version: 66.04
glider: 146
mission: 4
dive: 123
start: 5 29 109 0 13 37
data:
$ID,146
$MISSION,4
$DIVE,123
$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,-29993.293
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3074
$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,41
$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
$GPS1,000731,2258.623,-15742.267,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.7
$GPS2,001243,2258.580,-15742.313,9,1.3,14,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.033,0.114
$KALMAN_X,-35985.2,-582.3,-46.6,81780.0,305.7
$KALMAN_Y,-105183.2,-370.6,791.2,239153.2,-1850.4
$MHEAD_RNG_PITCHd_Wd,6.2,1201,-32.3,-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,-2.06,-33.9,0.0,0.0,0,103,0.00,0.00,-78.30,0.000,6,0.000,0.000,473,1707,3095
$GC,107,-2.10,-60.9,3.4,-3.9,11,132,12.00,2.30,-2.25,0.000,4,0.181,0.036,2609,3134,3207
$GC,229,-2.10,-60.9,33.7,-19.7,30,233,0.00,2.25,0.00,0.000,6,0.000,0.028,2609,1732,3208
$GC,498,-2.10,-60.9,82.6,-17.8,55,502,0.00,2.17,0.00,0.000,4,0.000,0.022,2609,3114,3209
$GC,559,-2.10,-60.9,94.0,-18.1,60,567,0.00,2.28,0.00,0.000,6,0.000,0.036,2610,1722,3210
$GC,823,-2.10,-60.9,138.8,-17.2,85,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1722,3210
$GC,1085,-2.10,-60.9,185.8,-17.6,110,1088,0.00,2.17,0.00,0.000,4,0.000,0.026,2610,3116,3210
$GC,1195,-2.10,-60.9,203.9,-14.9,118,1199,0.00,2.25,0.00,0.000,6,0.000,0.037,2609,1718,3211
$GC,1457,-2.10,-60.9,242.1,-14.5,125,1461,0.00,2.42,0.00,0.000,4,0.000,0.077,2610,317,3211
$GC,1473,-2.10,-60.9,245.0,-15.3,125,1477,0.00,2.15,0.00,0.000,6,0.000,0.026,2609,1727,3211
$GC,1740,-2.10,-60.9,284.9,-15.0,132,1744,0.00,2.25,0.00,0.000,4,0.000,0.047,2609,3117,3211
$GC,1864,-2.10,-60.9,303.3,-15.1,134,1870,0.00,2.33,0.00,0.000,6,0.000,0.045,2609,1722,3211
$GC,2114,-2.10,-60.9,341.6,-14.9,141,2118,0.00,2.28,0.00,0.000,4,0.000,0.039,2610,3112,3210
$GC,2199,-2.10,-60.9,353.9,-14.9,143,2203,0.00,2.35,0.00,0.000,6,0.000,0.059,2609,1719,3210
$GC,2483,-2.10,-60.9,394.4,-14.2,150,2487,0.00,2.30,0.00,0.000,4,0.000,0.051,2609,3111,3208
$GC,2544,-2.10,-60.9,403.6,-14.7,151,2549,0.00,2.40,0.00,0.000,6,0.000,0.060,2609,1713,3208
$GC,2806,-2.10,-60.9,443.4,-15.4,158,2810,0.00,2.33,0.00,0.000,4,0.000,0.058,2609,3101,3207
$GC,2912,-2.10,-60.9,459.8,-15.0,160,2917,0.00,2.40,0.00,0.000,6,0.000,0.073,2609,1719,3206
$GC,3174,-2.10,-60.9,499.0,-15.0,167,3178,0.00,2.35,0.00,0.000,4,0.000,0.064,2610,3106,3204
$STATE,3181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3182,begin apogee
$GC,3191,-0.31,0.0,500.7,14.7,167,3247,1.85,0.00,51.45,0.907,6,0.114,0.000,2998,1829,2956
$STATE,3247,end apogee,CONTROL_FINISHED_OK
$STATE,3247,begin climb
$GC,3251,2.10,60.9,503.2,0.0,168,3312,2.17,2.72,51.67,0.885,4,0.039,0.109,3542,424,2706
$GC,3566,2.12,79.0,491.3,5.4,175,3587,0.00,2.25,15.95,0.839,6,0.000,0.038,3542,1803,2633
$GC,3844,2.12,79.0,467.9,9.2,182,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1803,2630
$GC,4087,2.12,79.0,444.9,9.4,188,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1804,2628
$GC,4331,2.13,84.5,425.9,7.4,194,4341,0.00,2.42,5.10,0.650,4,0.000,0.071,3542,413,2610
$GC,4448,2.13,85.3,415.9,8.2,196,4453,0.00,2.28,0.00,0.000,6,0.000,0.027,3542,1839,2609
$GC,4699,2.15,103.7,401.3,5.3,202,4719,0.00,0.00,17.88,0.835,6,0.000,0.000,3541,1839,2533
$GC,4942,2.15,103.7,381.4,8.9,208,4947,0.00,2.33,0.00,0.000,4,0.000,0.052,3542,3244,2528
$GC,5200,2.15,103.7,358.1,9.6,213,5206,0.00,2.38,0.00,0.000,6,0.000,0.040,3542,1810,2527
$GC,5450,2.15,103.7,334.5,9.3,220,5454,0.00,2.30,0.00,0.000,4,0.000,0.031,3542,3244,2526
$GC,5708,2.15,103.7,310.5,8.5,225,5714,0.00,2.33,0.00,0.000,6,0.000,0.038,3542,1826,2524
$GC,5958,2.15,103.7,289.1,8.7,232,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1826,2523
$GC,6202,2.15,107.5,270.4,7.7,238,6206,0.00,2.28,0.00,0.000,4,0.000,0.036,3542,3250,2523
$GC,6461,2.16,111.4,251.0,7.7,243,6472,0.00,2.33,6.15,0.632,6,0.000,0.042,3542,1823,2500
$GC,6750,2.16,111.4,225.3,9.7,251,6754,0.00,2.28,0.00,0.000,4,0.000,0.036,3542,3245,2500
$GC,6791,2.16,111.4,221.7,8.5,252,6795,0.00,2.33,0.00,0.000,6,0.000,0.036,3542,1821,2500
$GC,7075,2.17,119.5,199.2,7.0,259,7090,0.00,2.45,8.43,0.645,4,0.000,0.068,3542,418,2467
$GC,7346,2.17,124.0,174.9,7.6,283,7358,0.00,2.22,5.07,0.537,6,0.000,0.025,3542,1857,2450
$GC,7615,2.19,140.8,157.1,5.6,308,7640,0.00,2.50,16.20,0.658,4,0.000,0.060,3542,425,2380
$GC,7713,2.19,140.8,149.3,9.0,316,7721,0.00,2.20,0.00,0.000,6,0.000,0.025,3542,1827,2378
$GC,7976,2.19,140.8,126.2,9.3,341,7980,0.00,2.35,0.00,0.000,4,0.000,0.058,3542,422,2378
$GC,8079,2.19,140.8,116.3,9.5,350,8083,0.00,2.17,0.00,0.000,6,0.000,0.019,3542,1836,2377
$GC,8344,2.19,140.8,92.4,10.2,374,8347,0.00,2.20,0.00,0.000,4,0.000,0.035,3542,3230,2377
$GC,8424,2.19,140.8,84.8,9.1,381,8428,0.00,2.28,0.00,0.000,6,0.000,0.039,3542,1817,2376
$GC,8695,2.19,140.8,60.6,9.6,406,8698,0.00,2.25,0.00,0.000,4,0.000,0.031,3542,3232,2376
$GC,8954,2.20,145.7,35.7,7.5,429,8968,0.00,2.28,5.45,0.450,6,0.000,0.032,3542,1823,2361
$GC,9232,2.23,171.2,16.7,4.1,472,9265,0.00,2.30,23.15,0.536,4,0.000,0.030,3542,3225,2257
$GC,9334,2.23,171.2,9.6,8.4,488,9343,0.00,2.30,0.00,0.000,6,0.000,0.034,3542,1828,2255
$STATE,9398,end climb,SURFACE_DEPTH_REACHED
$STATE,9398,begin surface coast
$FINISH,0.5,1.023628
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9427,begin surface
$SM_CCo,9452,200.77,0.529,0,0,1243,420.20
$SM_GC,1.21,0.00,0.00,200.77,0.000,0.000,0.529,469,1705,1243,-11.98,-0.42,420.20
$IRIDIUM_FIX,2251.04,-15742.79,220898,212103
$TT8_MAMPS,0.026078
$HUMID,1480
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,21.90
$XPDR_PINGS,67
$24V_AH,23.6,18.443
$10V_AH,10.7,16.065
$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,28.500,97.075,206.500,200.775,0.000,29.208,28.330,129.218,16.750,0.000,0.000,16.149,1019.886,5891.723,498.256,2100.570,461.286,33.358,1272.091,0.000,2093.400,0.000,0.537,0.000
$DEVICE_MAMPS,181.012,108.914,907.361,529.230,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.225,277.543,401.134,551.880,1165.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38157,504
$CAP_FILE_SIZE,85890,0
$CFSIZE,260165632,223784960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290509,025543,2258.955,-15741.787,23,1.5,29,10.1