version: 66.04
glider: 146
mission: 4
dive: 17
start: 3 4 109 11 50 45
data:
$ID,146
$MISSION,4
$DIVE,17
$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,-26673.053
$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,44
$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
$GPS1,114214,4807.136,-12223.376,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.7
$GPS2,114949,4807.138,-12223.376,11,1.3,11,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,0.217
$KALMAN_X,-1688.9,49.3,11.9,1542.0,-4.2
$KALMAN_Y,1377.6,-102.9,-163.1,-2757.2,-89.3
$MHEAD_RNG_PITCHd_Wd,319.7,1773,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.99,-146.6,0.0,0.0,0,116,0.00,0.00,-94.15,0.000,2,0.000,0.000,483,1841,3746
$GC,120,-0.99,-146.6,3.5,-3.3,12,146,13.62,2.45,-5.12,0.000,4,0.196,0.078,2819,448,3953
$GC,333,-0.99,-146.6,22.4,-7.4,48,341,0.00,2.28,0.00,0.000,6,0.000,0.025,2819,1856,3954
$GC,411,-0.99,-146.6,27.6,-6.3,61,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1858,3954
$GC,488,-0.99,-146.6,32.6,-6.4,74,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1858,3954
$GC,566,-0.99,-146.6,37.5,-6.1,87,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1858,3954
$GC,643,-0.99,-146.6,42.3,-6.3,100,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1858,3954
$GC,787,-0.99,-146.6,51.2,-6.2,125,793,0.00,2.28,0.00,0.000,4,0.000,0.044,2819,3242,3954
$GC,818,-0.99,-146.6,53.2,-6.2,130,827,0.00,2.33,0.00,0.000,6,0.000,0.036,2818,1849,3954
$GC,965,-0.99,-146.6,61.9,-6.2,155,971,0.00,2.45,0.00,0.000,4,0.000,0.074,2819,451,3954
$GC,985,-0.99,-146.6,63.4,-6.2,158,992,0.00,2.25,0.00,0.000,6,0.000,0.031,2819,1842,3954
$GC,1130,-0.99,-146.6,72.3,-6.1,183,1136,0.00,2.30,0.00,0.000,4,0.000,0.038,2818,3246,3954
$GC,1168,-0.99,-146.6,74.8,-6.2,189,1174,0.00,2.30,0.00,0.000,6,0.000,0.039,2818,1843,3954
$GC,1308,-0.99,-146.6,83.3,-5.7,214,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1843,3954
$GC,1454,-0.99,-146.6,91.7,-5.8,239,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1843,3954
$GC,1593,-0.99,-146.6,99.8,-5.7,264,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1843,3954
$STATE,1616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1616,begin apogee
$GC,1624,-0.31,0.0,101.3,5.7,268,1726,0.68,0.00,91.25,0.716,6,0.102,0.000,2968,1789,3488
$STATE,1726,end apogee,CONTROL_FINISHED_OK
$STATE,1726,begin climb
$GC,1730,0.99,146.6,103.0,0.0,283,1856,1.25,2.38,116.28,0.687,4,0.063,0.040,3256,3193,2889
$GC,1869,0.99,146.6,95.6,7.8,304,1877,0.00,2.35,0.00,0.000,6,0.000,0.044,3256,1814,2888
$GC,2016,0.99,146.6,83.5,7.9,329,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1814,2887
$GC,2155,0.99,146.6,71.4,8.6,354,2162,0.00,2.30,0.00,0.000,4,0.000,0.035,3256,3190,2887
$GC,2199,0.99,146.6,68.0,8.5,361,2205,0.00,2.33,0.00,0.000,6,0.000,0.039,3256,1799,2887
$GC,2341,0.99,146.6,56.3,7.9,386,2349,0.00,2.33,0.00,0.000,4,0.000,0.040,3256,3191,2887
$GC,2369,0.99,146.6,54.0,7.9,390,2377,0.00,2.35,0.00,0.000,6,0.000,0.042,3256,1800,2887
$GC,2515,0.99,146.6,42.5,8.0,415,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1800,2887
$GC,2655,0.99,146.6,31.2,7.8,440,2664,0.00,2.33,0.00,0.000,4,0.000,0.039,3256,3191,2887
$GC,2689,0.99,146.6,28.6,7.7,445,2697,0.00,2.35,0.00,0.000,6,0.000,0.041,3257,1801,2887
$GC,2767,0.99,146.6,22.4,7.9,458,2776,0.00,2.50,0.00,0.000,4,0.000,0.071,3256,401,2887
$GC,2791,0.99,146.6,20.5,8.0,461,2799,0.00,2.25,0.00,0.000,6,0.000,0.026,3256,1798,2887
$GC,2869,0.99,148.2,14.6,7.4,474,2877,0.00,2.33,0.00,0.000,4,0.000,0.044,3256,3190,2887
$GC,2892,1.00,149.9,12.8,7.4,477,2901,0.00,2.35,3.95,0.453,6,0.000,0.041,3256,1800,2877
$GC,2972,1.02,167.4,7.1,6.9,490,2996,0.00,2.53,15.62,0.629,4,0.000,0.069,3257,401,2804
$GC,3005,1.08,219.0,5.1,5.7,494,3054,0.00,2.28,42.17,0.632,6,0.000,0.024,3256,1805,2594
$STATE,3060,end climb,SURFACE_DEPTH_REACHED
$STATE,3060,begin surface coast
$FINISH,1.2,1.018998
$STATE,3152,end surface coast,CONTROL_FINISHED_OK
$STATE,3152,begin surface
$SM_CCo,3176,147.02,0.627,0,0,1857,400.08
$SM_GC,1.20,0.00,0.00,147.02,0.000,0.000,0.627,478,1805,1857,-11.79,-1.27,400.08
$IRIDIUM_FIX,4751.72,-12223.57,290598,101048
$TT8_MAMPS,0.026078
$HUMID,1475
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,12.30
$XPDR_PINGS,27
$24V_AH,23.4,2.001
$10V_AH,10.5,1.770
$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,27.425,51.600,269.275,147.025,0.000,23.446,28.656,246.965,6.750,0.000,0.000,12.948,823.896,349.548,471.283,1596.303,548.069,33.340,1071.201,0.000,1615.936,0.000,0.531,0.000
$DEVICE_MAMPS,196.352,116.584,716.378,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.573,254.981,362.159,611.206,1285.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41406,517
$CAP_FILE_SIZE,59183,0
$CFSIZE,260165632,229388288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,040309,124722,4807.355,-12223.651,12,2.1,31,18.3