version: 66.04
glider: 146
mission: 4
dive: 95
start: 5 25 109 3 19 19
data:
$ID,146
$MISSION,4
$DIVE,95
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,608.09869
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29466.982
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3070
$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,1720
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,59
$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
$GPS1,031254,2249.855,-15754.994,36,1.3,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.3
$GPS2,031825,2249.815,-15755.021,9,1.3,14,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.002,0.366
$KALMAN_X,-31962.3,-315.8,-185.6,55776.0,-20.8
$KALMAN_Y,-79501.9,-122.8,-782.7,198569.2,257.6
$MHEAD_RNG_PITCHd_Wd,350.3,15158,-7.4,-8.333
$D_GRID,500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.64,-146.0,0.0,0.0,0,135,0.00,0.00,-116.85,0.000,2,0.000,0.000,474,1705,3381
$GC,139,-0.64,-146.0,3.8,-4.7,15,164,13.60,2.22,-3.05,0.000,4,0.178,0.037,2922,3115,3552
$GC,223,-0.64,-146.0,22.7,-7.4,28,231,0.00,2.28,0.00,0.000,6,0.000,0.030,2922,1722,3553
$GC,495,-0.64,-146.0,40.0,-5.8,62,499,0.00,2.35,0.00,0.000,4,0.000,0.060,2923,322,3553
$GC,517,-0.64,-146.0,41.9,-6.5,63,525,0.00,2.15,0.00,0.000,6,0.000,0.015,2923,1763,3554
$GC,782,-0.64,-146.0,57.7,-6.1,88,786,0.00,2.45,0.00,0.000,4,0.000,0.061,2922,314,3554
$GC,824,-0.64,-146.0,60.3,-6.0,91,827,0.00,2.08,0.00,0.000,6,0.000,0.024,2923,1716,3554
$GC,1094,-0.64,-146.0,73.2,-4.7,116,1098,0.00,2.10,0.00,0.000,4,0.000,0.022,2922,3078,3554
$GC,1153,-0.64,-146.0,76.4,-5.5,121,1157,0.00,2.15,0.00,0.000,6,0.000,0.032,2922,1719,3554
$GC,1423,-0.64,-146.0,91.8,-6.0,146,1427,0.00,2.35,0.00,0.000,4,0.000,0.064,2922,315,3554
$GC,1466,-0.64,-146.0,94.6,-6.6,149,1469,0.00,2.08,0.00,0.000,6,0.000,0.018,2922,1724,3555
$GC,1736,-0.64,-146.0,111.4,-6.5,174,1739,0.00,2.10,0.00,0.000,4,0.000,0.031,2923,3084,3554
$GC,1797,-0.64,-146.0,115.6,-7.0,179,1805,0.00,2.20,0.00,0.000,6,0.000,0.028,2922,1716,3554
$GC,2061,-0.64,-146.0,130.3,-5.6,204,2065,0.00,2.33,0.00,0.000,4,0.000,0.058,2922,322,3554
$GC,2082,-0.64,-146.0,131.5,-5.2,205,2086,0.00,2.08,0.00,0.000,6,0.000,0.015,2922,1730,3554
$GC,2352,-0.64,-146.0,146.4,-5.9,230,2356,0.00,2.08,0.00,0.000,4,0.000,0.025,2922,3078,3554
$GC,2378,-0.64,-146.0,147.8,-5.4,232,2382,0.00,2.15,0.00,0.000,6,0.000,0.032,2922,1708,3554
$GC,2649,-0.64,-146.0,163.6,-5.8,257,2653,0.00,2.33,0.00,0.000,4,0.000,0.064,2922,320,3554
$GC,2675,-0.64,-146.0,165.0,-5.6,259,2679,0.00,2.08,0.00,0.000,6,0.000,0.015,2922,1738,3554
$GC,2943,-0.64,-146.0,180.5,-5.8,284,2946,0.00,2.05,0.00,0.000,4,0.000,0.025,2923,3073,3554
$GC,2982,-0.64,-146.0,182.9,-6.5,287,2989,0.00,2.15,0.00,0.000,6,0.000,0.034,2922,1714,3554
$GC,3245,-0.64,-146.0,198.1,-5.5,312,3249,0.00,2.35,0.00,0.000,4,0.000,0.069,2922,318,3553
$GC,3274,-0.64,-146.0,199.6,-5.3,314,3278,0.00,2.05,0.00,0.000,6,0.000,0.021,2922,1721,3553
$GC,3530,-0.64,-146.0,212.6,-5.1,321,3534,0.00,2.08,0.00,0.000,4,0.000,0.033,2922,3073,3553
$GC,3570,-0.64,-146.0,214.6,-5.5,321,3576,0.00,2.15,0.00,0.000,6,0.000,0.033,2922,1710,3553
$GC,3821,-0.64,-146.0,229.4,-5.9,328,3825,0.00,2.15,0.00,0.000,4,0.000,0.032,2922,3087,3553
$GC,4079,-0.64,-146.0,243.0,-6.2,333,4083,0.00,2.20,0.00,0.000,6,0.000,0.031,2923,1715,3552
$GC,4330,-0.64,-146.0,258.9,-6.6,339,4334,0.00,2.38,0.00,0.000,4,0.000,0.072,2922,320,3552
$GC,4587,-0.64,-146.0,280.3,-8.6,344,4593,0.00,2.08,0.00,0.000,6,0.000,0.019,2923,1690,3550
$GC,4838,-0.64,-146.0,298.0,-6.9,351,4842,0.00,2.35,0.00,0.000,4,0.000,0.067,2922,319,3550
$GC,5097,-0.64,-146.0,315.1,-7.1,356,5103,0.00,2.15,0.00,0.000,6,0.000,0.022,2923,1710,3548
$GC,5348,-0.64,-146.0,329.1,-5.4,363,5352,0.00,2.40,0.00,0.000,4,0.000,0.074,2923,313,3547
$GC,5606,-0.64,-146.0,347.7,-8.2,368,5613,0.00,2.20,0.00,0.000,6,0.000,0.032,2923,1713,3546
$GC,5857,-0.64,-146.0,367.3,-7.8,375,5861,0.00,2.33,0.00,0.000,4,0.000,0.051,2923,3128,3544
$GC,5992,-0.64,-146.0,378.5,-9.2,378,5996,0.00,2.33,0.00,0.000,6,0.000,0.050,2923,1727,3544
$GC,6272,-0.64,-146.0,397.7,-6.4,385,6276,0.00,2.55,0.00,0.000,4,0.000,0.101,2923,313,3542
$GC,6530,-0.64,-146.0,414.2,-6.3,390,6536,0.00,2.22,0.00,0.000,6,0.000,0.033,2923,1730,3541
$GC,6781,-0.64,-146.0,426.2,-4.8,397,6785,0.00,2.50,0.00,0.000,4,0.000,0.084,2923,307,3539
$GC,6968,-0.64,-146.0,437.1,-7.2,401,6972,0.00,2.25,0.00,0.000,6,0.000,0.035,2923,1724,3538
$GC,7248,-0.64,-146.0,453.4,-5.7,408,7252,0.00,2.40,0.00,0.000,4,0.000,0.068,2923,3138,3537
$GC,7270,-0.64,-146.0,454.9,-5.8,408,7274,0.00,2.38,0.00,0.000,6,0.000,0.055,2923,1720,3537
$GC,7527,-0.64,-146.0,469.7,-5.8,415,7531,0.00,2.62,0.00,0.000,4,0.000,0.115,2923,314,3536
$GC,7784,-0.64,-146.0,486.5,-6.3,420,7791,0.00,2.28,0.00,0.000,6,0.000,0.041,2923,1719,3534
$STATE,7828,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7828,begin apogee
$GC,7836,-0.31,0.0,489.5,6.5,422,7957,0.32,0.00,118.30,0.927,6,0.047,0.000,3009,1834,2956
$STATE,7958,end apogee,CONTROL_FINISHED_OK
$STATE,7958,begin climb
$GC,7961,0.64,146.0,496.4,0.0,425,8093,0.82,2.55,124.25,0.900,4,0.037,0.078,3218,3238,2358
$GC,8115,0.89,346.6,495.3,5.4,428,8297,0.20,2.45,171.02,0.885,6,0.050,0.062,3269,1828,1542
$GC,8575,0.89,346.6,445.0,11.7,440,8580,0.00,2.70,0.00,0.000,4,0.000,0.116,3269,414,1534
$GC,8654,0.89,346.6,434.8,12.3,441,8660,0.00,2.30,0.00,0.000,6,0.000,0.028,3269,1832,1533
$GC,8904,0.89,346.6,406.2,11.4,448,8908,0.00,2.53,0.00,0.000,4,0.000,0.079,3269,412,1532
$GC,8955,0.89,346.6,399.8,12.8,449,8959,0.00,2.30,0.00,0.000,6,0.000,0.029,3269,1841,1531
$GC,9227,0.89,346.6,366.9,12.5,456,9232,0.00,2.53,0.00,0.000,4,0.000,0.071,3269,409,1530
$GC,9278,0.89,346.6,359.8,14.0,457,9282,0.00,2.28,0.00,0.000,6,0.000,0.021,3270,1846,1530
$GC,9550,0.89,346.6,325.4,12.9,464,9554,0.00,2.50,0.00,0.000,4,0.000,0.067,3269,412,1529
$GC,9617,0.89,346.6,316.2,12.9,465,9621,0.00,2.22,0.00,0.000,6,0.000,0.020,3270,1837,1528
$GC,9878,0.89,346.6,283.5,12.5,472,9883,0.00,2.47,0.00,0.000,4,0.000,0.070,3270,408,1528
$GC,9929,0.89,346.6,276.9,12.7,473,9934,0.00,2.22,0.00,0.000,6,0.000,0.019,3269,1837,1527
$GC,10202,0.89,346.6,245.0,11.3,480,10206,0.00,2.45,0.00,0.000,4,0.000,0.067,3269,413,1527
$GC,10230,0.89,346.6,241.6,12.4,480,10234,0.00,2.20,0.00,0.000,6,0.000,0.018,3269,1841,1527
$GC,10480,0.89,346.6,217.7,9.2,486,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1843,1527
$GC,10725,0.92,374.7,197.8,7.9,492,10754,0.00,2.50,23.77,0.700,4,0.000,0.060,3270,411,1427
$GC,10804,0.92,374.7,190.3,9.6,498,10813,0.00,2.22,0.00,0.000,6,0.000,0.018,3270,1839,1425
$GC,11068,0.92,374.7,165.4,9.7,523,11072,0.00,2.42,0.00,0.000,4,0.000,0.058,3269,409,1423
$GC,11139,0.92,374.7,157.7,11.0,529,11143,0.00,2.17,0.00,0.000,6,0.000,0.025,3269,1833,1422
$GC,11409,0.92,374.7,131.3,9.2,554,11413,0.00,2.42,0.00,0.000,4,0.000,0.061,3269,409,1422
$GC,11462,0.92,374.7,125.9,10.6,558,11466,0.00,2.17,0.00,0.000,6,0.000,0.017,3270,1839,1422
$GC,11726,0.92,374.7,101.8,9.2,582,11730,0.00,2.42,0.00,0.000,4,0.000,0.058,3270,407,1422
$GC,11768,0.92,374.7,97.7,10.1,585,11772,0.00,2.17,0.00,0.000,6,0.000,0.025,3270,1844,1422
$GC,12032,0.99,428.1,76.8,7.5,609,12085,0.00,2.50,46.72,0.590,4,0.000,0.060,3270,406,1208
$GC,12135,0.99,428.1,67.8,9.6,617,12142,0.00,2.20,0.00,0.000,6,0.000,0.018,3270,1826,1206
$GC,12400,0.99,428.1,44.6,9.0,642,12404,0.00,2.40,0.00,0.000,4,0.000,0.056,3270,413,1206
$GC,12487,0.99,428.1,35.6,9.7,649,12496,0.00,2.17,0.00,0.000,6,0.000,0.018,3270,1825,1205
$GC,12760,0.99,428.1,11.8,9.0,692,12768,0.00,2.42,0.00,0.000,4,0.000,0.061,3269,414,1205
$GC,12816,0.99,428.1,6.5,9.2,701,12824,0.00,2.17,0.00,0.000,6,0.000,0.018,3270,1826,1205
$STATE,12852,end climb,SURFACE_DEPTH_REACHED
$STATE,12852,begin surface coast
$FINISH,0.5,0.999676
$STATE,12887,end surface coast,CONTROL_FINISHED_OK
$STATE,12887,begin surface
$SM_CCo,12911,144.73,0.519,0,0,476,608.10
$SM_GC,1.20,0.00,0.00,144.73,0.000,0.000,0.519,471,1672,476,-11.96,-1.36,608.10
$IRIDIUM_FIX,2241.69,-15751.94,190898,000049
$TT8_MAMPS,0.025311
$HUMID,1512
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,22.20
$XPDR_PINGS,94
$24V_AH,23.6,15.008
$10V_AH,10.7,12.755
$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,26.225,160.625,484.075,144.725,0.000,28.110,28.050,143.961,23.500,0.000,0.000,16.125,1414.349,7720.458,702.538,2978.158,576.771,33.368,1809.271,0.000,2967.988,0.000,0.536,0.000
$DEVICE_MAMPS,177.944,144.196,927.303,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.801,407.845,585.348,816.818,1721.885,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53950,713
$CAP_FILE_SIZE,124476,0
$CFSIZE,260165632,225239040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250509,065807,2251.212,-15755.056,29,1.1,29,10.1