version: 66.04
glider: 146
mission: 4
dive: 12
start: 3 4 109 6 9 10
data:
$ID,146
$MISSION,4
$DIVE,12
$D_SURF,3
$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,67
$T_MISSION,75
$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,400
$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,-26572.479
$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,29
$R_STBD_OVSHOOT,47
$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,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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,3
$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
$GPS1,060134,4806.022,-12222.002,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.0
$GPS2,060814,4806.004,-12221.984,14,0.9,14,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.192
$KALMAN_X,-1363.5,-221.8,2.5,3215.4,-84.0
$KALMAN_Y,1789.6,268.5,69.5,-5874.9,149.4
$MHEAD_RNG_PITCHd_Wd,306.9,4457,-13.0,-7.463
$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,15,begin dive
$GC,19,-0.99,-146.6,0.0,0.0,0,99,0.00,0.00,-77.75,0.000,2,0.000,0.000,483,1829,3690
$GC,103,-0.99,-146.6,3.9,-3.9,10,129,13.52,2.35,-6.05,0.000,4,0.193,0.055,2820,3243,3953
$GC,215,-0.99,-146.6,16.1,-5.8,28,223,0.00,2.35,0.00,0.000,6,0.000,0.043,2821,1852,3954
$GC,293,-0.99,-146.6,20.6,-5.8,41,302,0.00,2.33,0.00,0.000,4,0.000,0.041,2820,3241,3954
$GC,317,-0.99,-146.6,22.0,-5.9,44,325,0.00,2.35,0.00,0.000,6,0.000,0.038,2820,1847,3955
$GC,394,-0.99,-146.6,26.6,-6.0,57,403,0.00,2.50,0.00,0.000,4,0.000,0.077,2820,451,3954
$GC,413,-0.99,-146.6,27.8,-6.0,59,419,0.00,2.25,0.00,0.000,6,0.000,0.026,2821,1843,3954
$GC,490,-0.99,-146.6,32.9,-6.4,72,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1844,3954
$GC,568,-0.99,-146.6,37.7,-6.0,85,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1844,3954
$GC,644,-0.99,-146.6,42.4,-6.3,98,653,0.00,2.33,0.00,0.000,4,0.000,0.044,2821,3238,3955
$GC,679,-0.99,-146.6,44.4,-5.7,103,685,0.00,2.30,0.00,0.000,6,0.000,0.044,2820,1850,3954
$GC,821,-0.99,-146.6,52.6,-5.6,128,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1850,3954
$GC,966,-0.99,-146.6,61.5,-6.4,153,972,0.00,2.47,0.00,0.000,4,0.000,0.074,2820,447,3955
$GC,995,-0.99,-146.6,63.3,-6.5,157,1001,0.00,2.25,0.00,0.000,6,0.000,0.032,2821,1854,3954
$GC,1135,-0.99,-146.6,72.5,-6.2,182,1144,0.00,2.33,0.00,0.000,4,0.000,0.040,2820,3247,3954
$GC,1183,-0.99,-146.6,75.3,-6.4,189,1189,0.00,2.33,0.00,0.000,6,0.000,0.044,2820,1841,3954
$GC,1327,-0.99,-146.6,84.1,-5.8,214,1336,0.00,2.47,0.00,0.000,4,0.000,0.072,2820,453,3954
$GC,1351,-0.99,-146.6,85.6,-5.8,217,1357,0.00,2.25,0.00,0.000,6,0.000,0.029,2820,1859,3954
$GC,1492,-0.99,-146.6,94.0,-5.9,242,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1860,3954
$GC,1637,-0.99,-146.6,102.2,-5.8,267,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1860,3954
$GC,1778,-0.99,-146.6,110.9,-6.4,292,1784,0.00,2.30,0.00,0.000,4,0.000,0.040,2821,3243,3954
$GC,1800,-0.99,-146.6,112.2,-6.1,295,1806,0.00,2.30,0.00,0.000,6,0.000,0.036,2820,1846,3954
$STATE,1849,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1849,begin apogee
$GC,1857,-0.31,0.0,115.5,5.8,304,1958,0.65,0.00,91.20,0.729,6,0.089,0.000,2965,1846,3488
$STATE,1959,end apogee,CONTROL_FINISHED_OK
$STATE,1959,begin climb
$GC,1962,0.99,146.6,117.5,0.0,319,2088,1.25,2.38,116.62,0.696,4,0.071,0.040,3252,3249,2889
$GC,2101,0.99,146.6,110.1,8.1,340,2110,0.00,2.40,0.00,0.000,6,0.000,0.044,3252,1850,2888
$GC,2247,0.99,146.6,98.0,8.2,365,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1850,2888
$GC,2387,0.99,146.6,86.1,8.6,390,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1850,2887
$GC,2531,0.99,146.6,74.4,8.0,415,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1850,2887
$GC,2671,0.99,146.6,63.3,7.8,440,2677,0.00,2.33,0.00,0.000,4,0.000,0.041,3252,3237,2887
$GC,2692,0.99,146.6,61.7,7.8,443,2698,0.00,2.33,0.00,0.000,6,0.000,0.041,3252,1850,2886
$GC,2833,0.99,146.6,50.5,8.0,468,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1850,2887
$GC,2978,0.99,146.6,39.3,8.1,493,2987,0.00,2.33,0.00,0.000,4,0.000,0.043,3252,3243,2887
$GC,3007,0.99,146.6,36.9,8.2,497,3015,0.00,2.38,0.00,0.000,6,0.000,0.049,3252,1845,2887
$GC,3084,0.99,146.6,30.5,8.1,510,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1845,2887
$GC,3161,0.99,146.6,24.5,8.0,523,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1845,2887
$GC,3239,0.99,147.0,18.6,7.4,536,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1844,2887
$GC,3316,1.00,153.7,12.9,7.2,549,3325,0.00,0.00,7.00,0.575,6,0.000,0.000,3252,1844,2861
$GC,3395,1.03,173.1,7.5,6.8,562,3419,0.00,2.35,17.27,0.630,4,0.000,0.040,3252,3251,2781
$STATE,3502,end climb,SURFACE_DEPTH_REACHED
$STATE,3502,begin surface coast
$FINISH,2.3,1.020270
$STATE,3660,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3660,begin surface
$SM_CCo,3686,184.90,0.633,0,0,1857,400.08
$SM_GC,1.09,0.00,0.00,184.90,0.000,0.000,0.633,481,1842,1857,-11.77,-0.23,400.08
$IRIDIUM_FIX,4748.51,-12240.63,290598,050544
$TT8_MAMPS,0.026845
$HUMID,1469
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,12.10
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,80.1,45.3
$24V_AH,23.4,1.522
$10V_AH,10.5,1.239
$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,27.325,56.325,232.100,184.900,0.000,24.298,25.407,208.018,7.750,0.000,0.000,16.104,973.815,442.070,497.882,1860.352,511.889,33.345,1145.515,0.000,1874.516,0.000,5.829,0.000
$DEVICE_MAMPS,192.517,77.467,728.650,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,423.339,296.480,416.641,702.817,1478.958,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50923,608
$CAP_FILE_SIZE,66290,0
$CFSIZE,260165632,229576704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,071437,4806.243,-12222.347,7,1.6,13,18.3