version: 66.04
glider: 146
mission: 4
dive: 10
start: 3 4 109 4 16 39
data:
$ID,146
$MISSION,4
$DIVE,10
$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,-26521.957
$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,20
$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
$GPS1,040906,4806.500,-12222.421,12,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.1
$GPS2,041544,4806.461,-12222.390,12,1.4,12,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.231
$KALMAN_X,-1071.8,-306.2,-40.7,2552.8,-43.9
$KALMAN_Y,1332.3,343.7,72.7,-4650.5,127.4
$MHEAD_RNG_PITCHd_Wd,134.2,981,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.27,-146.6,0.0,0.0,0,99,0.00,0.00,-77.60,0.000,2,0.000,0.000,483,1853,3696
$GC,102,-1.27,-146.6,3.8,-7.2,10,128,13.15,2.30,-5.80,0.000,4,0.193,0.054,2758,3243,3953
$GC,165,-1.27,-146.6,14.2,-7.6,19,173,0.00,2.38,0.00,0.000,6,0.000,0.039,2758,1843,3954
$GC,243,-1.27,-146.6,20.1,-7.0,32,251,0.00,2.50,0.00,0.000,4,0.000,0.076,2757,449,3955
$GC,501,-1.27,-146.6,43.9,-9.4,78,509,0.00,2.28,0.00,0.000,6,0.000,0.033,2757,1851,3954
$GC,646,-1.27,-146.6,55.9,-8.4,103,652,0.00,2.47,0.00,0.000,4,0.000,0.067,2758,447,3954
$GC,696,-1.27,-146.6,60.2,-9.6,111,702,0.00,2.25,0.00,0.000,6,0.000,0.032,2757,1856,3954
$GC,837,-1.27,-146.6,72.2,-7.9,136,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1857,3954
$GC,983,-1.27,-146.6,83.6,-8.0,161,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1859,3954
$GC,1122,-1.27,-146.6,94.9,-8.0,186,1131,0.00,2.30,0.00,0.000,4,0.000,0.041,2758,3239,3954
$GC,1138,-1.27,-146.6,96.1,-7.7,188,1147,0.00,2.33,0.00,0.000,6,0.000,0.036,2758,1847,3954
$GC,1284,-1.27,-146.6,107.2,-7.4,213,1290,0.00,2.30,0.00,0.000,4,0.000,0.036,2758,3246,3954
$GC,1300,-1.27,-146.6,108.7,-7.8,215,1306,0.00,2.30,0.00,0.000,6,0.000,0.035,2758,1845,3954
$STATE,1371,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1371,begin apogee
$GC,1379,-0.31,0.0,114.6,7.3,228,1480,0.98,0.00,91.00,0.723,6,0.105,0.000,2966,1845,3489
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1481,begin climb
$GC,1484,1.27,146.6,116.8,0.0,243,1605,1.52,0.00,116.57,0.696,6,0.070,0.000,3316,1844,2890
$GC,1744,1.27,146.6,93.9,11.4,285,1750,0.00,2.33,0.00,0.000,4,0.000,0.038,3316,3241,2889
$GC,1803,1.27,146.6,87.0,11.9,295,1809,0.00,2.35,0.00,0.000,6,0.000,0.045,3316,1851,2888
$GC,1943,1.27,146.6,70.7,11.3,320,1950,0.00,2.33,0.00,0.000,4,0.000,0.038,3316,3240,2888
$GC,1976,1.27,146.6,67.4,11.6,325,1983,0.00,2.35,0.00,0.000,6,0.000,0.045,3316,1842,2887
$GC,2118,1.27,146.6,51.7,11.0,350,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1843,2888
$GC,2261,1.27,146.6,35.8,11.5,375,2269,0.00,2.35,0.00,0.000,4,0.000,0.039,3316,3240,2888
$GC,2295,1.27,146.6,31.8,12.1,380,2304,0.00,2.38,0.00,0.000,6,0.000,0.044,3316,1851,2887
$GC,2373,1.27,146.6,23.6,10.4,393,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1851,2888
$GC,2450,1.27,148.0,15.9,9.9,406,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1851,2888
$GC,2528,1.36,218.4,9.3,6.8,419,2592,0.00,2.40,58.75,0.640,4,0.000,0.038,3316,3240,2596
$GC,2720,1.61,424.9,2.1,0.5,449,2730,0.25,2.35,4.47,0.467,2,0.042,0.042,3396,1852,2575
$STATE,2730,end climb,SURFACE_DEPTH_REACHED
$STATE,2731,begin surface coast
$FINISH,1.8,1.018780
$STATE,2952,end surface coast,CONTROL_FINISHED_OK
$STATE,2952,begin surface
$SM_CCo,2976,117.50,0.549,13,0,2061,350.04
$SM_GC,1.29,0.00,0.00,117.50,0.000,0.000,0.549,483,1850,2061,-11.77,0.00,350.04
$IRIDIUM_FIX,4748.51,-12217.40,290598,030355
$TT8_MAMPS,0.026078
$HUMID,1491
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,12.00
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,80.4,44.1
$24V_AH,23.4,1.340
$10V_AH,10.5,1.043
$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,28.575,42.225,270.800,117.500,0.000,31.249,28.489,196.840,6.500,0.000,0.000,14.362,764.392,322.348,473.436,1536.267,472.931,33.348,1018.573,0.000,1549.137,0.000,5.822,0.000
$DEVICE_MAMPS,193.284,75.933,723.281,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.281,245.394,348.844,589.042,1240.529,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38270,490
$CAP_FILE_SIZE,52927,0
$CFSIZE,260165632,229679104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,040309,051028,4806.270,-12222.209,7,2.8,26,18.3