version: 66.04
glider: 146
mission: 4
dive: 113
start: 5 27 109 16 32 8
data:
$ID,146
$MISSION,4
$DIVE,113
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29799.92
$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,38
$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
$GPS1,162555,2249.384,-15741.662,38,1.5,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.6
$GPS2,163114,2249.403,-15741.683,13,1.4,13,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.046,0.239
$KALMAN_X,-38109.8,87.0,47.0,84216.0,-648.9
$KALMAN_Y,-97368.9,114.6,-846.4,215493.7,-55.0
$MHEAD_RNG_PITCHd_Wd,0.8,15930,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.10,-146.0,0.0,0.0,0,104,0.00,0.00,-85.72,0.000,2,0.000,0.000,473,1708,3333
$GC,108,-1.10,-146.0,3.4,-3.9,11,134,13.20,2.28,-4.05,0.000,4,0.182,0.043,2825,3121,3553
$GC,247,-1.10,-146.0,29.1,-10.4,34,255,0.00,2.28,0.00,0.000,6,0.000,0.031,2825,1730,3554
$GC,510,-1.10,-146.0,58.3,-10.5,59,514,0.00,2.38,0.00,0.000,4,0.000,0.064,2825,321,3555
$GC,548,-1.10,-146.0,62.7,-10.7,62,557,0.00,2.17,0.00,0.000,6,0.000,0.015,2825,1760,3555
$GC,813,-1.10,-146.0,88.2,-9.4,87,817,0.00,2.45,0.00,0.000,4,0.000,0.064,2824,319,3556
$GC,844,-1.10,-146.0,91.5,-10.4,89,848,0.00,2.08,0.00,0.000,6,0.000,0.021,2825,1730,3556
$GC,1113,-1.10,-146.0,117.7,-9.5,114,1117,0.00,2.10,0.00,0.000,4,0.000,0.029,2825,3087,3555
$GC,1152,-1.10,-146.0,121.8,-9.5,117,1160,0.00,2.22,0.00,0.000,6,0.000,0.031,2825,1714,3556
$GC,1416,-1.10,-146.0,148.4,-10.9,142,1420,0.00,2.12,0.00,0.000,4,0.000,0.022,2825,3078,3556
$GC,1453,-1.10,-146.0,152.2,-9.8,145,1457,0.00,2.17,0.00,0.000,6,0.000,0.035,2825,1714,3556
$GC,1717,-1.10,-146.0,179.3,-9.8,169,1721,0.00,2.35,0.00,0.000,4,0.000,0.067,2825,322,3556
$GC,1756,-1.10,-146.0,183.7,-10.3,172,1764,0.00,2.10,0.00,0.000,6,0.000,0.016,2825,1723,3556
$GC,2013,-1.10,-146.0,208.3,-9.3,191,2017,0.00,2.12,0.00,0.000,4,0.000,0.028,2825,3091,3556
$GC,2036,-1.10,-146.0,210.5,-9.3,191,2040,0.00,2.20,0.00,0.000,6,0.000,0.037,2825,1711,3556
$GC,2303,-1.10,-146.0,234.5,-8.8,198,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1711,3556
$GC,2547,-1.10,-146.0,253.8,-7.7,204,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1711,3557
$GC,2790,-1.10,-146.0,272.5,-7.7,210,2794,0.00,2.20,0.00,0.000,4,0.000,0.039,2825,3085,3556
$GC,2859,-1.10,-146.0,278.2,-8.2,211,2863,0.00,2.22,0.00,0.000,6,0.000,0.039,2825,1727,3557
$GC,3121,-1.10,-146.0,299.6,-8.2,218,3125,0.00,2.50,0.00,0.000,4,0.000,0.091,2824,311,3555
$GC,3165,-1.10,-146.0,303.7,-9.3,219,3169,0.00,2.12,0.00,0.000,6,0.000,0.025,2825,1668,3555
$GC,3445,-1.10,-146.0,326.4,-8.3,226,3449,0.00,2.30,0.00,0.000,4,0.000,0.052,2825,3076,3554
$GC,3501,-1.10,-146.0,331.1,-7.6,227,3505,0.00,2.25,0.00,0.000,6,0.000,0.045,2825,1716,3554
$GC,3768,-1.10,-146.0,351.5,-7.7,234,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1716,3552
$GC,4011,-1.10,-146.0,371.8,-8.5,240,4015,0.00,2.20,0.00,0.000,4,0.000,0.044,2825,3070,3551
$GC,4045,-1.10,-146.0,374.9,-9.2,240,4050,0.00,2.28,0.00,0.000,6,0.000,0.059,2825,1721,3551
$GC,4296,-1.10,-146.0,397.5,-9.1,246,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1720,3549
$GC,4540,-1.10,-146.0,417.9,-8.1,252,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1721,3548
$GC,4784,-1.10,-146.0,435.7,-7.2,258,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1721,3546
$GC,5028,-1.10,-146.0,453.1,-7.2,264,5032,0.00,2.25,0.00,0.000,4,0.000,0.058,2825,3063,3545
$GC,5062,-1.10,-146.0,455.8,-7.3,264,5068,0.00,2.30,0.00,0.000,6,0.000,0.061,2825,1723,3545
$GC,5312,-1.10,-146.0,474.2,-7.4,271,5316,0.00,2.22,0.00,0.000,4,0.000,0.054,2824,3062,3543
$GC,5354,-1.10,-146.0,477.0,-7.1,272,5358,0.00,2.33,0.00,0.000,6,0.000,0.069,2825,1711,3543
$GC,5638,-1.10,-146.0,497.7,-7.3,279,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1711,3541
$STATE,5677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5677,begin apogee
$GC,5685,-0.31,0.0,500.5,7.2,280,5807,0.77,0.00,119.68,0.939,6,0.069,0.000,3004,1794,2956
$STATE,5808,end apogee,CONTROL_FINISHED_OK
$STATE,5808,begin climb
$GC,5812,1.10,146.0,504.9,0.0,283,5943,1.25,2.67,124.53,0.911,4,0.037,0.113,3313,419,2360
$GC,5983,1.10,146.0,501.3,9.8,287,5988,0.00,2.30,0.00,0.000,6,0.000,0.039,3313,1811,2354
$GC,6257,1.10,146.0,476.1,9.1,294,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1812,2349
$GC,6500,1.10,146.0,455.1,8.4,300,6504,0.00,2.45,0.00,0.000,4,0.000,0.069,3313,3239,2348
$GC,6607,1.12,161.8,446.3,7.7,302,6626,0.00,2.40,13.02,0.828,6,0.000,0.049,3313,1821,2295
$GC,6877,1.12,161.8,423.7,8.4,309,6881,0.00,2.55,0.00,0.000,4,0.000,0.097,3313,417,2291
$GC,6933,1.12,161.8,418.1,10.4,310,6937,0.00,2.28,0.00,0.000,6,0.000,0.025,3313,1846,2290
$GC,7200,1.12,161.8,395.3,8.5,317,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1846,2289
$GC,7443,1.12,161.8,373.1,9.1,323,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1846,2288
$GC,7687,1.12,162.3,352.2,8.3,329,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1846,2287
$GC,7931,1.14,182.6,333.3,7.5,335,7961,0.00,2.30,20.17,0.752,4,0.000,0.036,3313,3245,2211
$GC,7979,1.17,202.9,329.7,7.5,336,8003,0.00,2.38,19.48,0.798,6,0.000,0.044,3313,1821,2128
$GC,8255,1.17,202.9,305.5,8.9,343,8259,0.00,2.42,0.00,0.000,4,0.000,0.072,3313,422,2123
$GC,8300,1.17,202.9,300.8,10.9,344,8304,0.00,2.22,0.00,0.000,6,0.000,0.021,3313,1846,2121
$GC,8578,1.17,202.9,272.9,10.1,351,8582,0.00,2.22,0.00,0.000,4,0.000,0.031,3313,3235,2120
$GC,8657,1.17,202.9,265.0,9.3,352,8661,0.00,2.30,0.00,0.000,6,0.000,0.036,3313,1826,2119
$GC,8912,1.17,202.9,240.4,9.9,359,8916,0.00,2.42,0.00,0.000,4,0.000,0.072,3313,419,2119
$GC,8953,1.17,202.9,236.3,10.6,360,8957,0.00,2.20,0.00,0.000,6,0.000,0.023,3313,1840,2118
$GC,9237,1.17,202.9,210.4,8.9,367,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1842,2118
$GC,9487,1.18,210.4,191.1,8.0,379,9495,0.00,0.00,6.25,0.589,6,0.000,0.000,3313,1842,2098
$GC,9749,1.18,210.4,168.8,8.6,404,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1842,2097
$GC,10006,1.18,210.4,146.6,8.8,428,10010,0.00,2.40,0.00,0.000,4,0.000,0.056,3313,417,2097
$GC,10055,1.18,210.4,141.9,9.7,432,10063,0.00,2.20,0.00,0.000,6,0.000,0.026,3313,1833,2096
$GC,10319,1.18,210.4,120.1,8.7,457,10323,0.00,2.17,0.00,0.000,4,0.000,0.033,3313,3222,2096
$GC,10402,1.18,210.4,112.0,10.1,464,10409,0.00,2.28,0.00,0.000,6,0.000,0.041,3313,1829,2096
$GC,10666,1.18,217.7,89.8,8.1,489,10680,0.00,2.20,8.23,0.538,4,0.000,0.033,3313,3225,2067
$GC,10706,1.18,217.7,86.2,9.2,492,10710,0.00,2.28,0.00,0.000,6,0.000,0.039,3313,1819,2067
$GC,10970,1.18,217.7,62.2,8.7,516,10974,0.00,2.33,0.00,0.000,4,0.000,0.056,3313,425,2067
$GC,10990,1.18,217.7,60.5,8.5,517,10994,0.00,2.12,0.00,0.000,6,0.000,0.018,3313,1841,2067
$GC,11260,1.20,230.3,38.4,7.8,542,11277,0.00,2.42,12.52,0.530,4,0.000,0.055,3313,421,2016
$GC,11326,1.20,230.3,32.7,9.1,547,11329,0.00,2.15,0.00,0.000,6,0.000,0.024,3313,1832,2015
$GC,11598,1.20,230.3,10.4,8.5,593,11607,0.00,2.20,0.00,0.000,4,0.000,0.034,3313,3215,2014
$STATE,11700,end climb,SURFACE_DEPTH_REACHED
$STATE,11700,begin surface coast
$FINISH,2.1,1.023457
$STATE,11712,end surface coast,CONTROL_FINISHED_OK
$STATE,11713,begin surface
$SM_CCo,11739,154.18,0.531,0,0,1243,420.20
$SM_GC,1.15,0.00,0.00,154.18,0.000,0.000,0.531,472,1715,1243,-11.95,-0.14,420.20
$IRIDIUM_FIX,2239.35,-15742.40,210898,131353
$TT8_MAMPS,0.025311
$HUMID,1506
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,21.80
$XPDR_PINGS,83
$24V_AH,23.6,17.366
$10V_AH,10.7,14.917
$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,26.925,118.675,323.875,154.175,0.000,31.042,28.347,135.897,20.750,0.000,0.000,14.801,1169.663,7821.169,587.091,2133.690,507.802,33.366,1348.335,0.000,2140.765,0.000,0.535,0.000
$DEVICE_MAMPS,181.779,207.857,938.808,530.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.946,342.367,479.962,656.822,1385.544,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44531,613
$CAP_FILE_SIZE,96989,0
$CFSIZE,260165632,224276480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270509,195134,2250.655,-15741.545,9,2.6,28,10.1