version: 66.04
glider: 146
mission: 4
dive: 15
start: 3 4 109 9 39 16
data:
$ID,146
$MISSION,4
$DIVE,15
$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,-26647.857
$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,24
$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
$GPS1,093052,4806.683,-12222.883,12,4.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.1
$GPS2,093821,4806.683,-12222.892,12,2.6,31,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.087,0.218
$KALMAN_X,-1542.7,-46.4,36.1,2065.9,12.1
$KALMAN_Y,1415.1,70.6,-39.7,-3937.5,-195.8
$MHEAD_RNG_PITCHd_Wd,319.9,2798,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.99,-146.6,0.0,0.0,0,107,0.00,0.00,-85.90,0.000,2,0.000,0.000,484,1843,3591
$GC,111,-0.99,-146.6,3.1,-2.8,11,145,13.52,2.38,-9.73,0.000,4,0.194,0.051,2818,3244,3955
$GC,397,-0.99,-146.6,23.5,-6.5,60,405,0.00,2.35,0.00,0.000,6,0.000,0.044,2818,1851,3955
$GC,475,-0.99,-146.6,28.5,-6.5,73,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1852,3955
$GC,553,-0.99,-146.6,33.6,-6.5,86,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1851,3955
$GC,630,-0.99,-146.6,38.7,-6.6,99,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1851,3955
$GC,706,-0.99,-146.6,43.9,-6.7,112,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1852,3955
$GC,850,-0.99,-146.6,53.5,-6.6,137,856,0.00,2.30,0.00,0.000,4,0.000,0.037,2818,3247,3955
$GC,899,-0.99,-146.6,56.6,-6.2,145,905,0.00,2.33,0.00,0.000,6,0.000,0.040,2818,1845,3955
$GC,1040,-0.99,-146.6,65.7,-6.1,170,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1845,3955
$GC,1184,-0.99,-146.6,74.0,-5.8,195,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1845,3955
$GC,1325,-0.99,-146.6,82.2,-5.9,220,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1844,3955
$GC,1472,-0.99,-146.6,90.0,-3.0,245,1478,0.00,2.30,0.00,0.000,4,0.000,0.042,2818,3246,3955
$GC,1543,-0.99,-146.6,94.1,-5.9,257,1549,0.00,2.30,0.00,0.000,6,0.000,0.043,2818,1850,3955
$GC,1685,-0.99,-146.6,102.2,-6.0,282,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1850,3955
$STATE,1704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1704,begin apogee
$GC,1712,-0.31,0.0,103.3,5.5,285,1811,0.68,0.00,91.93,0.715,6,0.088,0.000,2968,1789,3488
$STATE,1812,end apogee,CONTROL_FINISHED_OK
$STATE,1812,begin climb
$GC,1816,0.99,146.6,105.5,0.0,300,1937,1.25,0.00,116.43,0.690,6,0.068,0.000,3255,1789,2889
$GC,2073,0.99,146.6,87.7,8.9,342,2081,0.00,2.38,0.00,0.000,4,0.000,0.038,3255,3197,2888
$GC,2110,0.99,146.6,84.5,8.6,348,2117,0.00,2.35,0.00,0.000,6,0.000,0.042,3255,1818,2887
$GC,2253,0.99,146.6,72.6,8.2,373,2259,0.00,2.28,0.00,0.000,4,0.000,0.041,3255,3197,2888
$GC,2280,0.99,146.6,70.3,8.5,377,2286,0.00,2.35,0.00,0.000,6,0.000,0.043,3255,1799,2887
$GC,2422,0.99,146.6,58.3,8.3,402,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1800,2887
$GC,2567,0.99,147.1,47.3,7.4,427,2573,0.00,2.30,0.00,0.000,4,0.000,0.036,3255,3193,2887
$GC,2616,0.99,147.1,43.5,7.8,435,2622,0.00,2.35,0.00,0.000,6,0.000,0.043,3255,1795,2887
$GC,2758,0.99,147.1,32.1,8.4,460,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1795,2887
$GC,2835,0.99,147.1,26.1,7.7,473,2843,0.00,2.35,0.00,0.000,4,0.000,0.037,3255,3197,2887
$GC,2869,0.99,147.1,23.3,8.0,478,2877,0.00,2.38,0.00,0.000,6,0.000,0.049,3255,1802,2887
$GC,2948,0.99,147.1,17.0,7.8,491,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1802,2887
$GC,3025,1.00,150.3,11.3,7.4,504,3033,0.00,0.00,4.20,0.472,6,0.000,0.000,3255,1802,2875
$GC,3103,1.03,175.6,5.9,6.6,517,3135,0.00,2.38,21.73,0.636,4,0.000,0.043,3255,3194,2771
$STATE,3174,end climb,SURFACE_DEPTH_REACHED
$STATE,3174,begin surface coast
$FINISH,2.1,1.020367
$STATE,3214,end surface coast,CONTROL_FINISHED_OK
$STATE,3215,begin surface
$SM_CCo,3241,182.45,0.633,0,0,1857,400.08
$SM_GC,1.14,0.00,0.00,182.45,0.000,0.000,0.633,479,1844,1857,-11.79,-0.17,400.08
$IRIDIUM_FIX,4748.51,-12221.84,290598,080848
$TT8_MAMPS,0.026078
$HUMID,1482
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,12.40
$XPDR_PINGS,20
$24V_AH,23.4,1.809
$10V_AH,10.5,1.563
$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,27.350,37.425,234.275,182.450,0.000,29.741,23.716,221.162,5.000,0.000,0.000,33.840,846.795,370.757,479.247,1670.483,515.811,33.347,1058.364,0.000,1671.054,0.000,0.531,0.000
$DEVICE_MAMPS,194.051,94.341,714.844,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.402,264.942,373.445,630.161,1328.672,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44544,535
$CAP_FILE_SIZE,56871,0
$CFSIZE,260165632,229474304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,103734,4806.914,-12223.086,12,99.0,32,18.3