version: 66.04
glider: 146
mission: 4
dive: 1
start: 3 3 109 19 52 56
data:
$ID,146
$MISSION,4
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,1.0232
$MASS,52003
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,2100
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,730
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26321.518
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3041
$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,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3488
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-28.713232
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$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
$GPS1,194838,4807.996,-12223.298,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-65.2
$GPS2,195158,4808.028,-12223.306,10,2.8,29,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.239
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,138.4,4088,-17.5,-10.000
$D_GRID,105
$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,15,-1.27,-146.6,0.0,0.0,0,182,0.00,0.00,-163.12,0.000,2,0.000,0.000,484,1885,3809
$GC,186,-1.27,-146.6,3.3,-5.9,21,211,12.85,0.00,-3.40,0.000,6,0.186,0.000,2758,1885,3953
$GC,280,-1.27,-146.6,15.8,-6.4,36,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1885,3954
$GC,357,-1.27,-146.6,21.0,-6.9,49,366,0.00,2.25,0.00,0.000,4,0.000,0.045,2758,3224,3954
$GC,386,-1.27,-146.6,23.1,-7.1,53,393,0.00,2.28,0.00,0.000,6,0.000,0.042,2758,1860,3954
$GC,463,-1.27,-146.6,28.7,-7.3,66,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1860,3953
$GC,539,-1.27,-146.6,34.6,-7.5,79,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1860,3953
$GC,615,-1.27,-146.6,40.5,-7.5,92,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1860,3953
$STATE,678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,678,begin apogee
$GC,686,-0.31,0.0,45.6,7.9,103,779,0.98,0.00,89.30,0.678,6,0.099,0.000,2968,1860,3488
$STATE,780,end apogee,CONTROL_FINISHED_OK
$STATE,780,begin climb
$GC,783,1.27,146.6,47.7,0.0,117,903,1.50,0.00,114.35,0.649,6,0.061,0.000,3314,1860,2890
$GC,1041,1.27,146.6,25.3,10.8,159,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1859,2887
$GC,1118,1.27,146.6,16.9,10.8,172,1126,0.00,2.33,0.00,0.000,4,0.000,0.047,3314,3222,2887
$GC,1151,1.27,146.6,13.0,12.2,177,1160,0.00,2.35,0.00,0.000,6,0.000,0.057,3314,1849,2886
$GC,1230,1.36,218.5,5.9,6.7,190,1263,0.10,0.00,30.75,0.621,2,0.150,0.000,3338,1849,2737
$STATE,1264,end climb,SURFACE_DEPTH_REACHED
$STATE,1264,begin surface coast
$FINISH,0.2,1.016524
$STATE,1331,end surface coast,CONTROL_FINISHED_OK
$STATE,1331,begin surface
$SM_CCo,1355,435.85,0.605,0,0,512,730.01
$SM_GC,0.98,0.00,0.00,435.85,0.000,0.000,0.605,482,1847,512,-11.77,-0.08,730.01
$IRIDIUM_FIX,4751.72,-12219.12,280598,191954
$TT8_MAMPS,0.026078
$HUMID,1471
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,11.90
$XPDR_PINGS,85
$24V_AH,23.6,0.503
$10V_AH,10.6,0.240
$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,27.600,9.200,234.400,435.850,0.000,0.000,0.000,0.000,21.250,0.000,0.000,31.628,312.792,19.325,710.050,764.566,87.916,29.237,1065.473,0.000,759.127,0.000,0.986,0.000
$DEVICE_MAMPS,185.614,56.758,678.028,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,143.447,124.752,187.160,315.950,665.446,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16111,206
$CAP_FILE_SIZE,50647,0
$CFSIZE,260165632,230014976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,030309,202343,4807.994,-12223.320,6,1.8,12,18.3