version: 66.04
glider: 146
mission: 4
dive: 5
start: 3 3 109 23 33 46
data:
$ID,146
$MISSION,4
$DIVE,5
$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,-26422.846
$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,42
$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,2
$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
$GPS1,232606,4807.465,-12223.139,13,1.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.7
$GPS2,233250,4807.484,-12223.153,12,1.0,12,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,-0.225
$KALMAN_X,-254.5,-191.4,-117.6,754.6,-28.4
$KALMAN_Y,215.6,205.7,150.6,-1579.4,-4.7
$MHEAD_RNG_PITCHd_Wd,131.5,3096,-17.5,-10.000
$D_GRID,107
$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,-78.00,0.000,2,0.000,0.000,477,1843,3658
$GC,100,-1.27,-146.6,3.3,-5.9,10,126,13.23,2.50,-6.43,0.000,4,0.195,0.084,2756,440,3953
$GC,185,-1.27,-146.6,19.3,-9.6,23,193,0.00,2.30,0.00,0.000,6,0.000,0.028,2756,1858,3954
$GC,263,-1.27,-146.6,25.4,-8.0,36,269,0.00,2.30,0.00,0.000,4,0.000,0.039,2756,3238,3955
$GC,307,-1.27,-146.6,28.8,-8.3,43,315,0.00,2.33,0.00,0.000,6,0.000,0.040,2756,1847,3955
$GC,385,-1.27,-146.6,35.8,-8.5,56,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1847,3955
$GC,463,-1.27,-146.6,42.6,-8.9,69,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1847,3954
$GC,603,-1.27,-146.6,54.8,-8.7,94,612,0.00,2.33,0.00,0.000,4,0.000,0.040,2756,3241,3955
$GC,630,-1.27,-146.6,57.2,-8.5,98,639,0.00,2.33,0.00,0.000,6,0.000,0.044,2756,1847,3955
$GC,776,-1.27,-146.6,69.7,-8.4,123,782,0.00,2.47,0.00,0.000,4,0.000,0.071,2756,442,3954
$GC,792,-1.27,-146.6,71.0,-8.5,125,798,0.00,2.25,0.00,0.000,6,0.000,0.031,2756,1849,3954
$GC,933,-1.27,-146.6,82.8,-8.1,150,942,0.00,2.33,0.00,0.000,4,0.000,0.047,2756,3243,3955
$GC,982,-1.27,-146.6,86.6,-8.3,157,988,0.00,2.30,0.00,0.000,6,0.000,0.040,2756,1849,3955
$GC,1122,-1.27,-146.6,97.7,-7.6,182,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1849,3954
$STATE,1244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1244,begin apogee
$GC,1251,-0.31,0.0,107.1,7.2,204,1347,0.98,0.00,91.03,0.717,6,0.110,0.000,2967,1848,3487
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1351,1.27,146.6,109.1,0.0,218,1480,1.52,2.58,115.80,0.691,4,0.071,0.074,3317,450,2889
$GC,1487,1.27,146.6,99.1,11.9,238,1495,0.00,2.30,0.00,0.000,6,0.000,0.035,3317,1847,2889
$GC,1632,1.27,146.6,82.2,11.8,263,1638,0.00,2.33,0.00,0.000,4,0.000,0.041,3317,3247,2887
$GC,1669,1.27,146.6,77.8,11.9,269,1675,0.00,2.33,0.00,0.000,6,0.000,0.049,3317,1853,2887
$GC,1809,1.27,146.6,61.4,11.3,294,1817,0.00,2.33,0.00,0.000,4,0.000,0.041,3317,3239,2887
$GC,1832,1.27,146.6,59.2,11.2,297,1839,0.00,2.33,0.00,0.000,6,0.000,0.050,3317,1846,2887
$GC,1973,1.27,146.6,43.4,10.8,322,1981,0.00,2.35,0.00,0.000,4,0.000,0.038,3317,3244,2887
$GC,1996,1.27,146.6,41.2,10.7,325,2002,0.00,2.33,0.00,0.000,6,0.000,0.046,3318,1850,2887
$GC,2137,1.27,146.6,26.0,10.1,350,2145,0.00,2.35,0.00,0.000,4,0.000,0.041,3317,3244,2887
$GC,2192,1.27,146.6,19.8,10.8,359,2200,0.00,2.35,0.00,0.000,6,0.000,0.044,3317,1854,2887
$GC,2270,1.36,218.8,13.0,6.7,372,2333,0.00,0.00,58.85,0.644,6,0.000,0.000,3317,1854,2594
$GC,2403,1.50,327.8,5.2,5.0,392,2468,0.17,0.00,61.88,0.627,2,0.151,0.000,3364,1854,2293
$STATE,2468,end climb,SURFACE_DEPTH_REACHED
$STATE,2469,begin surface coast
$FINISH,0.2,0.999840
$STATE,2503,end surface coast,CONTROL_FINISHED_OK
$STATE,2503,begin surface
$SM_CCo,2527,51.38,0.542,5,0,2061,350.04
$SM_GC,1.21,0.00,0.00,51.38,0.000,0.000,0.542,478,1851,2061,-11.79,0.03,350.04
$IRIDIUM_FIX,4748.51,-12226.29,280598,222210
$TT8_MAMPS,0.026078
$HUMID,1485
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,12.00
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,85.4,34.3
$24V_AH,23.5,0.889
$10V_AH,10.5,0.588
$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,28.300,46.975,327.550,51.375,0.000,30.975,24.168,206.130,8.000,0.000,0.000,14.113,632.176,268.490,396.767,1263.962,460.500,33.318,923.097,0.000,1271.372,0.000,10.192,0.000
$DEVICE_MAMPS,194.818,84.370,717.145,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,284.483,194.875,281.212,474.607,1000.793,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32054,406
$CAP_FILE_SIZE,49555,0
$CFSIZE,260165632,229863424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,5,0
$GPS,040309,001821,4807.244,-12223.057,9,2.2,28,18.3