version: 66.04
glider: 146
mission: 4
dive: 11
start: 3 4 109 5 18 54
data:
$ID,146
$MISSION,4
$DIVE,11
$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,-26555.744
$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,45
$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
$GPS1,051028,4806.270,-12222.209,7,2.8,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.6
$GPS2,051758,4806.225,-12222.202,11,99.0,30,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.181
$KALMAN_X,-1267.0,-262.7,-11.2,2906.6,-59.1
$KALMAN_Y,1615.2,305.4,69.6,-5331.8,129.8
$MHEAD_RNG_PITCHd_Wd,132.2,485,-22.6,-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,16,-1.52,-90.9,0.0,0.0,0,89,0.00,0.00,-70.45,0.000,2,0.000,0.000,484,1850,3568
$GC,93,-1.58,-136.0,3.6,-6.7,9,127,12.82,2.53,-9.50,0.000,4,0.195,0.082,2691,449,3955
$GC,377,-1.58,-136.0,36.5,-11.9,58,386,0.00,2.28,0.00,0.000,6,0.000,0.033,2692,1852,3956
$GC,455,-1.58,-136.0,45.3,-10.9,71,461,0.00,2.50,0.00,0.000,4,0.000,0.071,2692,437,3955
$GC,470,-1.58,-136.0,47.0,-11.0,73,476,0.00,2.25,0.00,0.000,6,0.000,0.025,2692,1853,3955
$GC,611,-1.58,-136.0,63.2,-10.9,98,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1854,3955
$GC,754,-1.58,-136.0,78.9,-11.3,123,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1854,3955
$GC,897,-1.58,-136.0,94.6,-10.8,148,905,0.00,2.30,0.00,0.000,4,0.000,0.041,2692,3237,3955
$GC,921,-1.58,-136.0,96.8,-11.1,151,927,0.00,2.30,0.00,0.000,6,0.000,0.041,2692,1840,3955
$GC,1062,-1.58,-136.0,112.0,-10.4,176,1069,0.00,2.33,0.00,0.000,4,0.000,0.042,2692,3236,3955
$GC,1095,-1.58,-136.0,115.3,-10.7,181,1101,0.00,2.28,0.00,0.000,6,0.000,0.035,2692,1849,3955
$STATE,1107,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1107,begin apogee
$GC,1115,-0.31,0.0,116.8,10.1,183,1213,1.33,0.00,91.55,0.727,6,0.109,0.000,2967,1849,3487
$STATE,1214,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1217,1.58,136.0,119.8,0.0,198,1333,1.80,2.42,107.85,0.698,4,0.067,0.040,3380,3244,2932
$GC,1353,1.58,136.0,108.8,12.9,218,1361,0.00,2.40,0.00,0.000,6,0.000,0.043,3380,1850,2932
$GC,1499,1.58,136.0,88.4,13.7,243,1505,0.00,2.30,0.00,0.000,4,0.000,0.039,3380,3243,2931
$GC,1551,1.58,136.0,80.8,13.6,252,1559,0.00,2.38,0.00,0.000,6,0.000,0.045,3380,1852,2931
$GC,1698,1.58,136.0,61.6,13.5,277,1704,0.00,2.30,0.00,0.000,4,0.000,0.036,3380,3241,2931
$GC,1757,1.58,136.0,53.0,14.3,287,1763,0.00,2.35,0.00,0.000,6,0.000,0.044,3380,1847,2931
$GC,1899,1.58,136.0,33.8,14.7,312,1908,0.00,2.35,0.00,0.000,4,0.000,0.044,3380,3243,2930
$GC,1928,1.58,136.0,30.1,12.9,316,1936,0.00,2.38,0.00,0.000,6,0.000,0.047,3380,1852,2931
$GC,2006,1.58,136.0,19.9,12.7,329,2014,0.00,2.33,0.00,0.000,4,0.000,0.042,3380,3240,2930
$GC,2028,1.58,136.0,17.0,12.7,332,2037,0.00,2.38,0.00,0.000,6,0.000,0.051,3380,1850,2930
$GC,2106,1.58,136.0,8.0,10.4,345,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1850,2930
$GC,2184,1.73,260.6,4.8,0.8,358,2289,0.17,0.32,100.78,0.636,3,0.163,0.036,3425,2078,2425
$STATE,2289,end climb,SURFACE_DEPTH_REACHED
$STATE,2290,begin surface coast
$FINISH,0.3,1.018250
$STATE,2334,end surface coast,CONTROL_FINISHED_OK
$STATE,2334,begin surface
$SM_CCo,2359,81.25,0.535,9,0,2062,350.04
$SM_GC,1.17,0.00,0.00,81.25,0.000,0.000,0.535,483,1829,2062,-11.77,-0.59,350.04
$IRIDIUM_FIX,4748.51,-12221.84,290598,040414
$TT8_MAMPS,0.026078
$HUMID,1472
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,12.30
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,80.5,46.1
$24V_AH,23.4,1.427
$10V_AH,10.5,1.122
$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,28.925,43.075,300.175,81.250,0.000,24.856,31.554,219.372,6.750,0.000,0.000,33.159,590.523,253.187,426.542,1190.432,487.221,33.347,908.608,0.000,1184.031,0.000,5.827,0.000
$DEVICE_MAMPS,194.818,82.069,727.116,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,263.709,185.778,263.390,443.911,935.397,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31944,378
$CAP_FILE_SIZE,46362,0
$CFSIZE,260165632,229650432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,040309,060134,4806.022,-12222.002,12,99.0,31,18.3