version: 66.04
glider: 146
mission: 4
dive: 55
start: 5 20 109 20 16 19
data:
$ID,146
$MISSION,4
$DIVE,55
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,125
$T_MISSION,200
$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,-28663.611
$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,1750
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,57
$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
$GPS1,200800,2250.958,-15800.195,36,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.4
$GPS2,201526,2250.876,-15800.230,8,1.8,8,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,WP0
$TGT_LATLONG,2251.435,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.039,0.237
$KALMAN_X,-27827.9,-481.6,378.9,42276.7,-262.1
$KALMAN_Y,-34962.0,333.2,-160.3,154915.3,-1690.2
$MHEAD_RNG_PITCHd_Wd,359.3,1108,-14.1,-8.000
$D_GRID,300
$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,-1.06,-146.0,0.0,0.0,0,112,0.00,0.00,-93.28,0.000,2,0.000,0.000,476,1735,3529
$GC,116,-1.06,-146.0,4.3,-5.3,12,134,13.02,0.00,-0.43,0.000,6,0.180,0.000,2813,1735,3554
$GC,402,-1.06,-146.0,55.1,-12.2,44,406,0.00,2.22,0.00,0.000,4,0.000,0.030,2813,3151,3555
$GC,435,-1.06,-146.0,59.9,-11.9,46,444,0.00,2.28,0.00,0.000,6,0.000,0.039,2813,1758,3555
$GC,700,-1.06,-146.0,90.4,-11.3,71,704,0.00,2.40,0.00,0.000,4,0.000,0.061,2813,342,3556
$GC,722,-1.06,-146.0,93.5,-12.0,72,730,0.00,2.17,0.00,0.000,6,0.000,0.019,2813,1795,3556
$GC,986,-1.06,-146.0,121.6,-10.3,97,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1796,3556
$GC,1250,-1.06,-146.0,148.1,-10.4,122,1254,0.00,2.45,0.00,0.000,4,0.000,0.060,2813,347,3556
$GC,1278,-1.06,-146.0,151.5,-11.2,124,1282,0.00,2.08,0.00,0.000,6,0.000,0.016,2813,1752,3556
$GC,1548,-1.06,-146.0,178.6,-10.3,149,1552,0.00,2.10,0.00,0.000,4,0.000,0.029,2813,3128,3557
$GC,1582,-1.06,-146.0,182.4,-10.4,152,1586,0.00,2.20,0.00,0.000,6,0.000,0.034,2813,1740,3556
$GC,1851,-1.06,-146.0,208.6,-9.6,171,1854,0.00,2.15,0.00,0.000,4,0.000,0.031,2813,3116,3556
$GC,1873,-1.06,-146.0,210.8,-9.3,171,1877,0.00,2.17,0.00,0.000,6,0.000,0.038,2813,1752,3556
$GC,2140,-1.06,-146.0,235.1,-9.0,178,2145,0.00,2.40,0.00,0.000,4,0.000,0.072,2813,348,3556
$GC,2208,-1.06,-146.0,241.8,-9.7,179,2212,0.00,2.10,0.00,0.000,6,0.000,0.023,2813,1732,3556
$GC,2469,-1.06,-146.0,266.2,-9.4,186,2473,0.00,2.25,0.00,0.000,4,0.000,0.041,2813,3149,3556
$GC,2509,-1.06,-146.0,270.2,-9.3,187,2514,0.00,2.28,0.00,0.000,6,0.000,0.037,2813,1751,3556
$GC,2793,-1.06,-146.0,296.1,-9.4,194,2797,0.00,2.22,0.00,0.000,4,0.000,0.030,2813,3147,3555
$GC,2816,-1.06,-146.0,298.6,-10.4,194,2820,0.00,2.30,0.00,0.000,6,0.000,0.040,2813,1746,3555
$STATE,2865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2865,begin apogee
$GC,2873,-0.31,0.0,303.9,10.4,196,2995,0.75,0.00,118.30,0.737,6,0.074,0.000,2985,1936,2956
$STATE,2995,end apogee,CONTROL_FINISHED_OK
$STATE,2995,begin climb
$GC,2999,1.06,146.0,309.5,0.0,199,3126,1.23,2.15,119.55,0.723,4,0.043,0.037,3283,3236,2359
$GC,3140,1.14,209.2,307.8,5.7,202,3202,0.00,2.33,54.08,0.706,6,0.000,0.044,3283,1846,2101
$GC,3446,1.14,209.2,282.3,8.8,210,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1846,2095
$GC,3690,1.14,209.2,259.4,9.3,216,3694,0.00,2.28,0.00,0.000,4,0.000,0.032,3283,3247,2093
$GC,3768,1.14,209.2,251.5,10.6,217,3774,0.00,2.30,0.00,0.000,6,0.000,0.043,3283,1848,2091
$GC,4019,1.14,209.2,226.7,9.8,224,4023,0.00,2.42,0.00,0.000,4,0.000,0.070,3283,439,2090
$GC,4069,1.14,209.2,221.8,9.6,225,4073,0.00,2.20,0.00,0.000,6,0.000,0.018,3283,1854,2089
$GC,4342,1.17,238.0,201.6,6.9,232,4368,0.00,0.00,24.20,0.666,6,0.000,0.000,3283,1856,1984
$GC,4598,1.22,273.7,183.6,6.7,253,4637,0.12,0.00,31.73,0.657,6,0.128,0.000,3320,1856,1839
$GC,4896,1.22,273.7,155.1,10.5,281,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1856,1834
$GC,5160,1.22,273.7,125.5,11.1,306,5164,0.00,2.40,0.00,0.000,4,0.000,0.056,3320,440,1832
$GC,5186,1.22,273.7,122.4,12.0,308,5190,0.00,2.17,0.00,0.000,6,0.000,0.025,3320,1861,1831
$GC,5455,1.22,273.7,90.9,12.1,333,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1864,1831
$GC,5710,1.22,273.7,60.2,11.8,357,5714,0.00,2.40,0.00,0.000,4,0.000,0.054,3320,439,1831
$GC,5746,1.22,273.7,55.5,13.8,360,5750,0.00,2.17,0.00,0.000,6,0.000,0.020,3320,1854,1829
$GC,6011,1.22,273.7,24.7,11.2,388,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1856,1829
$STATE,6236,end climb,SURFACE_DEPTH_REACHED
$STATE,6236,begin surface coast
$FINISH,0.4,1.010342
$STATE,6270,end surface coast,CONTROL_FINISHED_OK
$STATE,6270,begin surface
$SM_CCo,6294,117.30,0.522,0,0,1243,420.20
$SM_GC,1.08,0.00,0.00,117.30,0.000,0.000,0.522,469,1724,1243,-11.87,-0.74,420.20
$IRIDIUM_FIX,2241.69,-15839.28,140898,181806
$TT8_MAMPS,0.025311
$HUMID,1499
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,21.70
$XPDR_PINGS,41
$24V_AH,23.7,10.433
$10V_AH,10.8,8.228
$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,26.500,58.950,347.850,117.300,0.000,28.311,31.379,233.844,10.250,0.000,0.000,9.934,789.740,3429.634,520.445,1573.914,552.374,33.354,1057.048,0.000,1591.298,0.000,0.538,0.000
$DEVICE_MAMPS,180.245,141.895,737.087,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.136,276.506,392.063,551.420,1160.663,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31774,434
$CAP_FILE_SIZE,62161,0
$CFSIZE,260165632,227151872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,220402,2251.127,-15800.062,7,1.7,8,10.1