version: 66.04
glider: 146
mission: 4
dive: 140
start: 5 31 109 0 31 50
data:
$ID,146
$MISSION,4
$DIVE,140
$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,-30311.082
$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,23
$R_STBD_OVSHOOT,64
$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
$GPS1,002506,2257.213,-15743.405,34,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.7
$GPS2,003056,2257.204,-15743.390,14,1.1,14,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,-0.081
$KALMAN_X,-38367.1,262.7,-333.0,81749.4,579.0
$KALMAN_Y,-118156.9,-470.9,568.8,249904.1,-590.0
$MHEAD_RNG_PITCHd_Wd,240.6,24420,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.0,0.0,0.0,0,106,0.00,0.00,-85.72,0.000,2,0.000,0.000,467,1712,3395
$GC,110,-1.10,-146.0,4.1,-5.4,11,136,13.20,2.45,-2.78,0.000,4,0.181,0.077,2828,316,3555
$GC,292,-1.10,-146.0,44.1,-12.1,33,299,0.00,2.15,0.00,0.000,6,0.000,0.020,2828,1717,3556
$GC,556,-1.10,-146.0,73.1,-11.4,58,560,0.00,2.17,0.00,0.000,4,0.000,0.031,2828,3111,3557
$GC,581,-1.10,-146.0,76.0,-11.4,60,586,0.00,2.25,0.00,0.000,6,0.000,0.038,2828,1717,3557
$GC,851,-1.10,-146.0,108.2,-12.0,85,854,0.00,2.20,0.00,0.000,4,0.000,0.021,2828,3114,3558
$GC,867,-1.10,-146.0,110.6,-12.2,86,876,0.00,2.28,0.00,0.000,6,0.000,0.029,2828,1712,3558
$GC,1132,-1.10,-146.0,138.1,-9.6,111,1136,0.00,2.33,0.00,0.000,4,0.000,0.056,2828,322,3558
$GC,1163,-1.10,-146.0,141.1,-9.8,113,1167,0.00,2.12,0.00,0.000,6,0.000,0.021,2828,1756,3558
$GC,1430,-1.10,-146.0,165.7,-9.9,138,1434,0.00,2.45,0.00,0.000,4,0.000,0.056,2828,318,3558
$GC,1452,-1.10,-146.0,168.1,-10.6,139,1458,0.00,2.08,0.00,0.000,6,0.000,0.022,2828,1736,3558
$GC,1714,-1.10,-146.0,193.4,-9.4,164,1717,0.00,2.08,0.00,0.000,4,0.000,0.023,2828,3074,3558
$GC,1796,-1.10,-146.0,200.1,-8.6,171,1800,0.00,2.17,0.00,0.000,6,0.000,0.031,2828,1715,3558
$GC,2053,-1.10,-146.0,220.5,-8.0,178,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1715,3558
$GC,2296,-1.10,-146.0,241.2,-8.5,184,2300,0.00,2.40,0.00,0.000,4,0.000,0.074,2828,321,3558
$GC,2323,-1.10,-146.0,243.7,-8.8,184,2327,0.00,2.05,0.00,0.000,6,0.000,0.025,2828,1673,3558
$GC,2580,-1.10,-146.0,264.3,-7.9,191,2584,0.00,2.30,0.00,0.000,4,0.000,0.038,2828,3116,3557
$GC,2666,-1.10,-146.0,271.5,-8.3,193,2670,0.00,2.28,0.00,0.000,6,0.000,0.039,2828,1726,3558
$GC,2950,-1.10,-146.0,292.9,-7.0,200,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1726,3556
$GC,3194,-1.10,-146.0,310.1,-7.3,206,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1726,3555
$GC,3438,-1.10,-146.0,329.0,-7.8,212,3442,0.00,2.25,0.00,0.000,4,0.000,0.038,2828,3110,3554
$GC,3455,-1.10,-146.0,330.3,-7.9,212,3459,0.00,2.30,0.00,0.000,6,0.000,0.049,2828,1719,3554
$GC,3716,-1.10,-146.0,350.9,-8.1,219,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1718,3552
$GC,3960,-1.10,-146.0,370.3,-8.0,225,3964,0.00,2.25,0.00,0.000,4,0.000,0.044,2828,3108,3551
$GC,3994,-1.10,-146.0,373.0,-7.6,225,4000,0.00,2.33,0.00,0.000,6,0.000,0.048,2828,1716,3550
$GC,4245,-1.10,-146.0,391.3,-7.1,232,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1716,3549
$GC,4488,-1.10,-146.0,408.3,-7.0,238,4492,0.00,2.28,0.00,0.000,4,0.000,0.048,2828,3105,3548
$GC,4506,-1.10,-146.0,409.5,-7.2,238,4510,0.00,2.33,0.00,0.000,6,0.000,0.057,2827,1719,3548
$GC,4768,-1.10,-146.0,428.6,-7.4,245,4772,0.00,2.28,0.00,0.000,4,0.000,0.049,2828,3110,3546
$GC,4801,-1.10,-146.0,431.1,-7.2,245,4806,0.00,2.35,0.00,0.000,6,0.000,0.061,2828,1722,3546
$GC,5052,-1.10,-146.0,449.8,-7.5,251,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1722,3545
$GC,5296,-1.10,-146.0,467.1,-7.0,257,5300,0.00,2.30,0.00,0.000,4,0.000,0.050,2828,3102,3543
$GC,5337,-1.10,-146.0,469.8,-7.0,258,5341,0.00,2.38,0.00,0.000,6,0.000,0.069,2828,1721,3543
$GC,5621,-1.10,-146.0,488.1,-6.4,265,5625,0.00,2.30,0.00,0.000,4,0.000,0.048,2828,3102,3542
$GC,5654,-1.10,-146.0,490.3,-6.5,265,5660,0.00,2.38,0.00,0.000,6,0.000,0.067,2828,1721,3542
$STATE,5820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5820,begin apogee
$GC,5829,-0.31,0.0,501.6,6.8,270,5952,0.77,0.00,119.72,0.943,6,0.070,0.000,3007,1825,2955
$STATE,5952,end apogee,CONTROL_FINISHED_OK
$STATE,5952,begin climb
$GC,5956,1.10,146.0,505.6,0.0,273,6086,1.25,0.00,124.28,0.915,6,0.034,0.000,3322,1825,2360
$GC,6368,1.10,146.0,480.2,9.2,283,6372,0.00,2.33,0.00,0.000,4,0.000,0.052,3322,3213,2350
$GC,6481,1.10,146.0,469.8,8.6,285,6485,0.00,2.38,0.00,0.000,6,0.000,0.060,3322,1823,2349
$GC,6748,1.12,163.2,448.9,7.7,292,6764,0.00,0.00,14.25,0.844,6,0.000,0.000,3321,1823,2291
$GC,6992,1.12,163.2,427.9,8.6,298,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1824,2287
$GC,7235,1.12,163.2,405.7,9.2,304,7239,0.00,2.30,0.00,0.000,4,0.000,0.035,3321,3222,2286
$GC,7280,1.12,163.2,401.1,10.3,305,7284,0.00,2.38,0.00,0.000,6,0.000,0.057,3321,1823,2284
$GC,7558,1.12,163.2,374.4,9.5,312,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1823,2283
$GC,7802,1.13,175.5,354.7,7.9,318,7819,0.00,2.30,11.43,0.790,4,0.000,0.035,3321,3226,2239
$GC,7914,1.13,175.5,344.7,9.9,320,7919,0.00,2.35,0.00,0.000,6,0.000,0.046,3321,1822,2237
$GC,8170,1.13,175.5,320.8,9.5,327,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1822,2235
$GC,8414,1.13,175.5,297.4,9.2,333,8419,0.00,2.45,0.00,0.000,4,0.000,0.076,3322,412,2234
$GC,8459,1.13,175.5,293.0,9.8,334,8463,0.00,2.22,0.00,0.000,6,0.000,0.018,3322,1846,2233
$GC,8738,1.16,198.2,271.1,7.5,341,8763,0.00,2.25,20.50,0.769,4,0.000,0.031,3321,3226,2146
$GC,8787,1.16,198.2,266.9,9.2,342,8791,0.00,2.33,0.00,0.000,6,0.000,0.035,3322,1816,2145
$GC,9060,1.16,198.2,242.6,9.1,349,9064,0.00,2.28,0.00,0.000,4,0.000,0.030,3322,3228,2143
$GC,9100,1.16,198.2,239.0,8.9,350,9104,0.00,2.30,0.00,0.000,6,0.000,0.039,3321,1817,2142
$GC,9384,1.16,198.2,214.3,8.8,357,9388,0.00,2.38,0.00,0.000,4,0.000,0.064,3321,426,2141
$GC,9457,1.16,198.2,206.7,10.4,358,9461,0.00,2.17,0.00,0.000,6,0.000,0.025,3322,1840,2140
$GC,9722,1.16,198.2,182.9,9.3,377,9726,0.00,2.20,0.00,0.000,4,0.000,0.031,3321,3221,2140
$GC,9793,1.16,198.2,176.6,8.8,383,9798,0.00,2.25,0.00,0.000,6,0.000,0.038,3321,1828,2139
$GC,10058,1.16,198.2,153.8,9.1,407,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1828,2139
$GC,10322,1.18,214.6,131.7,7.7,432,10348,0.00,2.30,14.60,0.627,4,0.000,0.034,3322,3219,2080
$GC,10430,1.18,214.6,123.1,8.5,441,10434,0.00,2.28,0.00,0.000,6,0.000,0.034,3321,1822,2079
$GC,10693,1.18,214.6,101.9,8.4,465,10697,0.00,2.35,0.00,0.000,4,0.000,0.055,3321,425,2079
$GC,10747,1.18,214.6,96.7,9.8,469,10751,0.00,2.15,0.00,0.000,6,0.000,0.021,3321,1839,2077
$GC,11017,1.22,250.0,74.6,7.0,494,11056,0.00,0.00,31.73,0.591,6,0.000,0.000,3322,1843,1935
$GC,11313,1.22,250.0,49.8,9.3,522,11317,0.00,2.40,0.00,0.000,4,0.000,0.060,3322,424,1933
$GC,11366,1.22,250.0,44.3,10.2,526,11369,0.00,2.15,0.00,0.000,6,0.000,0.018,3322,1835,1931
$GC,11635,1.22,250.0,18.1,8.7,562,11644,0.00,2.20,0.00,0.000,4,0.000,0.030,3322,3206,1931
$GC,11740,1.22,250.0,8.9,8.4,580,11747,0.00,2.25,0.00,0.000,6,0.000,0.038,3321,1834,1931
$STATE,11808,end climb,SURFACE_DEPTH_REACHED
$STATE,11808,begin surface coast
$FINISH,0.5,1.011163
$STATE,11842,end surface coast,CONTROL_FINISHED_OK
$STATE,11842,begin surface
$SM_CCo,11867,138.25,0.527,0,0,1242,420.20
$SM_GC,1.19,0.00,0.00,138.25,0.000,0.000,0.527,469,1707,1242,-11.98,-0.40,420.20
$IRIDIUM_FIX,2248.70,-15748.01,240898,212159
$TT8_MAMPS,0.026078
$HUMID,1517
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,22.20
$XPDR_PINGS,80
$24V_AH,23.6,20.060
$10V_AH,10.7,17.963
$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,26.700,118.725,336.500,138.250,0.000,30.342,25.293,154.381,20.000,0.000,0.000,15.849,1153.666,7993.327,571.175,2098.267,542.438,33.367,1347.801,0.000,2100.529,0.000,0.537,0.000
$DEVICE_MAMPS,181.012,171.808,942.643,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.120,323.669,457.919,615.571,1297.141,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44534,598
$CAP_FILE_SIZE,99635,0
$CFSIZE,260165632,222982144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310509,035306,2256.720,-15744.275,11,1.0,27,10.1