version: 66.04
glider: 146
mission: 4
dive: 18
start: 3 4 109 12 58 52
data:
$ID,146
$MISSION,4
$DIVE,18
$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,-26687.428
$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,20
$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
$GPS1,124722,4807.355,-12223.651,12,2.1,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.3
$GPS2,125756,4807.319,-12223.580,12,1.8,12,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.071,0.223
$KALMAN_X,-1734.1,91.5,0.7,1303.2,-33.2
$KALMAN_Y,1233.7,-176.9,-179.3,-2186.5,-55.9
$MHEAD_RNG_PITCHd_Wd,324.0,1363,-13.0,-7.463
$D_GRID,101
$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,18,-0.99,-146.6,0.0,0.0,0,99,0.00,0.00,-78.70,0.000,2,0.000,0.000,478,1805,3431
$GC,103,-0.99,-146.6,3.1,-2.7,10,145,13.68,2.45,-16.08,0.000,4,0.197,0.048,2818,3254,3955
$GC,177,-0.99,-146.6,8.0,-4.2,20,186,0.00,2.38,0.00,0.000,6,0.000,0.037,2818,1843,3955
$GC,255,-0.99,-146.6,12.0,-4.7,33,263,0.00,2.47,0.00,0.000,4,0.000,0.074,2818,451,3955
$GC,295,-0.99,-146.6,14.5,-6.0,39,303,0.00,2.28,0.00,0.000,6,0.000,0.030,2818,1858,3955
$GC,374,-0.99,-146.6,19.4,-6.3,52,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1858,3955
$GC,451,-0.99,-146.6,24.4,-6.5,65,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1858,3954
$GC,529,-0.99,-146.6,29.4,-6.2,78,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1858,3955
$GC,606,-0.99,-146.6,34.3,-6.3,91,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1858,3955
$GC,684,-0.99,-146.6,39.1,-6.3,104,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1858,3954
$GC,762,-0.99,-146.6,44.1,-6.4,117,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1858,3954
$GC,903,-0.99,-146.6,53.3,-6.2,142,911,0.00,2.30,0.00,0.000,4,0.000,0.044,2818,3241,3954
$GC,932,-0.99,-146.6,55.1,-6.3,146,940,0.00,2.33,0.00,0.000,6,0.000,0.034,2818,1846,3955
$GC,1079,-0.99,-146.6,64.3,-6.1,171,1085,0.00,2.45,0.00,0.000,4,0.000,0.067,2818,444,3955
$GC,1107,-0.99,-146.6,66.1,-6.2,175,1113,0.00,2.25,0.00,0.000,6,0.000,0.031,2818,1858,3954
$GC,1248,-0.99,-146.6,75.3,-6.2,200,1256,0.00,2.30,0.00,0.000,4,0.000,0.045,2818,3242,3954
$GC,1282,-0.99,-146.6,77.4,-6.3,205,1288,0.00,2.30,0.00,0.000,6,0.000,0.034,2818,1838,3955
$GC,1423,-0.99,-146.6,86.3,-6.1,230,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1838,3955
$GC,1568,-0.99,-146.6,95.0,-5.7,255,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1838,3954
$STATE,1668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1668,begin apogee
$GC,1676,-0.31,0.0,101.1,5.8,273,1775,0.68,0.00,91.55,0.719,6,0.093,0.000,2968,1785,3488
$STATE,1776,end apogee,CONTROL_FINISHED_OK
$STATE,1776,begin climb
$GC,1780,0.99,146.6,103.0,0.0,288,1901,1.25,0.00,116.20,0.692,6,0.071,0.000,3254,1785,2889
$GC,2036,0.99,146.6,85.5,8.7,330,2045,0.00,2.38,0.00,0.000,4,0.000,0.041,3254,3195,2888
$GC,2059,0.99,146.6,83.4,8.7,333,2066,0.00,2.33,0.00,0.000,6,0.000,0.046,3254,1808,2887
$GC,2200,0.99,146.6,71.3,8.4,358,2208,0.00,2.33,0.00,0.000,4,0.000,0.041,3254,3196,2887
$GC,2224,0.99,146.6,69.6,8.3,361,2230,0.00,2.35,0.00,0.000,6,0.000,0.040,3254,1789,2887
$GC,2364,0.99,146.6,57.8,8.3,386,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1789,2887
$GC,2510,0.99,146.6,46.3,8.1,411,2516,0.00,2.33,0.00,0.000,4,0.000,0.037,3254,3199,2886
$GC,2570,0.99,146.6,41.1,8.7,421,2576,0.00,2.35,0.00,0.000,6,0.000,0.044,3254,1792,2887
$GC,2710,0.99,146.6,30.2,7.7,446,2718,0.00,2.35,0.00,0.000,4,0.000,0.038,3254,3196,2887
$GC,2739,0.99,146.6,28.0,7.7,450,2745,0.00,2.35,0.00,0.000,6,0.000,0.041,3254,1803,2887
$GC,2815,0.99,146.6,21.9,7.6,463,2824,0.00,2.50,0.00,0.000,4,0.000,0.071,3254,401,2887
$GC,2833,0.99,146.6,20.6,7.5,465,2842,0.00,2.25,0.00,0.000,6,0.000,0.031,3255,1798,2887
$GC,2911,1.00,150.6,14.7,7.3,478,2920,0.00,0.00,4.43,0.496,6,0.000,0.000,3254,1800,2874
$GC,2989,1.00,150.6,8.9,7.7,491,2997,0.00,2.50,0.00,0.000,4,0.000,0.071,3255,402,2873
$GC,3007,1.00,154.2,7.7,7.3,493,3017,0.00,2.25,4.70,0.505,6,0.000,0.028,3254,1799,2859
$GC,3087,1.14,267.1,4.0,3.6,506,3136,0.15,0.00,46.85,0.645,2,0.166,0.000,3294,1800,2623
$STATE,3137,end climb,SURFACE_DEPTH_REACHED
$STATE,3137,begin surface coast
$FINISH,1.8,1.018668
$STATE,3332,end surface coast,CONTROL_FINISHED_OK
$STATE,3332,begin surface
$SM_CCo,3356,153.75,0.633,0,0,1857,400.08
$SM_GC,1.12,0.00,0.00,153.75,0.000,0.000,0.633,481,1800,1857,-11.78,-1.41,400.08
$IRIDIUM_FIX,4748.51,-12221.84,290598,121233
$TT8_MAMPS,0.026078
$HUMID,1497
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,12.30
$XPDR_PINGS,28
$24V_AH,23.4,2.103
$10V_AH,10.5,1.884
$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,27.825,51.800,263.725,153.750,0.000,53.993,53.330,305.848,7.000,0.000,0.000,13.746,874.346,399.385,478.064,1728.227,675.799,33.341,1101.161,0.000,1749.396,0.000,0.533,0.000
$DEVICE_MAMPS,197.119,113.516,719.446,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.574,281.657,398.115,671.711,1416.399,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44557,547
$CAP_FILE_SIZE,63989,0
$CFSIZE,260165632,229339136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,135834,4807.562,-12223.787,8,6.2,28,18.3