.000,0.067,2835,500,3556
$GC,978,-1.27,-146.0,113.8,-10.4,101,982,0.00,2.15,0.00,0.000,6,0.000,0.025,2835,1912,3556
$GC,1248,-1.27,-146.0,140.0,-9.2,126,1252,0.00,2.45,0.00,0.000,4,0.000,0.069,2835,491,3556
$GC,1287,-1.27,-146.0,144.0,-9.5,129,1294,0.00,2.17,0.00,0.000,6,0.000,0.026,2835,1894,3556
$GC,1549,-1.27,-146.0,165.6,-8.6,154,1553,0.00,2.40,0.00,0.000,4,0.000,0.065,2835,498,3556
$GC,1610,-1.27,-146.0,171.0,-9.6,159,1614,0.00,2.15,0.00,0.000,6,0.000,0.028,2835,1902,3556
$GC,1878,-1.27,-146.0,195.5,-8.4,184,1882,0.00,2.42,0.00,0.000,4,0.000,0.071,2835,502,3557
$GC,1929,-1.27,-146.0,200.4,-9.5,188,1933,0.00,2.15,0.00,0.000,6,0.000,0.028,2835,1894,3557
$GC,2208,-1.27,-146.0,226.6,-9.2,195,2212,0.00,2.42,0.00,0.000,4,0.000,0.074,2835,496,3557
$GC,2259,-1.27,-146.0,231.0,-8.2,196,2264,0.00,2.20,0.00,0.000,6,0.000,0.031,2835,1907,3557
$GC,2533,-1.27,-146.0,250.3,-6.9,203,2537,0.00,2.45,0.00,0.000,4,0.000,0.071,2835,501,3557
$GC,2606,-1.27,-146.0,255.9,-7.6,204,2610,0.00,2.20,0.00,0.000,6,0.000,0.028,2835,1903,3556
$GC,2862,-1.27,-146.0,274.2,-7.1,211,2866,0.00,2.47,0.00,0.000,4,0.000,0.074,2835,496,3556
$GC,2896,-1.27,-146.0,277.0,-8.1,211,2902,0.00,2.22,0.00,0.000,6,0.000,0.033,2835,1896,3555
$GC,3147,-1.27,-146.0,296.1,-7.6,218,3151,0.00,2.45,0.00,0.000,4,0.000,0.078,2835,493,3555
$GC,3203,-1.27,-146.0,300.1,-7.1,219,3208,0.00,2.25,0.00,0.000,6,0.000,0.030,2835,1901,3554
$GC,3477,-1.27,-146.0,319.3,-7.3,226,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1901,3553
$GC,3720,-1.27,-146.0,337.1,-7.2,232,3725,0.00,2.50,0.00,0.000,4,0.000,0.082,2835,493,3552
$GC,3782,-1.27,-146.0,341.4,-6.7,233,3787,0.00,2.28,0.00,0.000,6,0.000,0.038,2835,1906,3552
$GC,4045,-1.27,-146.0,355.5,-5.2,240,4049,0.00,2.50,0.00,0.000,4,0.000,0.079,2835,498,3550
$GC,4095,-1.27,-146.0,358.6,-6.3,241,4099,0.00,2.28,0.00,0.000,6,0.000,0.040,2835,1907,3550
$GC,4368,-1.27,-146.0,376.0,-6.7,248,4372,0.00,2.50,0.00,0.000,4,0.000,0.080,2835,501,3548
$GC,4424,-1.27,-146.0,380.4,-7.6,249,4428,0.00,2.28,0.00,0.000,6,0.000,0.042,2835,1898,3548
$GC,4691,-1.27,-146.0,398.3,-6.4,256,4695,0.00,2.50,0.00,0.000,4,0.000,0.088,2835,498,3546
$GC,4758,-1.27,-146.0,402.7,-6.5,257,4762,0.00,2.30,0.00,0.000,6,0.000,0.041,2835,1899,3546
$GC,5020,-1.27,-146.0,420.5,-7.0,264,5024,0.00,2.50,0.00,0.000,4,0.000,0.091,2835,503,3545
$GC,5109,-1.27,-146.0,428.3,-8.9,266,5114,0.00,2.30,0.00,0.000,6,0.000,0.043,2835,1898,3545
$GC,5388,-1.27,-146.0,450.5,-8.1,273,5392,0.00,2.53,0.00,0.000,4,0.000,0.090,2835,505,3543
$GC,5445,-1.27,-146.0,455.4,-8.7,274,5449,0.00,2.33,0.00,0.000,6,0.000,0.050,2835,1904,3543
$GC,5712,-1.27,-146.0,475.9,-7.6,281,5716,0.00,2.55,0.00,0.000,4,0.000,0.099,2835,505,3542
$GC,5768,-1.27,-146.0,480.7,-8.5,282,5772,0.00,2.35,0.00,0.000,6,0.000,0.047,2835,1908,3541
$GC,6035,-1.27,-146.0,500.3,-7.1,289,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1908,3540
$GC,6279,-1.27,-146.0,517.1,-6.9,295,6282,0.00,2.60,0.00,0.000,4,0.000,0.104,2834,500,3539
$GC,6330,-1.27,-146.0,520.9,-7.5,296,6334,0.00,2.38,0.00,0.000,6,0.000,0.058,2835,1904,3538
$GC,6608,-1.27,-146.0,540.8,-7.2,303,6612,0.00,2.60,0.00,0.000,4,0.000,0.110,2835,506,3537
$GC,6681,-1.27,-146.0,546.4,-7.4,304,6685,0.00,2.38,0.00,0.000,6,0.000,0.056,2835,1899,3536
$GC,6932,-1.27,-146.0,562.2,-6.1,310,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1899,3536
$GC,7175,-1.27,-146.0,576.2,-5.8,316,7180,0.00,2.65,0.00,0.000,4,0.000,0.116,2835,503,3535
$GC,7277,-1.27,-146.0,582.6,-6.1,318,7282,0.00,2.42,0.00,0.000,6,0.000,0.064,2835,1904,3534
$GC,7545,-1.27,-146.0,597.0,-5.3,325,7549,0.00,2.67,0.00,0.000,4,0.000,0.120,2835,501,3533
$GC,7573,-1.27,-146.0,598.7,-5.6,325,7577,0.00,2.42,0.00,0.000,6,0.000,0.066,2835,1901,3533
$STATE,7618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7618,begin apogee
$GC,7627,-0.31,0.0,601.2,5.5,326,7750,0.95,0.00,119.97,1.035,6,0.079,0.000,3049,1809,2956
$STATE,7751,end apogee,CONTROL_FINISHED_OK
$STATE,7751,begin climb
$GC,7754,1.27,146.0,604.3,0.0,329,7890,1.50,2.78,126.82,1.007,4,0.049,0.112,3406,3213,2359
$GC,7992,1.27,146.0,588.3,14.9,335,7997,0.00,2.55,0.00,0.000,6,0.000,0.077,3406,1804,2351
$GC,8276,1.27,146.0,549.4,13.4,342,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1804,2346
$GC,8519,1.27,146.0,518.7,12.4,348,8523,0.00,2.45,0.00,0.000,4,0.000,0.061,3406,3221,2345
$GC,8547,1.27,146.0,514.9,13.2,348,8551,0.00,2.50,0.00,0.000,6,0.000,0.068,3406,1800,2345
$GC,8803,1.27,146.0,485.2,11.2,355,8807,0.00,2.42,0.00,0.000,4,0.000,0.051,3406,3225,2343
$GC,8965,1.27,146.0,466.4,12.2,358,8970,0.00,2.47,0.00,0.000,6,0.000,0.064,3406,1798,2343
$GC,9215,1.27,146.0,436.6,11.8,364,9219,0.00,2.38,0.00,0.000,4,0.000,0.048,3406,3234,2341
$GC,9233,1.27,146.0,434.5,11.8,364,9237,0.00,2.47,0.00,0.000,6,0.000,0.059,3405,1791,2342
$GC,9500,1.27,146.0,404.7,11.3,371,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1791,2341
$GC,9744,1.29,158.2,381.7,9.4,377,9758,0.00,2.42,8.38,0.796,4,0.000,0.044,3406,3226,2311
$GC,9765,1.31,175.8,379.6,9.2,377,9795,0.00,2.45,19.62,0.794,6,0.000,0.051,3406,1792,2239
$GC,10069,1.31,175.8,345.0,11.8,385,10073,0.00,2.38,0.00,0.000,4,0.000,0.038,3406,3240,2233
$GC,10137,1.31,175.8,336.7,12.0,386,10142,0.00,2.42,0.00,0.000,6,0.000,0.043,3405,1795,2232
$GC,10394,1.31,175.8,307.9,10.9,393,10398,0.00,2.35,0.00,0.000,4,0.000,0.035,3406,3232,2232
$GC,10618,1.31,175.8,280.6,10.5,398,10622,0.00,2.40,0.00,0.000,6,0.000,0.041,3405,1790,2231
$GC,10896,1.31,175.8,249.3,10.3,405,10900,0.00,2.35,0.00,0.000,4,0.000,0.034,3406,3237,2231
$GC,11036,1.34,198.7,235.3,8.9,408,11061,0.00,2.38,20.25,0.759,6,0.000,0.038,3406,1797,2145
$GC,11307,1.34,198.7,207.1,10.5,414,11311,0.00,2.35,0.00,0.000,4,0.000,0.034,3406,3240,2141
$GC,11385,1.34,198.7,197.3,12.1,415,11392,0.00,2.38,0.00,0.000,6,0.000,0.039,3406,1801,2140
$GC,11647,1.34,198.7,166.6,11.5,440,11651,0.00,2.42,0.00,0.000,4,0.000,0.074,3406,397,2140
$GC,11696,1.34,198.7,160.6,11.7,444,11703,0.00,2.28,0.00,0.000,6,0.000,0.028,3406,1836,2138
$GC,11961,1.34,198.7,134.8,10.4,469,11965,0.00,2.17,0.00,0.000,4,0.000,0.035,3406,3200,2138
$GC,12217,1.34,198.7,107.9,11.4,492,12221,0.00,2.30,0.00,0.000,6,0.000,0.043,3406,1795,2139
$GC,12481,1.37,225.1,80.9,8.8,516,12511,0.00,2.35,23.33,0.605,4,0.000,0.035,3406,3200,2038
$GC,12555,1.37,225.1,73.2,11.1,522,12559,0.00,2.33,0.00,0.000,6,0.000,0.038,3406,1790,2036
$GC,12825,1.38,234.2,45.7,9.6,547,12842,0.00,0.00,9.10,0.520,6,0.000,0.000,3406,1790,2000
$GC,13104,1.38,234.2,13.7,11.1,586,13111,0.00,2.28,0.00,0.000,4,0.000,0.032,3406,3189,1999
$GC,13120,1.39,238.2,12.0,9.8,588,13130,0.00,2.30,5.03,0.419,6,0.000,0.042,3406,1796,1985
$STATE,13201,end climb,SURFACE_DEPTH_REACHED
$STATE,13201,begin surface coast
$FINISH,0.6,1.016799
$STATE,13233,end surface coast,CONTROL_FINISHED_OK
$STATE,13233,begin surface
$SM_CCo,13258,147.38,0.532,0,0,1243,420.20
$SM_GC,1.26,0.00,0.00,147.38,0.000,0.000,0.532,476,1926,1243,-12.16,0.74,420.20
$IRIDIUM_FIX,2141.13,-15806.74,070898,161641
$TT8_MAMPS,0.026078
$HUMID,1488
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,21.90
$XPDR_PINGS,85
$24V_AH,23.4,4.215
$10V_AH,10.7,3.526
$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,27.625,162.400,332.500,147.375,0.000,24.487,30.306,288.281,21.250,0.000,0.000,11.724,1271.592,8972.006,587.243,2349.942,755.164,33.345,1523.048,0.000,2341.505,0.000,0.535,0.000
$DEVICE_MAMPS,177.177,182.546,1035.450,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,417.831,306.550,435.661,574.320,1208.546,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44597,607
$CAP_FILE_SIZE,124510,0
$CFSIZE,260165632,229437440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140509,000406,2154.347,-15811.619,35,0.9,40,9.9