version: 66.04
glider: 146
mission: 4
dive: 19
start: 3 4 109 14 7 5
data:
$ID,146
$MISSION,4
$DIVE,19
$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,-26708.617
$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,47
$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
$GPS1,135834,4807.562,-12223.787,8,6.2,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.1
$GPS2,140607,4807.526,-12223.721,14,1.2,19,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,0.223
$KALMAN_X,-1717.9,112.6,-24.7,1115.9,-18.3
$KALMAN_Y,1062.7,-235.1,-152.4,-1601.8,-63.6
$MHEAD_RNG_PITCHd_Wd,323.8,944,-13.0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.6,0.0,0.0,0,96,0.00,0.00,-77.82,0.000,2,0.000,0.000,481,1800,3440
$GC,100,-0.99,-146.6,3.6,-3.5,10,135,13.73,2.45,-14.48,0.000,4,0.199,0.053,2820,3249,3955
$GC,204,-0.99,-146.6,11.1,-5.9,26,212,0.00,2.35,0.00,0.000,6,0.000,0.037,2820,1847,3955
$GC,283,-0.99,-146.6,15.4,-5.8,39,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1847,3955
$GC,360,-0.99,-146.6,20.1,-6.3,52,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1847,3955
$GC,437,-0.99,-146.6,25.0,-6.4,65,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1847,3955
$GC,515,-0.99,-146.6,29.8,-6.4,78,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1847,3954
$GC,593,-0.99,-146.6,35.0,-6.4,91,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1847,3955
$GC,670,-0.99,-146.6,39.9,-6.4,104,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1847,3955
$GC,750,-0.99,-146.6,44.8,-6.4,117,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1848,3955
$GC,890,-0.99,-146.6,53.6,-6.1,142,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1847,3954
$GC,1035,-0.99,-146.6,62.4,-6.4,167,1041,0.00,2.30,0.00,0.000,4,0.000,0.040,2820,3245,3954
$GC,1063,-0.99,-146.6,64.1,-5.9,171,1070,0.00,2.33,0.00,0.000,6,0.000,0.040,2820,1834,3954
$GC,1204,-0.99,-146.6,73.0,-5.9,196,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1834,3954
$GC,1350,-0.99,-146.6,81.4,-6.1,221,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1834,3955
$GC,1490,-0.99,-146.6,89.5,-5.5,246,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1834,3954
$GC,1636,-0.99,-146.6,97.5,-5.7,271,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1834,3954
$STATE,1735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1735,begin apogee
$GC,1743,-0.31,0.0,103.4,5.8,289,1842,0.68,0.00,92.07,0.720,6,0.088,0.000,2969,1784,3487
$STATE,1843,end apogee,CONTROL_FINISHED_OK
$STATE,1843,begin climb
$GC,1846,0.99,146.6,105.7,0.0,304,1968,1.25,0.00,116.18,0.693,6,0.064,0.000,3256,1783,2889
$GC,2103,0.99,146.6,89.2,8.5,346,2111,0.00,2.38,0.00,0.000,4,0.000,0.038,3256,3193,2888
$GC,2140,0.99,146.6,85.8,8.7,352,2149,0.00,2.35,0.00,0.000,6,0.000,0.041,3257,1813,2887
$GC,2285,0.99,146.6,73.4,8.6,377,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1812,2887
$GC,2424,0.99,146.6,61.5,8.3,402,2432,0.00,2.30,0.00,0.000,4,0.000,0.041,3256,3189,2887
$GC,2447,0.99,146.6,59.7,8.4,405,2453,0.00,2.33,0.00,0.000,6,0.000,0.041,3256,1799,2887
$GC,2587,0.99,146.6,48.0,7.9,430,2596,0.00,2.33,0.00,0.000,4,0.000,0.038,3256,3191,2887
$GC,2632,0.99,146.6,44.3,8.6,437,2638,0.00,2.33,0.00,0.000,6,0.000,0.042,3256,1798,2887
$GC,2774,0.99,146.6,32.5,8.3,462,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1798,2887
$GC,2851,0.99,146.6,25.9,8.6,475,2860,0.00,2.33,0.00,0.000,4,0.000,0.035,3256,3188,2887
$GC,2875,0.99,146.6,24.1,8.5,478,2883,0.00,2.35,0.00,0.000,6,0.000,0.044,3256,1800,2887
$GC,2953,0.99,146.6,17.7,7.7,491,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1800,2887
$GC,3030,0.99,146.6,11.8,7.5,504,3038,0.00,2.50,0.00,0.000,4,0.000,0.070,3257,397,2887
$GC,3048,1.00,148.6,10.4,7.4,506,3056,0.00,2.25,0.00,0.000,6,0.000,0.028,3256,1794,2887
$GC,3126,1.06,205.1,5.1,5.5,519,3182,0.00,2.38,47.17,0.642,4,0.000,0.038,3256,3195,2650
$STATE,3194,end climb,SURFACE_DEPTH_REACHED
$STATE,3194,begin surface coast
$FINISH,1.3,1.019348
$STATE,3318,end surface coast,CONTROL_FINISHED_OK
$STATE,3318,begin surface
$SM_CCo,3345,159.20,0.630,0,0,1856,400.08
$SM_GC,1.21,0.00,0.00,159.20,0.000,0.000,0.630,483,1840,1856,-11.77,-0.28,400.08
$IRIDIUM_FIX,4748.51,-12226.29,290598,131346
$TT8_MAMPS,0.026078
$HUMID,1476
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,12.00
$XPDR_PINGS,19
$24V_AH,23.4,2.199
$10V_AH,10.5,1.994
$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,27.525,37.575,255.425,159.200,0.000,28.261,29.746,231.355,4.750,0.000,0.000,20.561,866.676,376.191,472.017,1715.905,537.994,33.347,1086.344,0.000,1729.732,0.000,0.531,0.000
$DEVICE_MAMPS,198.653,114.283,720.213,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.161,276.374,387.860,654.353,1381.170,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44517,550
$CAP_FILE_SIZE,59350,0
$CFSIZE,260165632,229306368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,150620,4807.796,-12223.973,9,1.3,9,18.3