version: 66.04
glider: 146
mission: 4
dive: 3
start: 3 3 109 21 45 55
data:
$ID,146
$MISSION,4
$DIVE,3
$D_SURF,2
$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,50
$T_MISSION,60
$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,350
$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,-26392.629
$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,21
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$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,5
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$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
$GPS1,213814,4807.867,-12223.279,12,1.2,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.0
$GPS2,214502,4807.911,-12223.318,11,1.6,11,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.231
$KALMAN_X,-112.9,-92.2,-88.2,278.1,-74.5
$KALMAN_Y,146.1,128.2,124.2,-613.1,101.4
$MHEAD_RNG_PITCHd_Wd,134.3,3897,-17.5,-10.000
$D_GRID,105
$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,-1.27,-146.6,0.0,0.0,0,96,0.00,0.00,-77.97,0.000,2,0.000,0.000,482,1847,3423
$GC,100,-1.27,-146.6,3.3,-5.9,10,134,13.12,2.47,-13.00,0.000,4,0.193,0.089,2759,447,3952
$GC,214,-1.27,-146.6,18.9,-9.3,28,223,0.00,2.28,0.00,0.000,6,0.000,0.031,2759,1849,3953
$GC,292,-1.27,-146.6,25.1,-7.8,41,299,0.00,2.33,0.00,0.000,4,0.000,0.048,2759,3238,3954
$GC,311,-1.27,-146.6,26.4,-7.8,43,319,0.00,2.33,0.00,0.000,6,0.000,0.048,2759,1849,3954
$GC,388,-1.27,-146.6,32.4,-8.1,56,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1849,3954
$GC,465,-1.27,-146.6,38.2,-7.7,69,473,0.00,2.33,0.00,0.000,4,0.000,0.046,2759,3238,3954
$GC,483,-1.27,-146.6,39.7,-7.9,71,491,0.00,2.33,0.00,0.000,6,0.000,0.048,2759,1847,3953
$GC,560,-1.27,-146.6,46.0,-7.8,84,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1847,3953
$GC,704,-1.27,-146.6,57.5,-8.1,109,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1847,3953
$GC,843,-1.27,-146.6,68.8,-8.5,134,852,0.00,2.33,0.00,0.000,4,0.000,0.039,2759,3238,3953
$GC,889,-1.27,-146.6,72.4,-8.3,141,895,0.00,2.30,0.00,0.000,6,0.000,0.045,2759,1842,3953
$GC,1034,-1.27,-146.6,84.0,-7.7,166,1042,0.00,2.35,0.00,0.000,4,0.000,0.045,2759,3246,3953
$GC,1050,-1.27,-146.6,85.5,-7.8,168,1058,0.00,2.33,0.00,0.000,6,0.000,0.041,2759,1847,3953
$GC,1197,-1.27,-146.6,97.1,-7.8,193,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1848,3953
$STATE,1290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1290,begin apogee
$GC,1297,-0.31,0.0,105.0,8.4,210,1398,0.95,0.00,90.78,0.720,6,0.094,0.000,2965,1847,3487
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1402,1.27,146.6,107.4,0.0,225,1528,1.52,2.38,115.72,0.693,4,0.059,0.042,3316,3244,2889
$GC,1540,1.27,146.6,98.5,10.1,245,1546,0.00,2.35,0.00,0.000,6,0.000,0.052,3316,1853,2888
$GC,1681,1.27,146.6,82.7,11.1,270,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1853,2887
$GC,1825,1.27,146.6,67.4,10.6,295,1831,0.00,2.33,0.00,0.000,4,0.000,0.041,3316,3250,2887
$GC,1866,1.27,146.6,62.8,10.1,302,1873,0.00,2.38,0.00,0.000,6,0.000,0.052,3315,1852,2887
$GC,2009,1.27,146.6,48.3,10.1,327,2015,0.00,2.33,0.00,0.000,4,0.000,0.042,3316,3248,2887
$GC,2027,1.28,148.7,46.2,9.9,330,2036,0.00,2.38,0.00,0.000,6,0.000,0.048,3316,1847,2886
$GC,2171,1.28,151.5,31.6,9.9,355,2181,0.00,2.40,5.10,0.520,4,0.000,0.043,3316,3249,2870
$GC,2234,1.28,151.5,25.1,10.0,365,2242,0.00,2.38,0.00,0.000,6,0.000,0.046,3316,1848,2869
$GC,2311,1.28,151.5,17.3,10.9,378,2318,0.00,2.35,0.00,0.000,4,0.000,0.042,3316,3242,2869
$GC,2355,1.28,151.5,12.9,10.1,385,2361,0.00,2.35,0.00,0.000,6,0.000,0.048,3316,1854,2869
$GC,2431,1.46,300.9,8.4,3.1,398,2560,0.17,2.40,122.35,0.639,4,0.061,0.040,3364,3242,2261
$STATE,2567,end climb,SURFACE_DEPTH_REACHED
$STATE,2567,begin surface coast
$FINISH,0.2,1.008228
$STATE,2598,end surface coast,CONTROL_FINISHED_OK
$STATE,2598,begin surface
$SM_CCo,2624,42.47,0.544,4,0,2061,350.04
$SM_GC,1.19,0.00,0.00,42.47,0.000,0.000,0.544,482,1848,2061,-11.77,-0.06,350.04
$IRIDIUM_FIX,4751.72,-12219.12,280598,212145
$TT8_MAMPS,0.026078
$HUMID,1482
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,12.00
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,80.4,37.2
$24V_AH,23.5,0.711
$10V_AH,10.5,0.422
$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,28.075,51.750,333.950,42.475,0.000,0.000,0.000,0.000,10.500,0.000,0.000,12.495,650.314,279.351,398.410,1299.013,134.208,31.415,943.546,0.000,1311.100,0.000,5.504,0.000
$DEVICE_MAMPS,192.517,88.972,720.213,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.174,203.486,292.369,493.874,1036.662,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35041,420
$CAP_FILE_SIZE,58685,0
$CFSIZE,260165632,229904384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,4,0
$GPS,030309,223132,4807.678,-12223.201,8,1.8,8,18.3