version: 66.04
glider: 146
mission: 4
dive: 20
start: 3 4 109 15 14 31
data:
$ID,146
$MISSION,4
$DIVE,20
$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,-26722.59
$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,25
$R_STBD_OVSHOOT,41
$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
$GPS1,150620,4807.796,-12223.973,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.2
$GPS2,151332,4807.771,-12223.950,11,1.2,11,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.022,0.172
$KALMAN_X,-1779.2,118.2,-44.1,909.6,-0.9
$KALMAN_Y,927.6,-291.2,-113.2,-997.9,-50.1
$MHEAD_RNG_PITCHd_Wd,334.3,430,-19.5,-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,-1.31,-73.8,0.0,0.0,0,104,0.00,0.00,-85.65,0.000,2,0.000,0.000,483,1841,3567
$GC,108,-1.39,-142.9,3.1,-2.8,11,141,13.30,2.38,-10.23,0.000,4,0.202,0.048,2732,3248,3955
$GC,189,-1.40,-146.6,11.9,-6.8,23,198,0.00,2.35,0.00,0.000,6,0.000,0.039,2732,1848,3955
$GC,267,-1.40,-146.6,18.3,-8.3,36,276,0.00,2.47,0.00,0.000,4,0.000,0.073,2731,454,3955
$GC,291,-1.40,-146.6,20.7,-9.0,39,299,0.00,2.25,0.00,0.000,6,0.000,0.024,2732,1852,3955
$GC,368,-1.40,-146.6,27.6,-8.6,52,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1853,3955
$GC,445,-1.40,-146.6,34.6,-9.1,65,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1853,3955
$GC,520,-1.40,-146.6,42.0,-9.3,78,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1854,3955
$GC,665,-1.40,-146.6,55.6,-9.5,103,671,0.00,2.28,0.00,0.000,4,0.000,0.042,2732,3242,3954
$GC,702,-1.40,-146.6,59.3,-9.6,109,708,0.00,2.30,0.00,0.000,6,0.000,0.039,2731,1842,3955
$GC,844,-1.40,-146.6,72.9,-9.3,134,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1842,3955
$GC,990,-1.40,-146.6,85.9,-8.9,159,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1842,3955
$GC,1128,-1.40,-146.6,98.1,-8.6,184,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1842,3955
$STATE,1186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1186,begin apogee
$GC,1194,-0.31,0.0,103.2,8.7,194,1290,1.12,0.00,91.57,0.719,6,0.105,0.000,2968,1789,3488
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1294,1.40,146.6,105.9,0.0,208,1416,1.65,0.00,116.50,0.692,6,0.064,0.000,3344,1789,2890
$GC,1553,1.40,146.6,80.6,12.7,250,1561,0.00,2.35,0.00,0.000,4,0.000,0.042,3344,3183,2888
$GC,1612,1.40,146.6,73.2,12.5,260,1620,0.00,2.33,0.00,0.000,6,0.000,0.044,3343,1820,2888
$GC,1757,1.40,146.6,56.3,11.7,285,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1820,2887
$GC,1896,1.40,146.6,39.4,11.5,310,1905,0.00,2.30,0.00,0.000,4,0.000,0.043,3344,3191,2888
$GC,1952,1.40,146.6,33.3,11.5,319,1960,0.00,2.38,0.00,0.000,6,0.000,0.046,3344,1797,2888
$GC,2030,1.40,146.6,24.2,11.9,332,2038,0.00,2.33,0.00,0.000,4,0.000,0.036,3344,3185,2888
$GC,2048,1.40,146.6,21.9,12.0,334,2057,0.00,2.35,0.00,0.000,6,0.000,0.049,3344,1804,2888
$GC,2126,1.40,146.6,12.9,11.5,347,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1804,2887
$GC,2203,1.40,146.6,5.0,9.7,360,2211,0.00,2.30,0.00,0.000,4,0.000,0.038,3344,3181,2887
$STATE,2250,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,2.4,1.020617
$STATE,2348,end surface coast,CONTROL_FINISHED_OK
$STATE,2348,begin surface
$SM_CCo,2374,206.05,0.632,0,0,1856,400.08
$SM_GC,1.26,0.00,0.00,206.05,0.000,0.000,0.632,481,1838,1856,-11.78,-0.37,400.08
$IRIDIUM_FIX,4751.72,-12223.57,290598,141457
$TT8_MAMPS,0.026078
$HUMID,1479
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,11.90
$XPDR_PINGS,17
$24V_AH,23.4,2.294
$10V_AH,10.5,2.075
$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,28.500,32.675,208.075,206.050,0.000,25.732,26.603,224.993,4.250,0.000,0.000,13.346,614.899,249.217,468.044,1204.409,489.923,33.334,933.597,0.000,1217.985,0.000,0.531,0.000
$DEVICE_MAMPS,202.488,115.817,718.679,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.760,190.904,273.173,460.812,971.625,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31951,385
$CAP_FILE_SIZE,45123,0
$CFSIZE,260165632,229289984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,155825,4807.996,-12224.102,6,1.0,11,18.3