version: 66.04
glider: 146
mission: 4
dive: 96
start: 5 25 109 7 4 50
data:
$ID,146
$MISSION,4
$DIVE,96
$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,-29483.002
$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,46
$R_STBD_OVSHOOT,63
$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
$GPS1,065807,2251.212,-15755.056,29,1.1,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.0
$GPS2,070356,2251.234,-15755.098,13,1.1,13,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.072,0.232
$KALMAN_X,-32083.5,-160.8,-385.8,55804.1,895.4
$KALMAN_Y,-81786.0,61.9,-411.5,202942.5,-139.5
$MHEAD_RNG_PITCHd_Wd,332.8,12531,-14.7,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-145.3,0.0,0.0,0,138,0.00,0.00,-116.93,0.000,2,0.000,0.000,471,1672,3342
$GC,141,-1.10,-146.0,3.5,-4.1,15,167,13.20,2.28,-3.90,0.000,4,0.182,0.033,2827,3104,3553
$GC,252,-1.10,-146.0,27.6,-12.0,33,261,0.00,2.22,0.00,0.000,6,0.000,0.039,2827,1743,3554
$GC,520,-1.10,-146.0,60.7,-11.7,59,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1743,3555
$GC,775,-1.10,-146.0,91.3,-12.5,83,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1743,3556
$GC,1039,-1.10,-146.0,123.6,-11.7,108,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1743,3555
$GC,1305,-1.10,-146.0,152.3,-10.7,133,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1742,3556
$GC,1567,-1.10,-146.0,181.9,-11.3,158,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1742,3555
$GC,1838,-1.10,-146.0,209.5,-10.4,178,1843,0.00,2.42,0.00,0.000,4,0.000,0.070,2827,322,3556
$GC,1866,-1.10,-146.0,212.9,-12.1,178,1870,0.00,2.10,0.00,0.000,6,0.000,0.014,2827,1732,3556
$GC,2123,-1.10,-146.0,239.4,-10.1,185,2127,0.00,2.12,0.00,0.000,4,0.000,0.034,2827,3101,3556
$GC,2185,-1.10,-146.0,245.2,-8.7,186,2189,0.00,2.22,0.00,0.000,6,0.000,0.035,2827,1728,3556
$GC,2452,-1.10,-146.0,267.0,-7.6,193,2456,0.00,2.47,0.00,0.000,4,0.000,0.082,2827,311,3555
$GC,2487,-1.10,-146.0,269.9,-7.9,193,2491,0.00,2.12,0.00,0.000,6,0.000,0.021,2827,1690,3555
$GC,2743,-1.10,-146.0,290.0,-8.0,200,2747,0.00,2.33,0.00,0.000,4,0.000,0.043,2827,3124,3555
$GC,2772,-1.10,-146.0,292.4,-8.0,200,2777,0.00,2.33,0.00,0.000,6,0.000,0.047,2827,1723,3555
$GC,3023,-1.10,-146.0,312.1,-7.9,206,3027,0.00,2.53,0.00,0.000,4,0.000,0.090,2827,310,3554
$GC,3051,-1.10,-146.0,314.3,-8.1,206,3056,0.00,2.20,0.00,0.000,6,0.000,0.027,2826,1714,3554
$GC,3302,-1.10,-146.0,334.6,-8.2,212,3306,0.00,2.30,0.00,0.000,4,0.000,0.054,2827,3130,3552
$GC,3347,-1.10,-146.0,338.5,-8.6,213,3351,0.00,2.38,0.00,0.000,6,0.000,0.056,2827,1713,3552
$GC,3638,-1.10,-146.0,363.8,-8.9,220,3642,0.00,2.55,0.00,0.000,4,0.000,0.099,2827,306,3551
$GC,3671,-1.10,-146.0,367.0,-9.0,220,3677,0.00,2.22,0.00,0.000,6,0.000,0.028,2827,1717,3551
$GC,3921,-1.10,-146.0,388.3,-8.4,227,3925,0.00,2.33,0.00,0.000,4,0.000,0.054,2827,3124,3549
$GC,3955,-1.10,-146.0,391.1,-7.5,227,3961,0.00,2.38,0.00,0.000,6,0.000,0.051,2826,1712,3549
$GC,4206,-1.10,-146.0,410.5,-7.8,234,4210,0.00,2.33,0.00,0.000,4,0.000,0.044,2827,3127,3547
$GC,4223,-1.10,-146.0,412.0,-7.8,234,4228,0.00,2.38,0.00,0.000,6,0.000,0.058,2827,1719,3547
$GC,4485,-1.10,-146.0,429.6,-6.6,241,4490,0.00,2.60,0.00,0.000,4,0.000,0.110,2827,307,3545
$GC,4520,-1.10,-146.0,432.1,-7.7,241,4526,0.00,2.25,0.00,0.000,6,0.000,0.036,2827,1714,3545
$GC,4770,-1.10,-146.0,450.2,-7.3,248,4774,0.00,2.38,0.00,0.000,4,0.000,0.067,2827,3126,3544
$GC,4810,-1.10,-146.0,453.1,-6.6,248,4816,0.00,2.40,0.00,0.000,6,0.000,0.056,2826,1715,3543
$GC,5061,-1.10,-146.0,470.8,-7.0,255,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1715,3542
$GC,5305,-1.10,-146.0,487.2,-6.7,261,5309,0.00,2.38,0.00,0.000,4,0.000,0.055,2827,3134,3540
$GC,5355,-1.10,-146.0,490.6,-6.6,262,5360,0.00,2.45,0.00,0.000,6,0.000,0.067,2827,1715,3540
$STATE,5503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5503,begin apogee
$GC,5511,-0.31,0.0,500.2,6.3,266,5633,0.77,0.00,119.22,0.934,6,0.074,0.000,3004,1865,2955
$STATE,5634,end apogee,CONTROL_FINISHED_OK
$STATE,5634,begin climb
$GC,5638,1.10,146.0,502.6,0.0,269,5769,1.25,2.33,123.80,0.906,4,0.038,0.051,3314,3215,2359
$GC,5804,1.10,146.0,498.3,8.4,273,5808,0.00,2.42,0.00,0.000,6,0.000,0.064,3313,1825,2355
$GC,6088,1.10,146.0,473.8,8.5,280,6092,0.00,2.33,0.00,0.000,4,0.000,0.046,3314,3212,2349
$GC,6173,1.10,146.0,466.3,8.6,282,6178,0.00,2.40,0.00,0.000,6,0.000,0.062,3313,1820,2347
$GC,6458,1.10,148.9,442.3,8.2,289,6462,0.00,2.30,0.00,0.000,4,0.000,0.045,3314,3213,2345
$GC,6480,1.12,166.4,440.5,7.7,289,6504,0.00,2.35,16.85,0.844,6,0.000,0.057,3313,1827,2277
$GC,6783,1.13,173.4,416.4,8.1,297,6797,0.00,2.67,7.03,0.731,4,0.000,0.099,3314,420,2249
$GC,6861,1.13,173.4,408.7,10.1,298,6865,0.00,2.22,0.00,0.000,6,0.000,0.029,3314,1820,2246
$GC,7117,1.13,173.4,386.0,9.0,305,7121,0.00,2.33,0.00,0.000,4,0.000,0.047,3314,3243,2244
$GC,7133,1.13,173.4,384.4,9.4,305,7138,0.00,2.38,0.00,0.000,6,0.000,0.046,3314,1827,2244
$GC,7395,1.13,173.4,359.4,9.5,312,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1826,2243
$GC,7639,1.13,173.4,336.2,9.6,318,7643,0.00,2.30,0.00,0.000,4,0.000,0.038,3314,3251,2242
$GC,7661,1.13,173.4,334.0,9.2,318,7665,0.00,2.38,0.00,0.000,6,0.000,0.045,3314,1821,2241
$GC,7917,1.13,173.4,311.4,8.6,325,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1822,2241
$GC,8160,1.18,208.0,293.6,7.0,331,8193,0.00,0.00,30.80,0.792,6,0.000,0.000,3313,1822,2106
$GC,8404,1.19,222.0,274.9,7.8,337,8423,0.00,2.35,12.77,0.730,4,0.000,0.029,3313,3233,2050
$GC,8481,1.19,222.0,268.3,9.5,338,8485,0.00,2.33,0.00,0.000,6,0.000,0.036,3314,1823,2048
$GC,8737,1.19,222.0,243.9,9.6,345,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1823,2046
$GC,8980,1.19,222.0,222.8,8.5,351,8984,0.00,2.30,0.00,0.000,4,0.000,0.033,3313,3250,2045
$GC,9031,1.22,240.4,218.5,7.6,352,9055,0.00,2.33,16.88,0.704,6,0.000,0.041,3314,1827,1975
$GC,9306,1.22,240.4,196.3,8.5,361,9310,0.00,2.40,0.00,0.000,4,0.000,0.066,3314,420,1972
$GC,9355,1.22,240.4,191.6,10.0,365,9359,0.00,2.22,0.00,0.000,6,0.000,0.024,3314,1866,1970
$GC,9620,1.26,278.4,169.6,6.9,389,9658,0.12,2.20,33.47,0.675,4,0.062,0.036,3349,3221,1819
$GC,9703,1.26,278.4,162.2,9.2,396,9711,0.00,2.33,0.00,0.000,6,0.000,0.038,3349,1824,1816
$GC,9967,1.26,278.4,139.9,9.5,421,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1824,1814
$GC,10231,1.26,278.4,113.9,10.1,446,10235,0.00,2.38,0.00,0.000,4,0.000,0.060,3349,420,1814
$GC,10257,1.26,278.4,111.2,10.5,448,10261,0.00,2.15,0.00,0.000,6,0.000,0.021,3349,1842,1812
$GC,10526,1.26,278.4,84.1,10.3,473,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1844,1812
$GC,10790,1.26,278.4,58.2,9.6,498,10794,0.00,2.40,0.00,0.000,4,0.000,0.058,3350,422,1812
$GC,10838,1.26,278.4,53.6,10.2,502,10842,0.00,2.15,0.00,0.000,6,0.000,0.018,3349,1836,1812
$GC,11102,1.26,278.4,28.6,9.1,527,11111,0.00,2.42,0.00,0.000,4,0.000,0.062,3349,421,1812
$GC,11147,1.26,278.4,24.1,10.3,534,11156,0.00,2.17,0.00,0.000,6,0.000,0.018,3349,1831,1812
$STATE,11366,end climb,SURFACE_DEPTH_REACHED
$STATE,11366,begin surface coast
$FINISH,0.5,1.023877
$STATE,11406,end surface coast,CONTROL_FINISHED_OK
$STATE,11406,begin surface
$SM_CCo,11431,262.75,0.518,0,0,476,608.10
$SM_GC,1.21,0.00,0.00,262.75,0.000,0.000,0.518,471,1698,476,-11.96,-0.62,608.10
$IRIDIUM_FIX,2244.02,-15756.28,190898,030341
$TT8_MAMPS,0.025311
$HUMID,1496
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,22.20
$XPDR_PINGS,76
$24V_AH,23.6,15.148
$10V_AH,10.8,12.874
$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,26.975,121.600,360.825,262.750,0.000,27.423,28.680,153.040,19.000,0.000,0.000,15.391,1109.761,7631.613,735.947,2036.229,528.670,33.371,1523.173,0.000,2035.279,0.000,0.536,0.000
$DEVICE_MAMPS,181.779,110.448,934.206,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.923,312.167,444.213,600.128,1266.456,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44504,580
$CAP_FILE_SIZE,97775,0
$CFSIZE,260165632,225218560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250509,102106,2252.452,-15755.552,35,1.3,39,10.1