version: 66.04
glider: 146
mission: 4
dive: 36
start: 5 17 109 23 51 55
data:
$ID,146
$MISSION,4
$DIVE,36
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,300
$T_MISSION,360
$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,-28304.061
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3030
$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,1790
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,46
$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
$GPS1,234107,2230.926,-15759.008,39,0.8,39,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.4
$GPS2,235101,2230.861,-15758.954,10,1.0,15,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.011,0.259
$KALMAN_X,-28954.4,6.8,2.9,45475.9,-115.7
$KALMAN_Y,-8973.7,-320.7,-115.9,92473.6,-89.4
$MHEAD_RNG_PITCHd_Wd,347.6,26246,-17.5,-10.000
$D_GRID,900
$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,-85.97,0.000,2,0.000,0.000,468,1774,3343
$GC,109,-1.27,-146.0,3.9,-6.9,11,135,12.73,2.30,-3.67,0.000,4,0.178,0.039,2746,3189,3556
$GC,286,-1.27,-146.0,46.8,-16.2,32,290,0.00,2.28,0.00,0.000,6,0.000,0.034,2746,1793,3557
$GC,550,-1.27,-146.0,91.8,-17.1,56,554,0.00,2.40,0.00,0.000,4,0.000,0.062,2746,386,3557
$GC,614,-1.27,-146.0,103.2,-17.5,61,619,0.00,2.15,0.00,0.000,6,0.000,0.020,2746,1812,3557
$GC,884,-1.27,-146.0,147.5,-16.3,86,888,0.00,2.45,0.00,0.000,4,0.000,0.059,2746,380,3558
$GC,950,-1.27,-146.0,158.6,-17.2,91,954,0.00,2.15,0.00,0.000,6,0.000,0.023,2747,1804,3558
$GC,1246,-1.27,-146.0,206.1,-15.0,116,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1807,3559
$GC,1490,-1.27,-146.0,239.6,-13.5,122,1494,0.00,2.45,0.00,0.000,4,0.000,0.071,2746,388,3558
$GC,1512,-1.27,-146.0,242.6,-13.4,122,1516,0.00,2.12,0.00,0.000,6,0.000,0.018,2747,1773,3559
$GC,1774,-1.27,-146.0,276.8,-12.9,129,1778,0.00,2.28,0.00,0.000,4,0.000,0.044,2746,3187,3559
$GC,1831,-1.27,-146.0,284.3,-12.9,130,1836,0.00,2.30,0.00,0.000,6,0.000,0.041,2747,1791,3559
$GC,2104,-1.27,-146.0,318.9,-12.4,137,2108,0.00,2.53,0.00,0.000,4,0.000,0.092,2746,385,3559
$GC,2149,-1.27,-146.0,324.7,-12.5,138,2154,0.00,2.22,0.00,0.000,6,0.000,0.037,2746,1774,3558
$GC,2428,-1.27,-146.0,356.7,-11.5,145,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1774,3557
$GC,2672,-1.27,-146.0,384.0,-11.1,151,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1775,3557
$GC,2915,-1.27,-146.0,411.3,-11.2,157,2919,0.00,2.50,0.00,0.000,4,0.000,0.093,2746,387,3555
$GC,2938,-1.27,-146.0,414.0,-11.7,157,2942,0.00,2.30,0.00,0.000,6,0.000,0.041,2747,1795,3555
$GC,3200,-1.27,-146.0,442.6,-10.8,164,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1796,3554
$GC,3443,-1.27,-146.0,469.5,-11.1,170,3447,0.00,2.45,0.00,0.000,4,0.000,0.083,2747,3199,3552
$GC,3499,-1.27,-146.0,475.5,-10.1,171,3503,0.00,2.42,0.00,0.000,6,0.000,0.062,2746,1796,3552
$GC,3772,-1.27,-146.0,503.6,-10.2,178,3776,0.00,2.72,0.00,0.000,4,0.000,0.122,2746,373,3549
$GC,3799,-1.27,-146.0,506.7,-11.0,178,3803,0.00,2.35,0.00,0.000,6,0.000,0.049,2746,1795,3549
$GC,4049,-1.27,-146.0,532.6,-10.4,184,4054,0.00,2.53,0.00,0.000,4,0.000,0.091,2746,3199,3548
$GC,4078,-1.27,-146.0,535.6,-10.3,184,4082,0.00,2.47,0.00,0.000,6,0.000,0.074,2746,1788,3548
$GC,4329,-1.27,-146.0,558.9,-9.2,190,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1789,3545
$GC,4572,-1.27,-146.0,582.6,-9.9,196,4577,0.00,2.83,0.00,0.000,4,0.000,0.144,2746,380,3544
$GC,4606,-1.27,-146.0,586.5,-11.1,196,4612,0.00,2.40,0.00,0.000,6,0.000,0.063,2746,1790,3544
$GC,4857,-1.27,-146.0,612.6,-10.3,203,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1790,3542
$GC,5101,-1.27,-146.0,637.3,-10.0,209,5105,0.00,2.75,0.00,0.000,4,0.000,0.126,2746,375,3540
$GC,5140,-1.27,-146.0,641.2,-10.1,210,5145,0.00,2.47,0.00,0.000,6,0.000,0.076,2747,1789,3540
$GC,5425,-1.27,-146.0,666.7,-8.6,217,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1788,3539
$GC,5669,-1.27,-146.0,687.4,-8.5,223,5673,0.00,2.70,0.00,0.000,4,0.000,0.125,2747,3207,3537
$GC,5685,-1.27,-146.0,689.0,-8.7,223,5690,0.00,2.72,0.00,0.000,6,0.000,0.125,2746,1793,3537
$GC,5947,-1.27,-146.0,712.3,-9.0,230,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1793,3535
$GC,6190,-1.27,-146.0,734.1,-9.0,236,6195,0.00,2.78,0.00,0.000,4,0.000,0.130,2746,3205,3533
$GC,6219,-1.27,-146.0,736.8,-9.7,236,6223,0.00,2.53,0.00,0.000,6,0.000,0.078,2746,1788,3533
$GC,6469,-1.27,-146.0,759.4,-9.0,242,6474,0.00,2.80,0.00,0.000,4,0.000,0.142,2746,375,3532
$GC,6492,-1.27,-146.0,761.7,-10.1,242,6496,0.00,2.40,0.00,0.000,6,0.000,0.058,2746,1798,3531
$GC,6748,-1.27,-146.0,786.3,-9.6,249,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1798,3531
$GC,6992,-1.27,-146.0,809.3,-9.4,255,6996,0.00,2.53,0.00,0.000,4,0.000,0.093,2746,3209,3529
$GC,7020,-1.27,-146.0,812.0,-9.8,255,7024,0.00,2.53,0.00,0.000,6,0.000,0.078,2746,1784,3529
$GC,7271,-1.27,-146.0,834.6,-9.0,261,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1783,3527
$GC,7515,-1.27,-146.0,857.4,-9.3,267,7519,0.00,2.47,0.00,0.000,4,0.000,0.067,2746,3204,3526
$GC,7537,-1.27,-146.0,859.4,-8.8,267,7541,0.00,2.50,0.00,0.000,6,0.000,0.080,2746,1786,3526
$GC,7799,-1.27,-146.0,881.7,-8.3,274,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1786,3525
$GC,8042,-1.27,-146.0,899.4,-7.1,280,8047,0.00,2.47,0.00,0.000,4,0.000,0.073,2746,3208,3524
$STATE,8050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8051,begin apogee
$GC,8061,-0.31,0.0,900.2,7.0,280,8188,0.95,0.00,123.78,1.266,6,0.093,0.000,2957,1847,2956
$STATE,8189,end apogee,CONTROL_FINISHED_OK
$STATE,8189,begin climb
$GC,8192,1.27,146.0,902.0,0.0,283,8333,1.52,2.55,132.93,1.227,4,0.061,0.064,3308,3266,2359
$GC,8359,1.27,146.0,891.8,11.9,287,8363,0.00,2.55,0.00,0.000,6,0.000,0.072,3308,1851,2354
$GC,8609,1.27,146.0,863.2,11.3,293,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1850,2347
$GC,8854,1.27,146.0,837.1,10.6,299,8858,0.00,2.45,0.00,0.000,4,0.000,0.056,3308,3271,2345
$GC,8898,1.27,146.0,832.3,11.4,300,8903,0.00,2.55,0.00,0.000,6,0.000,0.072,3307,1843,2344
$GC,9177,1.28,155.0,805.2,9.6,307,9190,0.00,2.53,6.45,0.946,4,0.000,0.060,3308,3267,2324
$GC,9214,1.30,169.5,801.6,9.3,307,9243,0.00,2.53,17.73,1.009,6,0.000,0.074,3308,1851,2264
$GC,9507,1.30,169.5,772.5,10.1,315,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1851,2259
$GC,9751,1.30,169.5,746.3,10.8,321,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1850,2258
$GC,9994,1.30,169.5,719.1,11.1,327,9998,0.00,2.42,0.00,0.000,4,0.000,0.053,3308,3271,2257
$GC,10027,1.30,169.5,715.3,11.1,327,10033,0.00,2.53,0.00,0.000,6,0.000,0.073,3308,1851,2257
$GC,10277,1.30,169.5,687.5,11.2,334,10281,0.00,2.42,0.00,0.000,4,0.000,0.054,3307,3272,2256
$GC,10323,1.30,169.5,682.2,11.6,335,10327,0.00,2.53,0.00,0.000,6,0.000,0.076,3308,1846,2255
$GC,10601,1.30,169.5,650.8,11.2,342,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1846,2255
$GC,10844,1.30,169.5,624.7,10.6,348,10849,0.00,2.78,0.00,0.000,4,0.000,0.132,3308,435,2254
$GC,10860,1.30,169.5,622.8,10.7,348,10864,0.00,2.35,0.00,0.000,6,0.000,0.040,3308,1863,2254
$GC,11127,1.30,169.5,594.0,10.8,355,11132,0.00,2.47,0.00,0.000,4,0.000,0.082,3308,3266,2254
$GC,11150,1.30,169.5,591.5,10.1,355,11154,0.00,2.47,0.00,0.000,6,0.000,0.071,3308,1850,2253
$GC,11406,1.32,182.7,567.1,9.4,362,11430,0.00,2.80,13.38,0.853,4,0.000,0.124,3308,443,2211
$GC,11454,1.32,182.7,562.2,11.3,363,11458,0.00,2.35,0.00,0.000,6,0.000,0.041,3308,1859,2209
$GC,11732,1.33,188.3,535.1,9.7,370,11746,0.00,2.55,6.75,0.861,4,0.000,0.080,3308,3261,2188
$GC,11770,1.33,188.3,531.4,10.0,370,11776,0.00,2.47,0.00,0.000,6,0.000,0.062,3308,1849,2187
$GC,12020,1.33,189.1,506.5,10.0,377,12024,0.00,2.38,0.00,0.000,4,0.000,0.052,3308,3262,2185
$GC,12038,1.34,196.4,504.7,9.7,377,12052,0.00,2.45,8.93,0.900,6,0.000,0.058,3307,1848,2155
$GC,12304,1.34,199.6,478.2,9.8,384,12313,0.00,2.72,4.30,0.680,4,0.000,0.117,3307,437,2142
$GC,12331,1.34,199.6,475.2,10.8,384,12335,0.00,2.33,0.00,0.000,6,0.000,0.030,3308,1862,2141
$GC,12587,1.36,212.2,451.1,9.4,391,12602,0.00,0.00,13.50,0.917,6,0.000,0.000,3308,1862,2090
$GC,12830,1.36,212.2,424.4,11.3,397,12834,0.00,2.38,0.00,0.000,4,0.000,0.058,3308,3270,2086
$GC,12846,1.36,212.2,422.4,12.0,397,12850,0.00,2.45,0.00,0.000,6,0.000,0.051,3308,1837,2086
$GC,13107,1.36,212.2,390.2,12.1,404,13111,0.00,2.55,0.00,0.000,4,0.000,0.096,3308,435,2086
$GC,13129,1.36,212.2,387.3,12.4,404,13134,0.00,2.30,0.00,0.000,6,0.000,0.028,3308,1864,2085
$GC,13385,1.36,212.2,360.0,10.2,411,13389,0.00,2.30,0.00,0.000,4,0.000,0.042,3308,3261,2085
$GC,13419,1.37,222.6,356.5,9.5,411,13434,0.00,2.40,10.15,0.815,6,0.000,0.048,3308,1839,2048
$GC,13708,1.37,222.6,325.4,11.1,419,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1840,2046
$GC,13951,1.37,222.6,300.2,10.1,425,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1840,2046
$GC,14195,1.37,222.6,275.6,10.0,431,14199,0.00,2.33,0.00,0.000,4,0.000,0.034,3308,3270,2046
$GC,14222,1.37,222.6,272.9,10.0,431,14227,0.00,2.38,0.00,0.000,6,0.000,0.040,3308,1837,2045
$GC,14479,1.42,261.7,251.9,8.2,438,14522,0.12,2.38,36.15,0.785,4,0.192,0.035,3341,3262,1888
$GC,14550,1.42,261.7,243.8,11.8,439,14555,0.00,2.38,0.00,0.000,6,0.000,0.040,3341,1846,1885
$GC,14806,1.42,261.7,214.3,11.7,446,14808,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1846,1883
$GC,15054,1.42,261.7,185.2,11.9,458,15056,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1846,1883
$GC,15309,1.42,261.7,156.0,11.7,482,15313,0.00,2.42,0.00,0.000,4,0.000,0.071,3341,441,1883
$GC,15329,1.42,261.7,154.0,11.2,483,15333,0.00,2.22,0.00,0.000,6,0.000,0.027,3341,1877,1881
$GC,15593,1.42,261.7,124.5,11.2,507,15597,0.00,2.45,0.00,0.000,4,0.000,0.064,3341,441,1881
$GC,15634,1.42,261.7,119.4,13.0,510,15639,0.00,2.17,0.00,0.000,6,0.000,0.021,3341,1848,1881
$GC,15898,1.42,261.7,87.3,11.8,534,15902,0.00,2.20,0.00,0.000,4,0.000,0.029,3341,3250,1882
$GC,15924,1.42,261.7,84.3,11.7,536,15928,0.00,2.30,0.00,0.000,6,0.000,0.038,3341,1840,1882
$GC,16193,1.42,261.7,53.2,11.1,561,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1839,1882
$GC,16459,1.42,261.7,24.4,12.0,590,16466,0.00,2.35,0.00,0.000,4,0.000,0.054,3341,445,1884
$GC,16497,1.42,261.7,19.7,14.0,596,16505,0.00,2.20,0.00,0.000,6,0.000,0.020,3341,1852,1883
$STATE,16636,end climb,SURFACE_DEPTH_REACHED
$STATE,16636,begin surface coast
$FINISH,1.3,1.023782
$STATE,16662,end surface coast,CONTROL_FINISHED_OK
$STATE,16662,begin surface
$SM_CCo,16687,128.60,0.537,0,0,1242,420.20
$SM_GC,1.10,0.00,0.00,128.60,0.000,0.000,0.537,471,1755,1242,-11.77,-0.96,420.20
$IRIDIUM_FIX,2223.01,-15759.78,110898,191915
$TT8_MAMPS,0.026078
$HUMID,1488
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,21.50
$XPDR_PINGS,96
$24V_AH,23.2,7.874
$10V_AH,10.7,6.117
$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,26.975,186.150,374.025,128.600,0.000,23.335,33.549,321.680,24.000,0.000,0.000,17.409,1282.714,12646.816,627.574,1988.614,838.080,33.366,1523.715,0.000,1981.154,0.000,0.535,0.000
$DEVICE_MAMPS,191.750,144.196,1266.317,536.900,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,432.277,262.646,366.641,443.634,935.421,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44444,625
$CAP_FILE_SIZE,132982,0
$CFSIZE,260165632,228044800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180509,043331,2232.926,-15759.127,37,1.1,37,10.0