version: 66.04
glider: 146
mission: 4
dive: 7
start: 3 4 109 1 28 8
data:
$ID,146
$MISSION,4
$DIVE,7
$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,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,1.0232
$MASS,52003
$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,2100
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-26454.889
$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,21
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$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,3
$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,10
$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,2
$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
$GPS1,011636,4807.039,-12222.949,10,1.7,26,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.3
$GPS2,012713,4807.145,-12222.965,7,1.6,12,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.146,-0.215
$KALMAN_X,-635.2,-309.6,-61.2,1431.5,-119.1
$KALMAN_Y,597.5,341.9,59.4,-2642.7,80.6
$MHEAD_RNG_PITCHd_Wd,127.6,2432,-17.5,-10.000
$D_GRID,150
$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,16,-1.27,-146.6,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,2,0.000,0.000,483,1845,3559
$GC,93,-1.27,-146.6,3.7,-7.2,9,126,13.20,2.38,-8.82,0.000,4,0.195,0.047,2756,3248,3954
$GC,228,-1.27,-146.6,20.7,-7.8,31,237,0.00,2.38,0.00,0.000,6,0.000,0.040,2756,1842,3955
$GC,307,-1.27,-146.6,26.7,-7.3,44,315,0.00,2.35,0.00,0.000,4,0.000,0.036,2756,3249,3955
$GC,341,-1.27,-146.6,29.5,-7.8,49,349,0.00,2.35,0.00,0.000,6,0.000,0.038,2756,1853,3955
$GC,419,-1.27,-146.6,35.9,-8.4,62,427,0.00,2.53,0.00,0.000,4,0.000,0.076,2756,442,3955
$GC,436,-1.27,-146.6,37.5,-8.5,64,443,0.00,2.28,0.00,0.000,6,0.000,0.027,2756,1853,3955
$GC,514,-1.27,-146.6,44.2,-8.4,77,521,0.00,2.28,0.00,0.000,4,0.000,0.043,2756,3243,3955
$GC,530,-1.27,-146.6,45.7,-8.8,79,536,0.00,2.33,0.00,0.000,6,0.000,0.038,2756,1840,3955
$GC,670,-1.27,-146.6,57.8,-8.1,104,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1840,3955
$GC,815,-1.27,-146.6,69.4,-8.0,129,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1841,3955
$GC,956,-1.27,-146.6,81.0,-7.8,154,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1839,3955
$GC,1111,-1.27,-146.6,92.2,-7.4,179,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1839,3955
$GC,1250,-1.27,-146.6,102.7,-7.6,204,1258,0.00,2.33,0.00,0.000,4,0.000,0.043,2756,3236,3955
$GC,1274,-1.27,-146.6,104.4,-7.6,207,1280,0.00,2.30,0.00,0.000,6,0.000,0.035,2756,1841,3955
$STATE,1331,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1331,begin apogee
$GC,1338,-0.31,0.0,108.9,7.5,217,1437,0.98,0.00,91.18,0.720,6,0.097,0.000,2966,1841,3488
$STATE,1438,end apogee,CONTROL_FINISHED_OK
$STATE,1438,begin climb
$GC,1441,1.27,146.6,111.1,0.0,232,1569,1.52,2.40,116.15,0.693,4,0.069,0.041,3317,3242,2890
$GC,1577,1.27,146.6,101.8,10.7,252,1585,0.00,2.40,0.00,0.000,6,0.000,0.046,3317,1849,2890
$GC,1721,1.27,146.6,85.0,11.2,277,1727,0.00,2.33,0.00,0.000,4,0.000,0.042,3317,3250,2889
$GC,1759,1.27,146.6,80.8,11.0,283,1765,0.00,2.38,0.00,0.000,6,0.000,0.050,3316,1844,2889
$GC,1900,1.27,146.6,65.2,10.1,308,1909,0.00,2.53,0.00,0.000,4,0.000,0.074,3317,441,2888
$GC,1915,1.27,146.6,63.0,11.3,310,1924,0.00,2.28,0.00,0.000,6,0.000,0.031,3317,1847,2888
$GC,2062,1.27,146.6,48.0,10.6,335,2068,0.00,2.33,0.00,0.000,4,0.000,0.044,3317,3255,2888
$GC,2100,1.27,146.6,43.9,10.6,341,2106,0.00,2.38,0.00,0.000,6,0.000,0.051,3317,1844,2888
$GC,2240,1.27,146.6,29.3,10.6,366,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1844,2888
$GC,2317,1.27,146.6,21.5,10.1,379,2325,0.00,2.35,0.00,0.000,4,0.000,0.038,3317,3243,2888
$GC,2351,1.27,146.6,18.0,10.4,384,2360,0.00,2.38,0.00,0.000,6,0.000,0.045,3317,1852,2888
$GC,2429,1.35,207.3,10.9,7.2,397,2485,0.00,2.35,49.60,0.641,4,0.000,0.043,3317,3251,2642
$GC,2495,1.48,314.7,7.1,5.1,405,2591,0.15,2.42,89.70,0.626,6,0.050,0.043,3361,1838,2205
$STATE,2597,end climb,SURFACE_DEPTH_REACHED
$STATE,2597,begin surface coast
$FINISH,0.1,1.011258
$STATE,2636,end surface coast,CONTROL_FINISHED_OK
$STATE,2636,begin surface
$SM_CCo,2660,30.90,0.530,3,0,2061,350.04
$SM_GC,1.46,0.00,0.00,30.90,0.000,0.000,0.530,477,1837,2061,-11.79,-0.37,350.04
$IRIDIUM_FIX,4751.72,-12219.12,290598,010146
$TT8_MAMPS,0.026078
$HUMID,1485
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,12.40
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,90.3,28.4
$24V_AH,23.4,1.079
$10V_AH,10.5,0.764
$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,28.175,51.975,346.625,30.900,0.000,51.943,63.623,309.275,9.000,0.000,0.000,14.118,656.915,354.445,386.163,1312.297,645.920,33.319,938.042,0.000,1315.906,0.000,14.863,0.000
$DEVICE_MAMPS,194.818,75.933,720.213,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,296.047,203.233,291.524,492.203,1036.141,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35020,424
$CAP_FILE_SIZE,56333,0
$CFSIZE,260165632,229785600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040309,021457,4806.934,-12222.811,41,2.2,60,18.3