version: 66.04
glider: 146
mission: 4
dive: 2
start: 3 3 109 20 43 5
data:
$ID,146
$MISSION,4
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,400
$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,-26361.338
$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,19
$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
$GPS1,203807,4808.084,-12223.383,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-66.4
$GPS2,204214,4808.107,-12223.400,11,1.5,11,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,-0.233
$KALMAN_X,-51.1,-51.1,-51.1,41.3,-116.3
$KALMAN_Y,88.4,88.4,88.4,-126.6,201.3
$MHEAD_RNG_PITCHd_Wd,135.1,4270,-17.5,-10.000
$D_GRID,103
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.27,-146.6,0.0,0.0,0,183,0.00,0.00,-162.77,0.000,2,0.000,0.000,482,1847,3795
$GC,186,-1.27,-146.6,4.0,-7.5,21,211,13.02,2.55,-3.50,0.000,4,0.190,0.095,2759,448,3954
$GC,221,-1.27,-146.6,13.3,-24.7,25,229,0.00,2.25,0.00,0.000,6,0.000,0.035,2759,1829,3954
$GC,299,-1.27,-146.6,19.5,-7.5,38,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1829,3955
$GC,376,-1.27,-146.6,25.2,-7.0,51,383,0.00,2.38,0.00,0.000,4,0.000,0.045,2759,3243,3954
$GC,392,-1.27,-146.6,26.4,-7.4,53,399,0.00,2.33,0.00,0.000,6,0.000,0.048,2759,1849,3955
$GC,468,-1.27,-146.6,32.1,-7.7,66,477,0.00,2.50,0.00,0.000,4,0.000,0.074,2760,450,3954
$GC,488,-1.27,-146.6,33.5,-7.6,68,496,0.00,2.28,0.00,0.000,6,0.000,0.031,2759,1849,3954
$GC,566,-1.27,-146.6,39.8,-7.5,81,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1850,3955
$GC,641,-1.27,-146.6,45.9,-7.3,94,650,0.00,2.33,0.00,0.000,4,0.000,0.049,2759,3237,3955
$GC,676,-1.27,-146.6,48.3,-7.9,99,682,0.00,2.28,0.00,0.000,6,0.000,0.045,2759,1849,3955
$GC,818,-1.27,-146.6,59.7,-8.0,124,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1849,3955
$GC,964,-1.27,-146.6,71.1,-8.4,149,970,0.00,2.30,0.00,0.000,4,0.000,0.048,2759,3247,3955
$GC,1016,-1.27,-146.6,75.5,-8.1,158,1024,0.00,2.33,0.00,0.000,6,0.000,0.046,2759,1850,3955
$GC,1169,-1.27,-146.6,87.1,-8.2,183,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1849,3955
$GC,1308,-1.27,-146.6,98.3,-7.5,208,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1849,3955
$STATE,1371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1379,-0.31,0.0,103.1,7.1,219,1473,0.98,0.00,90.75,0.719,6,0.112,0.000,2970,1849,3488
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1478,1.27,146.6,105.3,0.0,233,1602,1.52,0.00,116.00,0.689,6,0.058,0.000,3322,1848,2889
$GC,1741,1.27,146.6,80.9,11.2,276,1749,0.00,2.38,0.00,0.000,4,0.000,0.049,3322,3246,2887
$GC,1764,1.27,146.6,78.3,11.7,279,1770,0.00,2.35,0.00,0.000,6,0.000,0.052,3322,1846,2887
$GC,1906,1.27,146.6,62.5,10.5,304,1914,0.00,2.38,0.00,0.000,4,0.000,0.044,3322,3247,2887
$GC,1940,1.27,146.6,58.8,11.2,309,1946,0.00,2.35,0.00,0.000,6,0.000,0.054,3322,1849,2886
$GC,2080,1.27,146.6,43.7,11.1,334,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1849,2886
$GC,2223,1.27,147.2,29.4,10.0,359,2231,0.00,2.35,0.00,0.000,4,0.000,0.050,3321,3239,2886
$GC,2262,1.28,152.7,25.2,9.7,365,2278,0.00,2.38,5.68,0.538,6,0.000,0.054,3322,1844,2866
$GC,2348,1.32,189.0,17.2,8.3,379,2387,0.00,2.40,31.02,0.640,4,0.000,0.051,3322,3236,2716
$GC,2407,1.33,195.0,11.8,9.7,387,2421,0.00,2.38,6.10,0.529,6,0.000,0.048,3322,1847,2693
$GC,2490,1.59,401.7,8.4,0.5,401,2603,0.25,0.00,109.18,0.633,2,0.072,0.000,3386,1847,2159
$STATE,2604,end climb,SURFACE_DEPTH_REACHED
$STATE,2604,begin surface coast
$FINISH,0.1,1.005881
$STATE,2627,end surface coast,CONTROL_FINISHED_OK
$STATE,2627,begin surface
$SM_CCo,2652,65.97,0.535,7,0,1856,400.08
$SM_GC,1.07,0.00,0.00,65.97,0.000,0.000,0.535,481,1846,1856,-11.78,-0.11,400.08
$IRIDIUM_FIX,4751.72,-12226.29,280598,202034
$TT8_MAMPS,0.026078
$HUMID,1488
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,12.10
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,85.0,32.6
$24V_AH,23.5,0.612
$10V_AH,10.5,0.332
$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,28.150,42.450,358.725,65.975,0.000,0.000,0.000,0.000,11.500,0.000,0.000,12.629,631.136,273.912,484.742,1299.370,137.661,30.181,1070.398,0.000,1314.538,0.000,7.043,0.000
$DEVICE_MAMPS,190.216,95.108,719.446,534.599,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.216,203.486,296.876,500.816,1047.770,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35076,419
$CAP_FILE_SIZE,60116,0
$CFSIZE,260165632,229949440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,7,0
$GPS,030309,213006,4807.848,-12223.275,10,1.2,26,18.3