version: 66.04
glider: 146
mission: 4
dive: 173
start: 6 4 109 17 0 7
data:
$ID,146
$MISSION,4
$DIVE,173
$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,-31844.676
$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,29
$R_STBD_OVSHOOT,59
$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
$GPS1,165307,2257.320,-15742.215,35,1.2,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.0
$GPS2,165913,2257.353,-15742.141,8,2.0,13,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,-0.070
$KALMAN_X,-10793.1,-190.8,-293.6,56734.9,2137.2
$KALMAN_Y,-115730.5,-149.6,233.1,247771.4,401.6
$MHEAD_RNG_PITCHd_Wd,243.2,26332,-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,15,begin dive
$GC,18,-1.10,-146.0,0.0,0.0,0,98,0.00,0.00,-77.53,0.000,2,0.000,0.000,466,1706,3144
$GC,102,-1.10,-146.0,3.2,-3.5,10,129,13.02,2.45,-7.85,0.000,4,0.176,0.070,2831,315,3555
$GC,226,-1.10,-146.0,28.2,-12.5,30,234,0.00,2.17,0.00,0.000,6,0.000,0.018,2832,1744,3556
$GC,499,-1.10,-146.0,58.5,-11.8,56,503,0.00,2.42,0.00,0.000,4,0.000,0.061,2832,315,3556
$GC,530,-1.10,-146.0,62.6,-13.4,58,534,0.00,2.10,0.00,0.000,6,0.000,0.020,2831,1743,3557
$GC,800,-1.10,-146.0,91.7,-10.6,83,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1745,3557
$GC,1064,-1.10,-146.0,119.7,-10.2,108,1068,0.00,2.42,0.00,0.000,4,0.000,0.061,2831,317,3557
$GC,1095,-1.10,-146.0,123.0,-10.5,110,1099,0.00,2.08,0.00,0.000,6,0.000,0.018,2832,1731,3557
$GC,1365,-1.10,-146.0,149.0,-9.0,135,1368,0.00,2.08,0.00,0.000,4,0.000,0.028,2831,3077,3558
$GC,1412,-1.10,-146.0,153.1,-8.8,139,1417,0.00,2.17,0.00,0.000,6,0.000,0.033,2832,1713,3558
$GC,1677,-1.10,-146.0,179.3,-10.2,163,1681,0.00,2.35,0.00,0.000,4,0.000,0.067,2831,322,3558
$GC,1717,-1.10,-146.0,183.9,-11.0,166,1721,0.00,2.05,0.00,0.000,6,0.000,0.021,2831,1714,3558
$GC,1991,-1.10,-146.0,207.6,-8.7,186,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1716,3558
$GC,2236,-1.10,-146.0,229.6,-9.1,192,2240,0.00,2.38,0.00,0.000,4,0.000,0.070,2831,318,3558
$GC,2263,-1.10,-146.0,232.3,-10.0,192,2267,0.00,2.08,0.00,0.000,6,0.000,0.020,2832,1692,3558
$GC,2525,-1.10,-146.0,253.1,-7.5,199,2529,0.00,2.22,0.00,0.000,4,0.000,0.036,2831,3105,3557
$GC,2576,-1.10,-146.0,256.5,-6.1,200,2580,0.00,2.25,0.00,0.000,6,0.000,0.034,2832,1716,3557
$GC,2856,-1.10,-146.0,275.2,-6.9,207,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1716,3557
$GC,3099,-1.10,-146.0,293.6,-7.8,213,3102,0.00,2.22,0.00,0.000,4,0.000,0.038,2831,3104,3556
$GC,3145,-1.10,-146.0,297.2,-7.9,214,3149,0.00,2.28,0.00,0.000,6,0.000,0.047,2831,1719,3556
$GC,3429,-1.10,-146.0,318.9,-7.7,221,3434,0.00,2.47,0.00,0.000,4,0.000,0.089,2831,315,3555
$GC,3457,-1.10,-146.0,321.4,-8.7,221,3461,0.00,2.15,0.00,0.000,6,0.000,0.023,2831,1697,3554
$GC,3714,-1.10,-146.0,342.1,-8.1,228,3718,0.00,2.33,0.00,0.000,4,0.000,0.041,2831,3131,3553
$GC,3760,-1.10,-146.0,345.7,-7.8,229,3764,0.00,2.35,0.00,0.000,6,0.000,0.044,2831,1714,3553
$GC,4050,-1.10,-146.0,366.7,-7.1,236,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1714,3551
$GC,4293,-1.10,-146.0,384.1,-7.1,242,4297,0.00,2.53,0.00,0.000,4,0.000,0.099,2831,312,3550
$GC,4327,-1.10,-146.0,386.6,-7.6,242,4333,0.00,2.22,0.00,0.000,6,0.000,0.028,2831,1718,3549
$GC,4579,-1.10,-146.0,404.0,-6.8,249,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1718,3548
$GC,4822,-1.10,-146.0,419.8,-6.3,255,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1718,3547
$GC,5065,-1.10,-146.0,435.1,-6.3,261,5069,0.00,2.38,0.00,0.000,4,0.000,0.060,2831,3124,3545
$GC,5099,-1.10,-146.0,437.2,-6.0,261,5105,0.00,2.38,0.00,0.000,6,0.000,0.058,2831,1726,3545
$GC,5351,-1.10,-146.0,454.2,-6.9,268,5355,0.00,2.65,0.00,0.000,4,0.000,0.116,2831,305,3544
$GC,5374,-1.10,-146.0,455.8,-6.8,268,5378,0.00,2.25,0.00,0.000,6,0.000,0.035,2831,1720,3544
$GC,5631,-1.10,-146.0,474.5,-7.4,275,5635,0.00,2.40,0.00,0.000,4,0.000,0.071,2831,3124,3542
$GC,5665,-1.10,-146.0,477.3,-8.3,275,5671,0.00,2.40,0.00,0.000,6,0.000,0.064,2831,1713,3542
$GC,5916,-1.10,-146.0,495.2,-7.1,282,5920,0.00,2.65,0.00,0.000,4,0.000,0.124,2831,307,3540
$GC,5940,-1.10,-146.0,496.9,-7.2,282,5944,0.00,2.28,0.00,0.000,6,0.000,0.041,2831,1717,3540
$STATE,5989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5989,begin apogee
$GC,5997,-0.31,0.0,500.7,7.1,284,6119,0.75,0.00,119.28,0.939,6,0.065,0.000,3006,1836,2956
$STATE,6120,end apogee,CONTROL_FINISHED_OK
$STATE,6120,begin climb
$GC,6124,1.10,146.0,504.5,0.0,287,6257,1.27,2.62,123.43,0.911,4,0.041,0.081,3322,418,2359
$GC,6278,1.10,146.0,501.2,9.7,291,6282,0.00,2.30,0.00,0.000,6,0.000,0.034,3322,1821,2355
$GC,6562,1.10,146.0,473.5,9.4,298,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1821,2350
$GC,6806,1.10,146.0,452.9,8.4,304,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1821,2348
$GC,7049,1.11,154.6,433.4,8.0,310,7058,0.00,0.00,6.47,0.721,6,0.000,0.000,3323,1821,2325
$GC,7293,1.11,159.4,413.3,8.1,316,7304,0.00,2.40,5.57,0.681,4,0.000,0.056,3323,3257,2306
$GC,7372,1.11,159.4,406.3,9.5,317,7378,0.00,2.40,0.00,0.000,6,0.000,0.043,3322,1821,2304
$GC,7622,1.11,159.4,384.3,8.9,324,7627,0.00,2.47,0.00,0.000,4,0.000,0.081,3323,422,2303
$GC,7667,1.11,159.4,379.7,10.3,325,7671,0.00,2.25,0.00,0.000,6,0.000,0.025,3323,1857,2302
$GC,7946,1.11,159.4,355.9,8.5,332,7950,0.00,2.47,0.00,0.000,4,0.000,0.062,3323,412,2302
$GC,8013,1.11,159.4,349.8,9.6,333,8017,0.00,2.22,0.00,0.000,6,0.000,0.028,3322,1828,2301
$GC,8274,1.13,174.7,328.9,7.7,340,8294,0.00,2.33,14.50,0.792,4,0.000,0.043,3322,3239,2242
$GC,8425,1.13,174.7,315.7,8.6,343,8429,0.00,2.33,0.00,0.000,6,0.000,0.037,3322,1827,2240
$GC,8692,1.13,174.7,292.8,8.4,350,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1827,2238
$GC,8936,1.16,200.4,274.5,7.3,356,8965,0.00,2.35,23.25,0.769,4,0.000,0.035,3322,3233,2137
$GC,9039,1.16,200.4,265.4,9.7,358,9043,0.00,2.33,0.00,0.000,6,0.000,0.034,3322,1816,2134
$GC,9306,1.16,200.4,241.2,9.2,365,9310,0.00,2.28,0.00,0.000,4,0.000,0.036,3323,3236,2133
$GC,9352,1.16,200.4,236.7,10.5,366,9356,0.00,2.30,0.00,0.000,6,0.000,0.035,3323,1817,2132
$GC,9641,1.16,200.4,207.5,10.2,373,9645,0.00,2.35,0.00,0.000,4,0.000,0.061,3322,424,2132
$GC,9698,1.16,200.4,201.4,10.8,374,9702,0.00,2.20,0.00,0.000,6,0.000,0.025,3322,1857,2131
$GC,9963,1.16,200.4,178.5,8.8,397,9967,0.00,2.42,0.00,0.000,4,0.000,0.061,3323,424,2130
$GC,10018,1.16,200.4,172.9,9.6,401,10024,0.00,2.15,0.00,0.000,6,0.000,0.025,3323,1830,2130
$GC,10281,1.17,208.9,151.7,8.0,426,10292,0.00,0.00,7.62,0.586,6,0.000,0.000,3322,1831,2104
$GC,10547,1.19,219.6,131.2,7.9,451,10565,0.00,2.25,11.05,0.601,4,0.000,0.029,3323,3219,2059
$GC,10577,1.19,219.6,128.6,8.6,453,10585,0.00,2.30,0.00,0.000,6,0.000,0.033,3322,1819,2058
$GC,10841,1.19,219.6,106.6,8.5,478,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1819,2057
$GC,11106,1.19,219.6,83.1,8.7,503,11110,0.00,2.25,0.00,0.000,4,0.000,0.026,3322,3232,2058
$GC,11147,1.19,219.6,79.5,8.5,506,11152,0.00,2.28,0.00,0.000,6,0.000,0.032,3323,1823,2057
$GC,11412,1.21,236.4,58.8,7.7,530,11435,0.00,0.00,15.85,0.553,6,0.000,0.000,3323,1823,1991
$GC,11691,1.21,236.4,34.0,8.5,556,11695,0.00,2.22,0.00,0.000,4,0.000,0.028,3323,3218,1990
$GC,11799,1.23,257.6,24.9,7.5,571,11824,0.00,2.28,19.75,0.530,6,0.000,0.038,3322,1826,1905
$GC,12093,1.26,276.3,3.0,7.6,622,12103,0.10,0.00,7.60,0.453,2,0.065,0.000,3354,1825,1870
$STATE,12104,end climb,SURFACE_DEPTH_REACHED
$STATE,12104,begin surface coast
$FINISH,0.7,1.022742
$STATE,12149,end surface coast,CONTROL_FINISHED_OK
$STATE,12149,begin surface
$SM_CCo,12174,125.35,0.518,0,0,1243,420.20
$SM_GC,1.17,0.00,0.00,125.35,0.000,0.000,0.518,469,1708,1243,-11.98,-0.34,420.20
$IRIDIUM_FIX,2251.04,-15740.63,290898,131355
$TT8_MAMPS,0.026078
$HUMID,1545
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,22.70
$XPDR_PINGS,95
$24V_AH,23.6,23.936
$10V_AH,10.7,21.968
$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,26.750,125.275,354.375,125.350,0.000,31.135,35.395,156.097,23.750,0.000,0.000,15.418,1217.187,8076.802,563.355,2237.786,573.803,33.379,1386.390,0.000,2242.013,0.000,0.537,0.000
$DEVICE_MAMPS,175.643,124.254,938.808,517.725,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,432.674,350.305,490.144,668.877,1412.556,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47636,631
$CAP_FILE_SIZE,104346,0
$CFSIZE,260165632,221147136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040609,202637,2257.128,-15742.643,47,1.0,47,10.1