version: 66.04
glider: 146
mission: 4
dive: 14
start: 3 4 109 8 34 4
data:
$ID,146
$MISSION,4
$DIVE,14
$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,-4
$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,-26613.387
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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,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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,082528,4806.470,-12222.660,10,3.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.3
$GPS2,083306,4806.470,-12222.678,16,1.8,26,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.214
$KALMAN_X,-1449.7,-118.7,11.2,2335.3,50.4
$KALMAN_Y,1394.9,179.5,72.4,-4530.8,-221.5
$MHEAD_RNG_PITCHd_Wd,317.6,3271,-13.0,-7.463
$D_GRID,103
$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,-0.99,-146.6,0.0,0.0,0,112,0.00,0.00,-93.50,0.000,2,0.000,0.000,479,1844,3808
$GC,116,-0.99,-146.6,4.4,-4.8,12,141,13.65,2.35,-3.28,0.000,4,0.197,0.048,2819,3238,3953
$GC,393,-0.99,-146.6,28.4,-6.5,60,402,0.00,2.35,0.00,0.000,6,0.000,0.039,2819,1845,3954
$GC,471,-0.99,-146.6,33.4,-6.2,73,480,0.00,2.33,0.00,0.000,4,0.000,0.041,2819,3238,3954
$GC,505,-0.99,-146.6,35.5,-6.2,78,514,0.00,2.33,0.00,0.000,6,0.000,0.040,2819,1855,3954
$GC,584,-0.99,-146.6,40.3,-6.4,91,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1854,3954
$GC,724,-0.99,-146.6,48.7,-5.9,116,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1855,3954
$GC,869,-0.99,-146.6,56.9,-5.6,141,875,0.00,2.30,0.00,0.000,4,0.000,0.035,2819,3253,3954
$GC,907,-0.99,-146.6,59.0,-5.6,147,913,0.00,2.33,0.00,0.000,6,0.000,0.038,2819,1850,3954
$GC,1048,-0.99,-146.6,67.3,-5.9,172,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1850,3954
$GC,1193,-0.99,-146.6,75.5,-5.6,197,1199,0.00,2.47,0.00,0.000,4,0.000,0.077,2819,449,3954
$GC,1221,-0.99,-146.6,77.1,-5.8,201,1227,0.00,2.25,0.00,0.000,6,0.000,0.034,2819,1859,3954
$GC,1361,-0.99,-146.6,85.5,-6.0,226,1370,0.00,2.30,0.00,0.000,4,0.000,0.046,2819,3243,3954
$GC,1386,-0.99,-146.6,86.8,-5.8,229,1392,0.00,2.30,0.00,0.000,6,0.000,0.043,2819,1847,3954
$GC,1528,-0.99,-146.6,95.3,-6.0,254,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1847,3954
$STATE,1658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1658,begin apogee
$GC,1666,-0.31,0.0,103.0,5.9,277,1763,0.68,0.00,91.68,0.714,6,0.087,0.000,2969,1787,3488
$STATE,1763,end apogee,CONTROL_FINISHED_OK
$STATE,1763,begin climb
$GC,1767,0.99,146.6,105.1,0.0,291,1889,1.25,0.00,116.45,0.689,6,0.064,0.000,3256,1787,2889
$GC,2028,0.99,146.6,88.0,8.1,333,2034,0.00,2.35,0.00,0.000,4,0.000,0.038,3256,3200,2888
$GC,2054,0.99,146.6,85.8,8.1,337,2060,0.00,2.35,0.00,0.000,6,0.000,0.044,3256,1804,2887
$GC,2194,0.99,146.6,73.8,8.5,362,2203,0.00,2.33,0.00,0.000,4,0.000,0.037,3256,3193,2887
$GC,2218,0.99,146.6,72.1,8.7,365,2224,0.00,2.35,0.00,0.000,6,0.000,0.044,3255,1793,2887
$GC,2359,0.99,146.6,60.2,8.2,390,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1793,2887
$GC,2503,0.99,146.6,48.7,7.9,415,2509,0.00,2.33,0.00,0.000,4,0.000,0.042,3256,3201,2887
$GC,2531,0.99,146.6,46.6,7.9,419,2537,0.00,2.38,0.00,0.000,6,0.000,0.049,3256,1789,2887
$GC,2673,0.99,146.6,35.1,8.2,444,2681,0.00,2.35,0.00,0.000,4,0.000,0.041,3256,3193,2887
$GC,2724,0.99,146.6,30.8,8.4,452,2732,0.00,2.38,0.00,0.000,6,0.000,0.043,3256,1797,2887
$GC,2801,0.99,146.6,24.4,8.2,465,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1798,2887
$GC,2879,0.99,146.6,18.2,7.9,478,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1797,2887
$GC,2956,0.99,146.6,12.2,7.7,491,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1797,2887
$GC,3034,1.03,173.6,6.7,6.5,504,3067,0.00,2.38,22.62,0.636,4,0.000,0.036,3255,3188,2778
$STATE,3105,end climb,SURFACE_DEPTH_REACHED
$STATE,3106,begin surface coast
$FINISH,2.5,1.020594
$STATE,3123,end surface coast,CONTROL_FINISHED_OK
$STATE,3124,begin surface
$SM_CCo,3150,184.20,0.628,0,0,1857,400.08
$SM_GC,1.06,0.00,0.00,184.20,0.000,0.000,0.628,483,1843,1857,-11.77,-0.20,400.08
$IRIDIUM_FIX,4751.72,-12517.25,290598,070714
$TT8_MAMPS,0.025311
$HUMID,1478
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,12.40
$XPDR_PINGS,23
$24V_AH,23.4,1.714
$10V_AH,10.5,1.456
$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,27.475,46.850,230.750,184.200,0.000,31.104,25.414,231.045,5.750,0.000,0.000,27.513,821.028,376.587,477.540,1603.354,525.816,33.351,1048.319,0.000,1608.358,0.000,0.532,0.000
$DEVICE_MAMPS,197.119,95.875,714.077,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.879,249.961,355.024,599.111,1264.348,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41345,518
$CAP_FILE_SIZE,56658,0
$CFSIZE,260165632,229515264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,093052,4806.683,-12222.883,12,4.3,31,18.3