version: 66.04
glider: 146
mission: 4
dive: 154
start: 6 2 109 0 0 58
data:
$ID,146
$MISSION,4
$DIVE,154
$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,-30568.836
$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,49
$R_STBD_OVSHOOT,61
$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
$GPS1,235332,2255.106,-15754.863,13,2.0,13,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.9
$GPS2,000006,2255.208,-15754.812,33,1.0,43,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.106,0.220
$KALMAN_X,-29862.4,-166.1,-257.2,53942.2,1055.8
$KALMAN_Y,-123704.1,-143.5,-157.2,252155.0,826.1
$MHEAD_RNG_PITCHd_Wd,324.2,5180,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-145.9,0.0,0.0,0,107,0.00,0.00,-85.68,0.000,2,0.000,0.000,473,1687,3342
$GC,111,-1.10,-146.0,3.5,-3.8,11,137,13.05,2.28,-3.83,0.000,4,0.177,0.042,2828,3104,3552
$GC,287,-1.10,-146.0,37.9,-11.4,36,291,0.00,2.20,0.00,0.000,6,0.000,0.031,2828,1741,3554
$GC,551,-1.10,-146.0,68.2,-11.1,60,555,0.00,2.42,0.00,0.000,4,0.000,0.061,2828,312,3554
$GC,616,-1.10,-146.0,75.7,-11.7,65,620,0.00,2.12,0.00,0.000,6,0.000,0.021,2828,1735,3555
$GC,886,-1.10,-146.0,105.7,-11.6,90,889,0.00,2.10,0.00,0.000,4,0.000,0.025,2828,3102,3555
$GC,911,-1.10,-146.0,108.6,-11.4,92,915,0.00,2.22,0.00,0.000,6,0.000,0.031,2829,1711,3555
$GC,1176,-1.10,-146.0,138.2,-10.5,116,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1710,3555
$GC,1440,-1.10,-146.0,164.2,-9.5,141,1444,0.00,2.35,0.00,0.000,4,0.000,0.065,2828,319,3556
$GC,1472,-1.10,-146.0,167.5,-10.5,143,1476,0.00,2.10,0.00,0.000,6,0.000,0.022,2828,1741,3556
$GC,1740,-1.10,-146.0,193.3,-9.0,168,1744,0.00,2.08,0.00,0.000,4,0.000,0.023,2827,3081,3556
$GC,1780,-1.10,-146.0,197.0,-8.7,171,1786,0.00,2.17,0.00,0.000,6,0.000,0.029,2828,1719,3556
$GC,2062,-1.10,-146.0,221.7,-8.5,181,2065,0.00,2.15,0.00,0.000,4,0.000,0.032,2828,3084,3556
$GC,2096,-1.10,-146.0,224.4,-7.9,181,2100,0.00,2.20,0.00,0.000,6,0.000,0.037,2828,1714,3556
$GC,2353,-1.10,-146.0,244.9,-8.1,188,2357,0.00,2.40,0.00,0.000,4,0.000,0.075,2828,320,3556
$GC,2392,-1.10,-146.0,248.4,-8.7,189,2396,0.00,2.08,0.00,0.000,6,0.000,0.019,2828,1683,3556
$GC,2683,-1.10,-146.0,271.9,-8.0,196,2687,0.00,2.30,0.00,0.000,4,0.000,0.038,2828,3116,3555
$GC,2706,-1.10,-146.0,273.8,-7.6,196,2710,0.00,2.28,0.00,0.000,6,0.000,0.037,2828,1721,3555
$GC,2962,-1.10,-146.0,293.1,-7.6,203,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1721,3554
$GC,3205,-1.10,-146.0,310.4,-7.1,209,3209,0.00,2.25,0.00,0.000,4,0.000,0.041,2828,3115,3553
$GC,3234,-1.10,-146.0,312.8,-8.2,209,3238,0.00,2.30,0.00,0.000,6,0.000,0.048,2828,1718,3553
$GC,3491,-1.10,-146.0,333.4,-8.1,216,3495,0.00,2.25,0.00,0.000,4,0.000,0.041,2828,3115,3551
$GC,3519,-1.10,-146.0,336.0,-8.8,216,3523,0.00,2.33,0.00,0.000,6,0.000,0.051,2828,1718,3551
$GC,3769,-1.10,-146.0,357.6,-8.8,222,3773,0.00,2.25,0.00,0.000,4,0.000,0.041,2828,3107,3550
$GC,3819,-1.10,-146.0,361.9,-8.4,223,3824,0.00,2.33,0.00,0.000,6,0.000,0.057,2828,1722,3550
$GC,4093,-1.10,-146.0,384.3,-8.1,230,4097,0.00,2.55,0.00,0.000,4,0.000,0.099,2828,312,3548
$GC,4120,-1.10,-146.0,386.7,-8.5,230,4124,0.00,2.20,0.00,0.000,6,0.000,0.031,2828,1710,3548
$GC,4371,-1.10,-146.0,405.9,-7.4,236,4375,0.00,2.33,0.00,0.000,4,0.000,0.055,2828,3124,3547
$GC,4405,-1.10,-146.0,408.5,-6.8,236,4409,0.00,2.38,0.00,0.000,6,0.000,0.054,2828,1711,3546
$GC,4656,-1.10,-146.0,425.1,-6.7,242,4660,0.00,2.58,0.00,0.000,4,0.000,0.104,2828,309,3545
$GC,4701,-1.10,-146.0,428.5,-7.7,243,4705,0.00,2.25,0.00,0.000,6,0.000,0.030,2827,1717,3545
$GC,4980,-1.10,-146.0,447.5,-6.9,250,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1717,3543
$GC,5223,-1.10,-146.0,465.9,-7.7,256,5227,0.00,2.42,0.00,0.000,4,0.000,0.067,2828,3133,3542
$GC,5251,-1.10,-146.0,468.1,-8.1,256,5255,0.00,2.40,0.00,0.000,6,0.000,0.061,2828,1722,3542
$GC,5502,-1.10,-146.0,486.6,-7.2,262,5506,0.00,2.35,0.00,0.000,4,0.000,0.053,2828,3134,3540
$GC,5531,-1.10,-146.0,488.6,-7.4,262,5535,0.00,2.42,0.00,0.000,6,0.000,0.060,2828,1722,3541
$STATE,5702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5702,begin apogee
$GC,5710,-0.31,0.0,500.3,6.7,267,5832,0.77,0.00,119.18,0.936,6,0.068,0.000,3007,1857,2956
$STATE,5833,end apogee,CONTROL_FINISHED_OK
$STATE,5833,begin climb
$GC,5837,1.10,146.0,503.4,0.0,270,5968,1.25,2.83,123.50,0.909,4,0.033,0.114,3320,410,2359
$GC,5980,1.11,154.3,500.4,8.0,273,5994,0.00,2.30,8.45,0.752,6,0.000,0.038,3320,1802,2326
$GC,6246,1.11,154.3,475.0,9.4,280,6250,0.00,2.53,0.00,0.000,4,0.000,0.067,3320,3248,2318
$GC,6324,1.11,154.3,467.6,9.7,281,6330,0.00,2.45,0.00,0.000,6,0.000,0.054,3320,1816,2317
$GC,6575,1.11,154.3,444.7,9.2,288,6579,0.00,2.38,0.00,0.000,4,0.000,0.040,3320,3248,2315
$GC,6647,1.11,154.3,437.9,9.1,289,6652,0.00,2.42,0.00,0.000,6,0.000,0.056,3320,1825,2313
$GC,6904,1.11,154.3,415.0,9.0,296,6908,0.00,2.55,0.00,0.000,4,0.000,0.091,3320,419,2313
$GC,6993,1.11,154.3,405.7,11.0,298,6998,0.00,2.28,0.00,0.000,6,0.000,0.021,3320,1850,2311
$GC,7272,1.11,156.7,381.8,8.2,305,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1850,2310
$GC,7516,1.13,176.7,362.9,7.6,311,7540,0.00,2.33,18.15,0.821,4,0.000,0.043,3320,3235,2235
$GC,7560,1.15,190.1,359.5,7.8,312,7580,0.00,2.38,13.55,0.787,6,0.000,0.046,3320,1816,2179
$GC,7848,1.15,190.1,334.4,9.0,319,7852,0.00,2.30,0.00,0.000,4,0.000,0.036,3320,3240,2174
$GC,7904,1.15,190.1,329.3,9.2,320,7909,0.00,2.35,0.00,0.000,6,0.000,0.045,3321,1824,2174
$GC,8171,1.15,190.1,303.8,9.7,327,8175,0.00,2.30,0.00,0.000,4,0.000,0.029,3321,3253,2173
$GC,8205,1.15,190.1,300.5,10.0,327,8211,0.00,2.35,0.00,0.000,6,0.000,0.040,3320,1823,2172
$GC,8455,1.15,190.1,275.4,10.1,334,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1823,2172
$GC,8699,1.15,190.1,251.4,10.0,340,8704,0.00,2.42,0.00,0.000,4,0.000,0.071,3320,419,2171
$GC,8800,1.15,190.1,240.7,10.0,342,8805,0.00,2.22,0.00,0.000,6,0.000,0.026,3320,1857,2169
$GC,9068,1.17,204.3,218.5,7.8,349,9086,0.00,2.28,11.98,0.693,4,0.000,0.031,3320,3230,2123
$GC,9158,1.19,220.2,211.8,7.7,351,9178,0.00,2.30,15.60,0.699,6,0.000,0.035,3320,1821,2057
$GC,9435,1.19,220.2,189.2,8.5,366,9439,0.00,2.25,0.00,0.000,4,0.000,0.028,3320,3221,2054
$GC,9480,1.19,220.2,184.9,9.5,370,9484,0.00,2.28,0.00,0.000,6,0.000,0.034,3320,1822,2053
$GC,9742,1.19,220.2,160.4,8.9,394,9746,0.00,2.25,0.00,0.000,4,0.000,0.030,3320,3233,2053
$GC,9775,1.19,220.2,157.5,8.5,396,9782,0.00,2.30,0.00,0.000,6,0.000,0.039,3320,1831,2052
$GC,10040,1.21,237.8,137.2,7.7,421,10067,0.00,2.45,16.02,0.630,4,0.000,0.063,3320,427,1985
$GC,10117,1.21,237.8,130.0,9.8,427,10125,0.00,2.20,0.00,0.000,6,0.000,0.024,3320,1836,1984
$GC,10382,1.21,240.7,107.1,8.2,452,10396,0.00,2.25,3.95,0.416,4,0.000,0.034,3320,3221,1974
$GC,10403,1.21,240.7,105.0,8.3,453,10412,0.00,2.28,0.00,0.000,6,0.000,0.038,3320,1833,1974
$GC,10668,1.21,240.7,81.8,9.0,478,10672,0.00,2.38,0.00,0.000,4,0.000,0.055,3320,420,1974
$GC,10712,1.21,240.7,76.9,11.0,481,10718,0.00,2.17,0.00,0.000,6,0.000,0.025,3320,1828,1973
$GC,10977,1.21,240.7,52.8,9.6,506,10981,0.00,2.35,0.00,0.000,4,0.000,0.058,3320,428,1973
$GC,10997,1.21,240.7,50.8,9.5,507,11001,0.00,2.15,0.00,0.000,6,0.000,0.018,3320,1844,1973
$GC,11263,1.21,240.7,26.9,8.8,534,11273,0.00,2.42,0.00,0.000,4,0.000,0.061,3320,422,1973
$GC,11353,1.21,240.7,19.1,8.8,549,11361,0.00,2.17,0.00,0.000,6,0.000,0.018,3320,1835,1973
$STATE,11588,end climb,SURFACE_DEPTH_REACHED
$STATE,11588,begin surface coast
$FINISH,0.6,1.010312
$STATE,11633,end surface coast,CONTROL_FINISHED_OK
$STATE,11633,begin surface
$SM_CCo,11657,147.45,0.522,0,0,1243,420.20
$SM_GC,1.19,0.00,0.00,147.45,0.000,0.000,0.522,467,1679,1243,-11.99,-1.16,420.20
$IRIDIUM_FIX,2244.02,-15756.28,260898,202053
$TT8_MAMPS,0.026078
$HUMID,1532
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,22.70
$XPDR_PINGS,88
$24V_AH,23.6,21.703
$10V_AH,10.7,19.653
$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,26.450,148.275,330.375,147.450,0.000,31.386,29.126,165.446,22.000,0.000,0.000,45.372,1177.271,7646.114,581.272,2206.133,589.807,33.373,1410.664,0.000,2185.200,0.000,0.536,0.000
$DEVICE_MAMPS,177.177,128.856,935.740,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.842,329.167,468.554,636.216,1340.769,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44428,599
$CAP_FILE_SIZE,106065,0
$CFSIZE,260165632,222187520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020609,031906,2257.006,-15754.722,34,0.9,40,10.1