version: 66.04
glider: 146
mission: 4
dive: 8
start: 3 4 109 2 23 0
data:
$ID,146
$MISSION,4
$DIVE,8
$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,-26471.361
$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,22
$R_STBD_OVSHOOT,43
$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
$GPS1,021457,4806.934,-12222.811,41,2.2,60,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.1
$GPS2,022202,4806.938,-12222.744,14,2.0,14,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,-0.226
$KALMAN_X,-800.4,-318.9,-49.1,1863.5,-124.5
$KALMAN_Y,875.9,345.8,25.4,-3268.5,182.7
$MHEAD_RNG_PITCHd_Wd,132.0,1966,-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,-70.07,0.000,2,0.000,0.000,477,1838,3548
$GC,92,-1.27,-146.6,3.8,-7.5,9,126,13.10,2.55,-8.80,0.000,4,0.192,0.088,2758,438,3955
$GC,377,-1.27,-146.6,33.9,-9.2,58,386,0.00,2.28,0.00,0.000,6,0.000,0.025,2758,1849,3956
$GC,455,-1.27,-146.6,40.7,-8.7,71,461,0.00,2.47,0.00,0.000,4,0.000,0.067,2758,444,3955
$GC,506,-1.27,-146.6,45.6,-9.6,80,515,0.00,2.28,0.00,0.000,6,0.000,0.031,2758,1848,3955
$GC,652,-1.27,-146.6,57.8,-8.6,105,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1849,3955
$GC,792,-1.27,-146.6,69.2,-8.1,130,800,0.00,2.33,0.00,0.000,4,0.000,0.041,2758,3243,3955
$GC,807,-1.27,-146.6,70.6,-8.4,132,816,0.00,2.35,0.00,0.000,6,0.000,0.041,2758,1842,3955
$GC,960,-1.27,-146.6,82.2,-7.6,157,966,0.00,2.45,0.00,0.000,4,0.000,0.075,2758,451,3955
$GC,976,-1.27,-146.6,83.9,-8.1,159,982,0.00,2.25,0.00,0.000,6,0.000,0.030,2758,1856,3955
$GC,1116,-1.27,-146.6,94.9,-7.6,184,1125,0.00,2.30,0.00,0.000,4,0.000,0.046,2758,3238,3955
$GC,1140,-1.27,-146.6,96.5,-7.4,187,1147,0.00,2.30,0.00,0.000,6,0.000,0.043,2758,1843,3955
$GC,1281,-1.27,-146.6,107.3,-7.5,212,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1842,3955
$STATE,1411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1411,begin apogee
$GC,1419,-0.31,0.0,117.3,7.4,235,1517,0.98,0.00,91.50,0.724,6,0.103,0.000,2967,1842,3488
$STATE,1518,end apogee,CONTROL_FINISHED_OK
$STATE,1518,begin climb
$GC,1521,1.27,146.6,119.6,0.0,250,1642,1.52,0.00,116.20,0.699,6,0.066,0.000,3317,1842,2890
$GC,1778,1.27,146.6,96.1,11.6,292,1787,0.00,2.38,0.00,0.000,4,0.000,0.045,3317,3243,2888
$GC,1815,1.27,146.6,91.7,11.6,298,1823,0.00,2.38,0.00,0.000,6,0.000,0.045,3317,1854,2887
$GC,1959,1.27,146.6,75.8,11.2,323,1965,0.00,2.30,0.00,0.000,4,0.000,0.044,3317,3242,2887
$GC,1986,1.27,146.6,72.7,11.5,327,1992,0.00,2.35,0.00,0.000,6,0.000,0.042,3317,1844,2887
$GC,2125,1.27,146.6,56.7,11.0,352,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1844,2887
$GC,2269,1.27,146.6,41.6,10.1,377,2275,0.00,2.33,0.00,0.000,4,0.000,0.043,3317,3250,2887
$GC,2296,1.27,146.6,38.8,10.7,381,2304,0.00,2.40,0.00,0.000,6,0.000,0.051,3317,1846,2887
$GC,2373,1.27,146.6,30.6,10.3,394,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1846,2888
$GC,2450,1.28,150.7,23.0,9.8,407,2458,0.00,0.00,4.68,0.495,6,0.000,0.000,3317,1846,2873
$GC,2528,1.28,150.7,15.0,10.5,420,2537,0.00,2.35,0.00,0.000,4,0.000,0.041,3317,3241,2873
$GC,2551,1.28,154.5,12.7,9.8,423,2561,0.00,2.38,5.05,0.512,6,0.000,0.042,3317,1846,2857
$GC,2631,1.44,280.9,7.9,4.2,436,2743,0.15,2.33,103.78,0.635,4,0.144,0.044,3354,3238,2340
$STATE,2750,end climb,SURFACE_DEPTH_REACHED
$STATE,2750,begin surface coast
$FINISH,0.7,1.019031
$STATE,2792,end surface coast,CONTROL_FINISHED_OK
$STATE,2792,begin surface
$SM_CCo,2818,61.80,0.545,7,0,2060,350.04
$SM_GC,1.23,0.00,0.00,61.80,0.000,0.000,0.545,482,1834,2060,-11.77,-0.42,350.04
$IRIDIUM_FIX,4748.51,-12224.57,290598,010105
$TT8_MAMPS,0.026078
$HUMID,1485
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,12.30
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,80.3,46.7
$24V_AH,23.4,1.166
$10V_AH,10.5,0.855
$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,28.200,47.125,321.200,61.800,0.000,30.122,24.334,218.201,6.500,0.000,0.000,15.843,707.926,332.024,414.459,1403.566,497.714,33.357,965.401,0.000,1413.928,0.000,5.831,0.000
$DEVICE_MAMPS,191.750,88.205,724.048,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.455,219.099,311.031,524.775,1106.838,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38182,458
$CAP_FILE_SIZE,52884,0
$CFSIZE,260165632,229748736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,040309,031246,4806.742,-12222.546,8,4.0,27,18.3