version: 66.04
glider: 146
mission: 4
dive: 62
start: 5 21 109 10 6 24
data:
$ID,146
$MISSION,4
$DIVE,62
$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,-28805.242
$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,31
$R_STBD_OVSHOOT,55
$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
$GPS1,095728,2250.956,-15757.394,7,2.3,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.8
$GPS2,100531,2250.865,-15757.383,37,1.8,37,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,WP2
$TGT_LATLONG,2254.000,-15750.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.125,0.205
$KALMAN_X,-26629.7,341.3,75.0,45453.0,-370.0
$KALMAN_Y,-42826.2,-89.0,-552.9,163571.6,-1274.8
$MHEAD_RNG_PITCHd_Wd,21.4,13869,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.06,-146.0,0.0,0.0,0,108,0.00,0.00,-86.15,0.000,2,0.000,0.000,475,1733,3307
$GC,112,-1.06,-146.0,3.1,-3.4,11,138,13.07,2.25,-4.65,0.000,4,0.182,0.042,2814,3137,3553
$GC,169,-1.06,-146.0,20.0,-24.4,19,177,0.00,2.28,0.00,0.000,6,0.000,0.035,2814,1753,3553
$GC,437,-1.06,-146.0,56.3,-13.4,50,441,0.00,2.35,0.00,0.000,4,0.000,0.063,2814,351,3554
$GC,465,-1.06,-146.0,60.8,-14.7,52,471,0.00,2.15,0.00,0.000,6,0.000,0.024,2814,1770,3554
$GC,728,-1.06,-146.0,95.3,-12.8,77,732,0.00,2.10,0.00,0.000,4,0.000,0.025,2814,3124,3555
$GC,777,-1.06,-146.0,101.0,-11.6,81,781,0.00,2.20,0.00,0.000,6,0.000,0.037,2814,1742,3554
$GC,1040,-1.06,-146.0,129.2,-10.0,105,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1742,3555
$GC,1302,-1.06,-146.0,153.7,-9.0,130,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1741,3555
$GC,1557,-1.06,-146.0,177.2,-9.2,154,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1741,3555
$GC,1831,-1.06,-146.0,204.6,-10.5,177,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1741,3555
$GC,2075,-1.06,-146.0,231.0,-10.8,183,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1741,3555
$GC,2319,-1.06,-146.0,254.0,-9.3,189,2322,0.00,2.20,0.00,0.000,4,0.000,0.030,2814,3126,3555
$GC,2365,-1.06,-146.0,258.0,-7.7,190,2369,0.00,2.22,0.00,0.000,6,0.000,0.043,2814,1752,3555
$GC,2649,-1.06,-146.0,281.8,-8.4,197,2653,0.00,2.42,0.00,0.000,4,0.000,0.077,2814,349,3554
$GC,2677,-1.06,-146.0,284.4,-8.7,197,2681,0.00,2.12,0.00,0.000,6,0.000,0.025,2814,1720,3554
$STATE,2889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2889,begin apogee
$GC,2897,-0.31,0.0,301.5,8.0,203,3019,0.73,0.00,118.32,0.729,6,0.072,0.000,2981,1870,2956
$STATE,3019,end apogee,CONTROL_FINISHED_OK
$STATE,3020,begin climb
$GC,3023,1.06,146.0,303.1,0.0,206,3150,1.25,2.50,119.50,0.715,4,0.043,0.067,3284,445,2358
$GC,3172,1.06,146.0,295.7,9.2,209,3176,0.00,2.22,0.00,0.000,6,0.000,0.029,3284,1839,2356
$GC,3423,1.07,155.1,275.5,7.7,215,3433,0.00,0.00,8.05,0.598,6,0.000,0.000,3284,1840,2323
$GC,3666,1.14,209.1,260.4,6.0,221,3720,0.00,2.40,46.72,0.697,4,0.000,0.037,3284,3260,2103
$GC,3739,1.15,217.1,255.4,7.7,222,3753,0.00,2.33,8.25,0.590,6,0.000,0.041,3284,1851,2070
$GC,4038,1.15,217.1,229.5,9.1,230,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1851,2065
$GC,4282,1.15,217.1,206.1,9.4,236,4286,0.00,2.42,0.00,0.000,4,0.000,0.070,3284,439,2063
$GC,4298,1.15,217.1,204.5,9.3,236,4303,0.00,2.22,0.00,0.000,6,0.000,0.025,3284,1877,2062
$GC,4561,1.15,221.9,182.0,7.8,257,4568,0.00,0.00,4.00,0.436,6,0.000,0.000,3284,1878,2051
$GC,4824,1.18,248.3,162.1,7.0,282,4854,0.10,2.50,24.38,0.640,4,0.067,0.064,3315,435,1942
$GC,4900,1.18,248.3,155.1,10.4,288,4904,0.00,2.20,0.00,0.000,6,0.000,0.019,3315,1853,1940
$GC,5164,1.18,248.3,129.3,9.6,312,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1855,1938
$GC,5419,1.18,248.3,105.5,9.3,336,5423,0.00,2.40,0.00,0.000,4,0.000,0.058,3315,436,1937
$GC,5472,1.18,248.3,100.2,10.1,340,5476,0.00,2.17,0.00,0.000,6,0.000,0.027,3315,1854,1936
$GC,5735,1.18,248.3,76.5,8.6,364,5739,0.00,2.17,0.00,0.000,4,0.000,0.027,3315,3242,1937
$GC,5762,1.18,248.3,74.2,9.3,366,5766,0.00,2.28,0.00,0.000,6,0.000,0.042,3315,1837,1935
$GC,6026,1.18,248.3,50.1,9.0,390,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1836,1935
$GC,6291,1.18,248.3,25.5,9.3,419,6298,0.00,2.35,0.00,0.000,4,0.000,0.063,3315,449,1935
$GC,6356,1.18,248.3,19.0,9.6,430,6365,0.00,2.17,0.00,0.000,6,0.000,0.018,3315,1861,1935
$STATE,6547,end climb,SURFACE_DEPTH_REACHED
$STATE,6547,begin surface coast
$FINISH,0.3,1.011938
$STATE,6587,end surface coast,CONTROL_FINISHED_OK
$STATE,6587,begin surface
$SM_CCo,6611,138.57,0.517,0,0,1243,420.20
$SM_GC,1.10,0.00,0.00,138.57,0.000,0.000,0.517,473,1733,1243,-11.85,-0.48,420.20
$IRIDIUM_FIX,2244.02,-15756.28,150898,080841
$TT8_MAMPS,0.025311
$HUMID,1486
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,22.00
$XPDR_PINGS,40
$24V_AH,23.7,11.138
$10V_AH,10.8,8.972
$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,26.600,55.050,329.225,138.575,0.000,24.935,27.227,249.823,10.000,0.000,0.000,39.403,837.441,3620.438,517.584,1710.895,555.346,33.357,1061.219,0.000,1698.786,0.000,0.537,0.000
$DEVICE_MAMPS,181.779,127.322,729.417,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.248,307.041,430.675,613.840,1293.276,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35092,471
$CAP_FILE_SIZE,63830,0
$CFSIZE,260165632,226873344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210509,120006,2250.867,-15756.938,12,0.9,29,10.1