version: 66.04
glider: 146
mission: 4
dive: 9
start: 3 4 109 3 20 54
data:
$ID,146
$MISSION,4
$DIVE,9
$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,-26506.967
$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,23
$R_STBD_OVSHOOT,44
$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
$GPS1,031246,4806.742,-12222.546,8,4.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.6
$GPS2,031958,4806.720,-12222.486,13,3.9,32,18.3
$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,-885.4,-316.1,-42.1,2255.4,-75.8
$KALMAN_Y,1126.0,345.3,41.5,-3937.0,203.9
$MHEAD_RNG_PITCHd_Wd,138.5,1462,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.27,-146.6,0.0,0.0,0,97,0.00,0.00,-78.20,0.000,2,0.000,0.000,482,1835,3738
$GC,101,-1.27,-146.6,4.3,-8.6,10,127,13.15,2.35,-4.50,0.000,4,0.193,0.049,2759,3253,3953
$GC,136,-1.27,-146.6,13.5,-24.4,14,144,0.00,2.38,0.00,0.000,6,0.000,0.044,2759,1847,3953
$GC,214,-1.27,-146.6,19.2,-7.3,27,221,0.00,2.33,0.00,0.000,4,0.000,0.040,2759,3239,3954
$GC,460,-1.27,-146.6,40.2,-9.7,71,466,0.00,2.30,0.00,0.000,6,0.000,0.043,2759,1849,3953
$GC,600,-1.27,-146.6,52.5,-9.1,96,609,0.00,2.33,0.00,0.000,4,0.000,0.042,2759,3246,3954
$GC,624,-1.27,-146.6,54.3,-8.5,99,630,0.00,2.33,0.00,0.000,6,0.000,0.042,2759,1842,3954
$GC,765,-1.27,-146.6,66.3,-8.4,124,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1842,3954
$GC,909,-1.27,-146.6,78.0,-8.2,149,915,0.00,2.47,0.00,0.000,4,0.000,0.074,2759,443,3954
$GC,928,-1.27,-146.6,79.7,-7.6,152,936,0.00,2.28,0.00,0.000,6,0.000,0.028,2759,1848,3954
$GC,1076,-1.27,-146.6,91.0,-7.5,177,1082,0.00,2.30,0.00,0.000,4,0.000,0.045,2759,3247,3954
$GC,1105,-1.27,-146.6,93.4,-7.9,181,1111,0.00,2.30,0.00,0.000,6,0.000,0.041,2759,1849,3954
$GC,1245,-1.27,-146.6,104.4,-7.3,206,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1848,3954
$STATE,1357,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1357,begin apogee
$GC,1364,-0.31,0.0,113.0,7.9,226,1465,0.98,0.00,91.35,0.722,6,0.113,0.000,2968,1849,3487
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1469,1.27,146.6,115.3,0.0,241,1594,1.50,0.00,116.53,0.696,6,0.068,0.000,3313,1849,2889
$GC,1731,1.27,146.6,91.8,11.0,284,1739,0.00,2.35,0.00,0.000,4,0.000,0.044,3313,3240,2888
$GC,1758,1.27,146.6,88.7,12.1,288,1766,0.00,2.38,0.00,0.000,6,0.000,0.043,3312,1853,2887
$GC,1903,1.27,146.6,72.6,10.8,313,1909,0.00,2.30,0.00,0.000,4,0.000,0.037,3313,3243,2887
$GC,1930,1.27,146.6,69.9,10.3,317,1936,0.00,2.35,0.00,0.000,6,0.000,0.044,3313,1849,2887
$GC,2069,1.27,146.6,54.6,10.5,342,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1848,2887
$GC,2214,1.27,146.6,39.7,11.4,367,2222,0.00,2.35,0.00,0.000,4,0.000,0.044,3313,3246,2887
$GC,2249,1.27,146.6,35.8,11.3,372,2257,0.00,2.38,0.00,0.000,6,0.000,0.047,3313,1853,2887
$GC,2326,1.27,146.6,27.6,10.5,385,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1853,2887
$GC,2403,1.28,154.2,19.8,9.6,398,2412,0.00,0.00,7.55,0.581,6,0.000,0.000,3313,1853,2858
$GC,2482,1.31,178.0,12.7,8.9,411,2506,0.00,0.00,20.35,0.634,6,0.000,0.000,3313,1853,2762
$GC,2576,1.46,301.4,6.2,4.3,426,2664,0.17,0.00,85.55,0.632,2,0.063,0.000,3361,1853,2339
$STATE,2665,end climb,SURFACE_DEPTH_REACHED
$STATE,2665,begin surface coast
$FINISH,1.0,1.018927
$STATE,2705,end surface coast,CONTROL_FINISHED_OK
$STATE,2705,begin surface
$SM_CCo,2730,61.47,0.545,6,0,2061,350.04
$SM_GC,1.20,0.00,0.00,61.47,0.000,0.000,0.545,483,1853,2061,-11.77,0.08,350.04
$IRIDIUM_FIX,4751.72,-12226.29,290598,020209
$TT8_MAMPS,0.026078
$HUMID,1486
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,12.40
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,85.3,37.5
$24V_AH,23.4,1.254
$10V_AH,10.5,0.944
$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,28.325,37.450,321.325,61.475,0.000,24.632,30.373,208.541,6.500,0.000,0.000,34.979,686.081,315.256,406.280,1381.161,477.628,33.332,940.566,0.000,1370.969,0.000,7.357,0.000
$DEVICE_MAMPS,192.517,74.399,721.747,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.681,211.792,302.737,511.207,1075.990,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35107,444
$CAP_FILE_SIZE,50666,0
$CFSIZE,260165632,229715968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,040309,040906,4806.500,-12222.421,12,1.4,28,18.3