version: 66.04
glider: 146
mission: 4
dive: 24
start: 5 15 109 16 2 27
data:
$ID,146
$MISSION,4
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28109.104
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3010
$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,1750
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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
$GPS1,155004,2211.211,-15808.438,7,5.0,26,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.1
$GPS2,160132,2211.260,-15808.574,15,2.0,15,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.217,0.142
$KALMAN_X,-14646.9,38.3,86.2,14515.9,-2287.3
$KALMAN_Y,-4887.5,-209.8,229.3,51624.3,-336.1
$MHEAD_RNG_PITCHd_Wd,46.9,64180,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,105,0.00,0.00,-85.93,0.000,2,0.000,0.000,477,1768,3333
$GC,109,-1.27,-146.0,3.7,-6.6,11,134,12.57,2.20,-3.90,0.000,4,0.179,0.040,2725,3137,3554
$GC,170,-1.27,-146.0,25.8,-22.6,20,178,0.00,2.30,0.00,0.000,6,0.000,0.041,2726,1756,3555
$GC,437,-1.27,-146.0,77.6,-18.8,46,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1756,3556
$GC,702,-1.27,-146.0,126.6,-18.4,71,705,0.00,2.20,0.00,0.000,4,0.000,0.032,2726,3144,3556
$GC,718,-1.27,-146.0,130.3,-18.0,72,727,0.00,2.28,0.00,0.000,6,0.000,0.037,2725,1749,3556
$GC,982,-1.27,-146.0,173.6,-16.3,97,986,0.00,2.40,0.00,0.000,4,0.000,0.071,2726,347,3556
$GC,999,-1.27,-146.0,177.2,-17.2,98,1008,0.00,2.15,0.00,0.000,6,0.000,0.025,2726,1764,3556
$GC,1265,-1.27,-146.0,220.9,-16.4,115,1269,0.00,2.12,0.00,0.000,4,0.000,0.026,2725,3121,3557
$GC,1316,-1.27,-146.0,228.6,-14.3,116,1320,0.00,2.22,0.00,0.000,6,0.000,0.038,2726,1743,3557
$GC,1594,-1.27,-146.0,269.2,-15.1,123,1597,0.00,2.20,0.00,0.000,4,0.000,0.037,2726,3120,3557
$GC,1656,-1.27,-146.0,277.7,-13.3,124,1660,0.00,2.25,0.00,0.000,6,0.000,0.045,2725,1748,3557
$GC,1923,-1.27,-146.0,314.1,-13.7,131,1926,0.00,2.20,0.00,0.000,4,0.000,0.044,2725,3111,3557
$GC,1984,-1.27,-146.0,322.4,-13.0,132,1989,0.00,2.28,0.00,0.000,6,0.000,0.053,2725,1752,3557
$GC,2252,-1.27,-146.0,357.5,-13.0,139,2256,0.00,2.58,0.00,0.000,4,0.000,0.103,2725,342,3556
$GC,2274,-1.27,-146.0,360.5,-12.9,139,2278,0.00,2.17,0.00,0.000,6,0.000,0.037,2726,1705,3556
$GC,2530,-1.27,-146.0,390.4,-11.5,146,2534,0.00,2.45,0.00,0.000,4,0.000,0.066,2726,3160,3555
$GC,2615,-1.27,-146.0,399.1,-9.5,147,2621,0.00,2.42,0.00,0.000,6,0.000,0.064,2725,1747,3555
$GC,2865,-1.27,-146.0,426.6,-11.2,154,2869,0.00,2.62,0.00,0.000,4,0.000,0.116,2725,340,3553
$GC,2905,-1.27,-146.0,431.6,-12.7,155,2909,0.00,2.30,0.00,0.000,6,0.000,0.044,2725,1753,3553
$GC,3189,-1.27,-146.0,466.3,-12.4,162,3193,0.00,2.45,0.00,0.000,4,0.000,0.081,2725,3158,3550
$GC,3217,-1.27,-146.0,470.0,-13.2,162,3221,0.00,2.42,0.00,0.000,6,0.000,0.062,2725,1751,3550
$GC,3467,-1.27,-146.0,500.5,-12.1,168,3471,0.00,2.40,0.00,0.000,4,0.000,0.062,2726,3163,3548
$GC,3507,-1.27,-146.0,505.1,-11.5,169,3511,0.00,2.47,0.00,0.000,6,0.000,0.071,2725,1744,3548
$GC,3790,-1.27,-146.0,537.2,-11.2,176,3794,0.00,2.42,0.00,0.000,4,0.000,0.062,2725,3155,3546
$GC,3813,-1.27,-146.0,539.8,-11.3,176,3817,0.00,2.47,0.00,0.000,6,0.000,0.078,2726,1749,3546
$GC,4068,-1.27,-146.0,567.0,-10.6,183,4072,0.00,2.42,0.00,0.000,4,0.000,0.070,2725,3153,3544
$GC,4085,-1.27,-146.0,568.8,-10.4,183,4089,0.00,2.50,0.00,0.000,6,0.000,0.082,2726,1748,3544
$GC,4352,-1.27,-146.0,595.8,-10.4,190,4356,0.00,2.47,0.00,0.000,4,0.000,0.080,2726,3155,3542
$GC,4386,-1.27,-146.0,599.3,-9.5,190,4392,0.00,2.55,0.00,0.000,6,0.000,0.093,2725,1747,3542
$STATE,4430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4430,begin apogee
$GC,4437,-0.31,0.0,603.9,9.9,192,4562,1.00,0.00,121.53,1.012,6,0.100,0.000,2939,1852,2956
$STATE,4563,end apogee,CONTROL_FINISHED_OK
$STATE,4563,begin climb
$GC,4566,1.27,146.0,607.4,0.0,195,4702,1.50,2.60,126.20,0.984,4,0.067,0.081,3286,3251,2359
$GC,4728,1.35,207.3,601.3,7.2,198,4788,0.00,2.58,54.40,0.960,6,0.000,0.087,3285,1848,2110
$GC,5063,1.40,246.4,572.9,8.2,207,5105,0.12,0.00,34.75,0.948,6,0.131,0.000,3316,1848,1950
$GC,5349,1.40,246.4,542.7,11.1,214,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1848,1944
$GC,5592,1.40,246.4,512.2,12.9,220,5597,0.00,2.70,0.00,0.000,4,0.000,0.117,3317,432,1941
$GC,5615,1.40,246.4,509.0,14.0,220,5619,0.00,2.35,0.00,0.000,6,0.000,0.044,3317,1846,1940
$GC,5871,1.40,246.4,474.8,13.3,227,5875,0.00,2.47,0.00,0.000,4,0.000,0.077,3316,3271,1939
$GC,5916,1.40,246.4,468.7,13.1,228,5921,0.00,2.47,0.00,0.000,6,0.000,0.067,3317,1845,1938
$GC,6206,1.40,246.4,431.2,12.8,235,6210,0.00,2.38,0.00,0.000,4,0.000,0.044,3316,3273,1938
$GC,6222,1.40,246.4,429.0,12.6,235,6226,0.00,2.45,0.00,0.000,6,0.000,0.060,3316,1844,1937
$GC,6484,1.40,246.4,395.4,13.0,242,6488,0.00,2.58,0.00,0.000,4,0.000,0.095,3316,437,1937
$GC,6556,1.40,246.4,384.9,13.6,243,6560,0.00,2.30,0.00,0.000,6,0.000,0.026,3316,1874,1935
$GC,6812,1.40,246.4,351.1,13.4,250,6816,0.00,2.28,0.00,0.000,4,0.000,0.044,3316,3268,1935
$GC,6853,1.40,246.4,345.4,13.6,251,6857,0.00,2.40,0.00,0.000,6,0.000,0.047,3317,1835,1935
$GC,7137,1.40,246.4,309.5,12.4,258,7141,0.00,2.45,0.00,0.000,4,0.000,0.080,3317,441,1934
$GC,7186,1.40,246.4,303.1,13.1,259,7191,0.00,2.25,0.00,0.000,6,0.000,0.022,3317,1867,1933
$GC,7460,1.40,250.2,275.5,9.8,266,7463,0.00,2.25,0.00,0.000,4,0.000,0.037,3317,3260,1933
$GC,7567,1.40,250.2,263.8,10.9,268,7571,0.00,2.35,0.00,0.000,6,0.000,0.045,3317,1837,1933
$GC,7833,1.40,250.2,235.7,10.7,275,7837,0.00,2.30,0.00,0.000,4,0.000,0.035,3316,3259,1933
$GC,7883,1.41,254.2,230.3,9.8,276,7893,0.00,2.33,4.97,0.578,6,0.000,0.043,3317,1839,1919
$GC,8156,1.43,269.5,204.4,9.3,283,8173,0.00,0.00,15.27,0.703,6,0.000,0.000,3317,1839,1857
$GC,8408,1.43,269.5,177.9,10.1,301,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1840,1854
$GC,8671,1.43,269.5,150.6,10.8,326,8675,0.00,2.40,0.00,0.000,4,0.000,0.063,3317,434,1854
$GC,8779,1.43,269.5,138.4,12.1,335,8783,0.00,2.22,0.00,0.000,6,0.000,0.021,3317,1874,1852
$GC,9044,1.43,269.5,111.5,10.0,359,9048,0.00,2.45,0.00,0.000,4,0.000,0.064,3317,437,1853
$GC,9064,1.43,272.2,109.5,9.9,360,9068,0.00,2.17,0.00,0.000,6,0.000,0.021,3317,1850,1852
$GC,9329,1.45,291.3,83.6,9.1,384,9357,0.00,0.00,20.02,0.588,6,0.000,0.000,3317,1853,1767
$GC,9614,1.47,302.2,56.5,9.5,411,9632,0.00,0.00,10.45,0.530,6,0.000,0.000,3317,1853,1724
$GC,9888,1.49,323.8,31.4,9.0,437,9914,0.00,2.42,20.02,0.538,4,0.000,0.058,3317,443,1634
$GC,9935,1.49,323.8,27.2,10.3,442,9943,0.00,2.22,0.00,0.000,6,0.000,0.022,3316,1845,1632
$STATE,10175,end climb,SURFACE_DEPTH_REACHED
$STATE,10175,begin surface coast
$FINISH,0.5,1.015706
$STATE,10203,end surface coast,CONTROL_FINISHED_OK
$STATE,10204,begin surface
$SM_CCo,10228,78.15,0.525,0,0,1243,420.20
$SM_GC,1.25,0.00,0.00,78.15,0.000,0.000,0.525,473,1722,1243,-11.67,-0.79,420.20
$IRIDIUM_FIX,2202.04,-15810.62,090898,161643
$TT8_MAMPS,0.025311
$HUMID,1497
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,22.10
$XPDR_PINGS,70
$24V_AH,23.4,5.896
$10V_AH,10.7,4.725
$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,26.725,123.700,407.625,78.150,0.000,55.181,60.053,336.205,17.500,0.000,0.000,19.408,968.370,6887.990,557.888,1795.435,792.764,33.360,1299.809,0.000,1792.469,0.000,0.536,0.000
$DEVICE_MAMPS,179.478,158.769,1012.440,524.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.912,253.742,360.281,484.896,1020.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35062,490
$CAP_FILE_SIZE,94658,0
$CFSIZE,260165632,228839424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150509,185536,2211.971,-15807.966,35,1.3,40,10.0