version: 66.04
glider: 146
mission: 4
dive: 41
start: 5 19 109 0 31 21
data:
$ID,146
$MISSION,4
$DIVE,41
$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,-28408.432
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3050
$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,1830
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,49
$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
$GPS1,002030,2241.179,-15759.748,36,0.9,41,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.5
$GPS2,003026,2241.115,-15759.667,13,1.0,13,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,WP0
$TGT_LATLONG,2251.435,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.004,0.260
$KALMAN_X,-30151.7,139.9,21.1,45300.6,-178.5
$KALMAN_Y,-13577.5,-340.0,15.7,115953.9,-923.5
$MHEAD_RNG_PITCHd_Wd,350.8,19121,-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,-85.65,0.000,2,0.000,0.000,475,1777,3276
$GC,109,-1.27,-146.0,3.0,-4.2,11,135,12.82,2.30,-5.25,0.000,4,0.179,0.037,2765,3224,3554
$GC,149,-1.27,-146.0,17.7,-34.0,16,158,0.00,2.30,0.00,0.000,6,0.000,0.039,2765,1829,3555
$GC,417,-1.27,-146.0,64.1,-17.3,46,421,0.00,2.38,0.00,0.000,4,0.000,0.058,2765,429,3556
$GC,487,-1.27,-146.0,76.4,-17.2,52,491,0.00,2.15,0.00,0.000,6,0.000,0.017,2765,1850,3556
$GC,757,-1.27,-146.0,115.7,-13.5,77,761,0.00,2.42,0.00,0.000,4,0.000,0.058,2765,426,3557
$GC,779,-1.27,-146.0,119.2,-13.7,78,787,0.00,2.15,0.00,0.000,6,0.000,0.024,2766,1834,3556
$GC,1043,-1.27,-146.0,152.6,-12.5,103,1047,0.00,2.40,0.00,0.000,4,0.000,0.063,2765,423,3557
$GC,1075,-1.27,-146.0,156.8,-13.9,105,1079,0.00,2.12,0.00,0.000,6,0.000,0.022,2765,1827,3557
$GC,1342,-1.27,-146.0,191.7,-14.1,130,1346,0.00,2.40,0.00,0.000,4,0.000,0.058,2765,426,3557
$GC,1376,-1.27,-146.0,196.9,-15.5,132,1385,0.00,2.15,0.00,0.000,6,0.000,0.024,2765,1829,3557
$GC,1648,-1.27,-146.0,236.3,-14.3,141,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1830,3557
$GC,1892,-1.27,-146.0,270.4,-14.1,147,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1830,3558
$GC,2135,-1.27,-146.0,300.3,-11.8,153,2139,0.00,2.45,0.00,0.000,4,0.000,0.073,2765,430,3558
$GC,2171,-1.27,-146.0,304.3,-11.6,153,2177,0.00,2.17,0.00,0.000,6,0.000,0.028,2765,1796,3557
$GC,2421,-1.27,-146.0,331.2,-10.5,160,2425,0.00,2.40,0.00,0.000,4,0.000,0.053,2765,3245,3557
$GC,2449,-1.27,-146.0,334.2,-10.9,160,2453,0.00,2.35,0.00,0.000,6,0.000,0.049,2765,1841,3557
$GC,2700,-1.27,-146.0,358.9,-9.7,166,2704,0.00,2.58,0.00,0.000,4,0.000,0.094,2765,414,3557
$GC,2751,-1.27,-146.0,364.4,-10.8,167,2755,0.00,2.28,0.00,0.000,6,0.000,0.031,2765,1823,3556
$GC,3029,-1.27,-146.0,392.4,-10.2,174,3033,0.00,2.40,0.00,0.000,4,0.000,0.058,2765,3249,3555
$GC,3062,-1.27,-146.0,395.8,-10.1,174,3068,0.00,2.42,0.00,0.000,6,0.000,0.061,2765,1825,3555
$GC,3313,-1.27,-146.0,421.7,-10.5,181,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1825,3553
$GC,3556,-1.27,-146.0,447.6,-10.7,187,3560,0.00,2.60,0.00,0.000,4,0.000,0.108,2765,420,3552
$GC,3595,-1.27,-146.0,452.1,-11.9,188,3599,0.00,2.30,0.00,0.000,6,0.000,0.044,2765,1830,3552
$GC,3885,-1.27,-146.0,482.7,-10.4,195,3889,0.00,2.55,0.00,0.000,4,0.000,0.093,2765,418,3550
$GC,3918,-1.27,-146.0,486.4,-10.7,195,3923,0.00,2.33,0.00,0.000,6,0.000,0.048,2765,1829,3549
$GC,4169,-1.27,-146.0,512.0,-10.3,201,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1829,3548
$GC,4413,-1.27,-146.0,536.3,-10.0,207,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1829,3546
$GC,4656,-1.27,-146.0,559.6,-9.3,213,4661,0.00,2.58,0.00,0.000,4,0.000,0.107,2765,3238,3545
$GC,4674,-1.27,-146.0,561.1,-8.8,213,4678,0.00,2.45,0.00,0.000,6,0.000,0.068,2765,1831,3545
$GC,4935,-1.27,-146.0,582.2,-8.0,220,4940,0.00,2.78,0.00,0.000,4,0.000,0.138,2765,422,3543
$GC,4986,-1.27,-146.0,586.7,-9.2,221,4990,0.00,2.40,0.00,0.000,6,0.000,0.058,2765,1833,3543
$GC,5259,-1.27,-146.0,608.5,-8.0,228,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1833,3540
$GC,5502,-1.27,-146.0,627.6,-7.9,234,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1833,3539
$GC,5746,-1.27,-146.0,648.1,-8.6,240,5751,0.00,2.75,0.00,0.000,4,0.000,0.125,2765,417,3538
$GC,5770,-1.27,-146.0,650.1,-8.6,240,5774,0.00,2.47,0.00,0.000,6,0.000,0.071,2765,1829,3537
$GC,6026,-1.27,-146.0,673.5,-9.1,247,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1829,3535
$GC,6269,-1.27,-146.0,695.9,-9.1,253,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1829,3534
$GC,6513,-1.27,-146.0,717.4,-8.6,259,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1829,3533
$GC,6757,-1.27,-146.0,737.8,-8.3,265,6761,0.00,3.00,0.00,0.000,4,0.000,0.176,2765,423,3531
$GC,6779,-1.27,-146.0,739.8,-8.7,265,6784,0.00,2.65,0.00,0.000,6,0.000,0.116,2765,1827,3531
$GC,7036,-1.27,-146.0,760.7,-8.1,272,7040,0.00,2.85,0.00,0.000,4,0.000,0.153,2765,3242,3530
$GC,7052,-1.27,-146.0,762.2,-8.3,272,7056,0.00,2.47,0.00,0.000,6,0.000,0.077,2765,1834,3530
$GC,7313,-1.27,-146.0,783.1,-7.9,279,7318,0.00,2.75,0.00,0.000,4,0.000,0.138,2766,418,3529
$GC,7359,-1.27,-146.0,787.1,-8.7,280,7363,0.00,2.38,0.00,0.000,6,0.000,0.050,2765,1843,3528
$GC,7637,-1.27,-146.0,809.9,-8.1,287,7641,0.00,2.62,0.00,0.000,4,0.000,0.100,2765,412,3527
$GC,7666,-1.27,-146.0,812.5,-9.0,287,7671,0.00,2.38,0.00,0.000,6,0.000,0.046,2765,1831,3527
$GC,7918,-1.27,-146.0,832.1,-7.8,293,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1831,3526
$GC,8161,-1.27,-146.0,850.3,-7.4,299,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1831,3524
$GC,8404,-1.27,-146.0,868.7,-7.6,305,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1831,3523
$GC,8648,-1.27,-146.0,887.1,-7.3,311,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1831,3523
$STATE,8848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8848,begin apogee
$GC,8856,-0.31,0.0,901.6,7.2,316,8982,0.98,0.00,122.78,1.277,6,0.090,0.000,2979,1831,2956
$STATE,8982,end apogee,CONTROL_FINISHED_OK
$STATE,8982,begin climb
$GC,8986,1.27,146.0,904.5,0.0,319,9127,1.48,2.70,131.20,1.243,4,0.045,0.085,3329,3263,2358
$GC,9199,1.27,146.0,890.1,12.4,324,9203,0.00,2.53,0.00,0.000,6,0.000,0.071,3329,1848,2351
$GC,9482,1.27,146.0,856.5,11.6,331,9486,0.00,2.45,0.00,0.000,4,0.000,0.055,3329,3268,2346
$GC,9532,1.27,146.0,850.3,12.1,332,9536,0.00,2.50,0.00,0.000,6,0.000,0.069,3329,1850,2345
$GC,9804,1.27,146.0,818.5,11.7,339,9808,0.00,2.42,0.00,0.000,4,0.000,0.052,3329,3267,2344
$GC,9832,1.27,146.0,815.2,11.8,339,9836,0.00,2.50,0.00,0.000,6,0.000,0.065,3329,1850,2343
$GC,10082,1.27,146.0,787.3,10.9,345,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1850,2343
$GC,10326,1.27,146.0,759.5,11.6,351,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1850,2341
$GC,10570,1.27,146.0,731.5,11.3,357,10574,0.00,2.42,0.00,0.000,4,0.000,0.052,3329,3276,2341
$GC,10604,1.27,146.0,727.7,11.3,357,10610,0.00,2.53,0.00,0.000,6,0.000,0.073,3330,1849,2340
$GC,10854,1.27,146.0,700.3,10.9,364,10858,0.00,2.40,0.00,0.000,4,0.000,0.055,3329,3266,2340
$GC,10894,1.27,146.0,696.1,11.2,365,10898,0.00,2.50,0.00,0.000,6,0.000,0.072,3329,1848,2340
$GC,11178,1.27,146.0,666.3,10.4,372,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1848,2339
$GC,11421,1.27,146.0,639.9,10.9,378,11425,0.00,2.42,0.00,0.000,4,0.000,0.054,3329,3271,2338
$GC,11471,1.27,146.0,634.3,11.2,379,11475,0.00,2.50,0.00,0.000,6,0.000,0.067,3329,1850,2338
$GC,11744,1.27,146.0,606.3,10.1,386,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1851,2338
$GC,11987,1.29,155.7,582.9,9.6,392,11995,0.00,0.00,5.85,0.858,6,0.000,0.000,3329,1850,2321
$GC,12231,1.30,167.9,559.5,9.4,398,12252,0.00,0.00,15.02,0.887,6,0.000,0.000,3329,1851,2271
$GC,12474,1.30,167.9,535.2,10.0,404,12478,0.00,2.40,0.00,0.000,4,0.000,0.048,3329,3272,2269
$GC,12535,1.30,167.9,528.3,11.5,405,12539,0.00,2.50,0.00,0.000,6,0.000,0.064,3329,1846,2268
$GC,12797,1.30,167.9,499.7,11.0,412,12801,0.00,2.70,0.00,0.000,4,0.000,0.123,3329,437,2268
$GC,12824,1.30,167.9,496.4,10.9,412,12828,0.00,2.33,0.00,0.000,6,0.000,0.033,3329,1862,2267
$GC,13074,1.30,167.9,469.3,10.5,418,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1862,2267
$GC,13319,1.30,169.7,445.0,9.9,424,13323,0.00,2.53,0.00,0.000,4,0.000,0.075,3329,431,2267
$GC,13340,1.30,169.7,442.5,11.1,424,13344,0.00,2.30,0.00,0.000,6,0.000,0.034,3329,1853,2267
$GC,13602,1.30,169.7,414.7,10.8,431,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1854,2266
$GC,13846,1.30,169.7,389.7,10.3,437,13850,0.00,2.35,0.00,0.000,4,0.000,0.055,3329,3270,2266
$GC,13942,1.31,174.6,379.8,9.8,439,13955,0.00,2.40,6.93,0.781,6,0.000,0.051,3329,1842,2243
$GC,14224,1.32,187.5,353.0,9.4,446,14244,0.00,2.40,13.15,0.846,4,0.000,0.036,3329,3261,2191
$GC,14279,1.34,197.1,347.4,9.6,447,14294,0.00,2.40,10.23,0.808,6,0.000,0.048,3329,1849,2152
$GC,14551,1.34,203.4,321.0,9.7,454,14565,0.00,2.40,6.80,0.729,4,0.000,0.039,3329,3270,2126
$GC,14595,1.34,203.4,316.7,10.3,455,14599,0.00,2.38,0.00,0.000,6,0.000,0.044,3329,1849,2125
$GC,14880,1.35,207.1,289.1,9.8,462,14889,0.00,2.35,4.75,0.617,4,0.000,0.032,3329,3273,2111
$GC,14986,1.38,235.6,279.1,8.7,464,15020,0.10,2.38,27.02,0.810,6,0.077,0.044,3353,1843,1994
$GC,15299,1.38,235.6,245.3,11.7,472,15303,0.00,2.33,0.00,0.000,4,0.000,0.037,3353,3271,1990
$GC,15345,1.38,235.6,240.4,10.2,473,15349,0.00,2.35,0.00,0.000,6,0.000,0.044,3353,1850,1989
$GC,15623,1.38,235.6,208.5,12.2,480,15624,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1850,1989
$GC,15874,1.38,235.6,178.2,11.7,498,15875,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1851,1988
$GC,16132,1.38,235.6,147.4,11.9,522,16136,0.00,2.42,0.00,0.000,4,0.000,0.067,3353,435,1989
$GC,16151,1.38,235.6,144.9,12.2,523,16156,0.00,2.25,0.00,0.000,6,0.000,0.021,3353,1891,1988
$GC,16421,1.38,235.6,114.6,11.1,548,16430,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1894,1988
$GC,16686,1.38,235.6,86.0,11.0,573,16694,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1894,1989
$GC,16950,1.38,235.6,57.0,11.2,598,16958,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1894,1989
$GC,17216,1.40,247.5,28.6,9.4,624,17233,0.00,2.50,11.27,0.537,4,0.000,0.063,3353,431,1947
$GC,17329,1.40,247.5,17.1,10.7,643,17336,0.00,2.22,0.00,0.000,6,0.000,0.020,3353,1845,1946
$STATE,17461,end climb,SURFACE_DEPTH_REACHED
$STATE,17461,begin surface coast
$FINISH,0.7,1.023826
$STATE,17493,end surface coast,CONTROL_FINISHED_OK
$STATE,17493,begin surface
$SM_CCo,17517,139.23,0.550,0,0,1242,420.20
$SM_GC,1.19,0.00,0.00,139.23,0.000,0.000,0.550,471,1847,1242,-11.86,0.48,420.20
$IRIDIUM_FIX,2230.01,-15801.07,120898,191956
$TT8_MAMPS,0.025311
$HUMID,1496
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,21.60
$XPDR_PINGS,92
$24V_AH,23.2,8.710
$10V_AH,10.7,6.704
$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,27.050,165.875,355.000,139.225,0.000,23.464,32.999,325.796,23.000,0.000,0.000,17.707,1356.530,13250.670,626.544,2158.835,835.885,33.368,1560.856,0.000,2152.705,0.000,0.535,0.000
$DEVICE_MAMPS,179.478,176.410,1277.055,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,464.272,287.353,404.481,498.669,1051.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47759,672
$CAP_FILE_SIZE,133978,0
$CFSIZE,260165632,227729408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190509,052701,2243.013,-15759.897,40,1.2,40,10.0