version: 66.04
glider: 146
mission: 4
dive: 48
start: 5 20 109 5 59 7
data:
$ID,146
$MISSION,4
$DIVE,48
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,125
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,1.0275
$MASS,52407
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,-28537
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3050
$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,1750
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2956
$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,-29.46645
$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
$GPS1,055037,2250.101,-15758.979,34,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.6
$GPS2,055813,2250.014,-15758.905,10,1.1,10,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,WP0
$TGT_LATLONG,2251.435,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.097,0.220
$KALMAN_X,-28779.6,334.6,388.5,44669.2,263.3
$KALMAN_Y,-23610.6,-130.7,-401.7,142682.9,-1001.9
$MHEAD_RNG_PITCHd_Wd,326.2,3228,-14.1,-8.000
$D_GRID,300
$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,17,-1.06,-146.0,0.0,0.0,0,113,0.00,0.00,-93.43,0.000,3,0.000,0.000,470,1726,3553
$GC,117,-1.06,-146.0,4.7,-6.0,12,135,13.02,2.30,0.00,0.000,4,0.178,0.024,2813,3157,3555
$GC,182,-1.06,-146.0,27.8,-19.3,22,190,0.00,2.28,0.00,0.000,6,0.000,0.042,2813,1779,3556
$GC,455,-1.06,-146.0,66.7,-13.5,48,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1779,3556
$GC,719,-1.06,-146.0,97.7,-11.1,73,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1779,3556
$GC,974,-1.06,-146.0,124.6,-10.1,97,978,0.00,2.42,0.00,0.000,4,0.000,0.065,2813,350,3556
$GC,1016,-1.06,-146.0,129.3,-11.2,100,1020,0.00,2.12,0.00,0.000,6,0.000,0.019,2813,1777,3556
$GC,1286,-1.06,-146.0,158.6,-10.9,125,1290,0.00,2.42,0.00,0.000,4,0.000,0.063,2813,344,3556
$GC,1311,-1.06,-146.0,161.5,-11.5,127,1315,0.00,2.10,0.00,0.000,6,0.000,0.015,2813,1761,3556
$GC,1579,-1.06,-146.0,189.0,-10.3,152,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1765,3556
$GC,1858,-1.06,-146.0,216.8,-10.2,167,1862,0.00,2.42,0.00,0.000,4,0.000,0.068,2813,347,3556
$GC,1874,-1.06,-146.0,218.6,-10.5,167,1878,0.00,2.10,0.00,0.000,6,0.000,0.018,2813,1750,3557
$GC,2141,-1.06,-146.0,245.6,-9.8,174,2145,0.00,2.15,0.00,0.000,4,0.000,0.035,2813,3125,3556
$GC,2199,-1.06,-146.0,250.7,-8.5,175,2203,0.00,2.22,0.00,0.000,6,0.000,0.041,2813,1749,3557
$GC,2471,-1.06,-146.0,274.3,-8.5,182,2475,0.00,2.42,0.00,0.000,4,0.000,0.077,2813,346,3556
$GC,2556,-1.06,-146.0,282.2,-9.6,184,2560,0.00,2.12,0.00,0.000,6,0.000,0.030,2813,1718,3555
$STATE,2762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2762,begin apogee
$GC,2770,-0.31,0.0,300.3,8.7,189,2891,0.75,0.00,118.18,0.735,6,0.073,0.000,2985,1870,2955
$STATE,2892,end apogee,CONTROL_FINISHED_OK
$STATE,2892,begin climb
$GC,2895,1.06,146.0,304.4,0.0,192,3019,1.25,0.00,119.38,0.723,6,0.040,0.000,3286,1870,2359
$GC,3287,1.10,181.9,286.1,6.7,202,3323,0.00,2.28,30.52,0.703,4,0.000,0.039,3286,3244,2213
$GC,3340,1.15,221.9,282.5,6.5,202,3380,0.00,2.33,34.85,0.699,6,0.000,0.038,3286,1848,2051
$GC,3655,1.15,221.9,253.2,9.8,210,3659,0.00,2.45,0.00,0.000,4,0.000,0.074,3286,439,2043
$GC,3744,1.15,221.9,242.8,11.8,212,3748,0.00,2.20,0.00,0.000,6,0.000,0.028,3286,1843,2041
$GC,4023,1.15,221.9,213.7,10.4,219,4027,0.00,2.25,0.00,0.000,4,0.000,0.037,3286,3248,2040
$GC,4063,1.15,221.9,209.7,10.0,220,4067,0.00,2.30,0.00,0.000,6,0.000,0.036,3286,1836,2039
$GC,4322,1.15,221.9,185.1,8.5,236,4327,0.00,2.38,0.00,0.000,4,0.000,0.062,3286,444,2038
$GC,4345,1.15,221.9,182.8,9.7,237,4351,0.00,2.17,0.00,0.000,6,0.000,0.020,3286,1860,2037
$GC,4607,1.21,266.9,164.1,6.3,262,4655,0.12,2.53,37.65,0.653,4,0.171,0.061,3323,443,1866
$GC,4693,1.21,266.9,156.8,10.5,269,4697,0.00,2.20,0.00,0.000,6,0.000,0.022,3323,1856,1863
$GC,4957,1.21,266.9,130.5,11.0,293,4961,0.00,2.40,0.00,0.000,4,0.000,0.061,3323,446,1861
$GC,4999,1.21,266.9,125.8,12.0,296,5003,0.00,2.17,0.00,0.000,6,0.000,0.020,3323,1858,1859
$GC,5263,1.21,266.9,95.3,11.5,320,5267,0.00,2.40,0.00,0.000,4,0.000,0.058,3323,439,1859
$GC,5311,1.21,266.9,89.5,12.7,324,5315,0.00,2.17,0.00,0.000,6,0.000,0.018,3323,1857,1858
$GC,5575,1.21,266.9,58.1,12.0,348,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1859,1858
$GC,5840,1.21,266.9,29.5,10.3,373,5848,0.00,2.22,0.00,0.000,4,0.000,0.035,3323,3250,1858
$GC,5885,1.21,266.9,24.7,11.0,380,5892,0.00,2.30,0.00,0.000,6,0.000,0.038,3323,1853,1857
$STATE,6101,end climb,SURFACE_DEPTH_REACHED
$STATE,6101,begin surface coast
$FINISH,0.5,1.011427
$STATE,6130,end surface coast,CONTROL_FINISHED_OK
$STATE,6130,begin surface
$SM_CCo,6154,122.38,0.524,0,0,1242,420.20
$SM_GC,1.15,0.00,0.00,122.38,0.000,0.000,0.524,472,1737,1242,-11.86,-0.34,420.20
$IRIDIUM_FIX,2244.02,-15759.32,140898,040440
$TT8_MAMPS,0.025311
$HUMID,1476
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,21.80
$XPDR_PINGS,41
$24V_AH,23.7,9.675
$10V_AH,10.8,7.494
$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,26.575,64.225,340.575,122.375,0.000,24.678,33.874,242.990,10.250,0.000,0.000,11.995,785.114,3310.463,526.752,1574.056,545.383,33.339,1057.807,0.000,1585.982,0.000,0.536,0.000
$DEVICE_MAMPS,177.944,130.390,734.786,523.861,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,289.992,270.760,384.612,543.359,1145.952,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31909,424
$CAP_FILE_SIZE,62799,0
$CFSIZE,260165632,227422208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,074438,2249.861,-15759.167,10,1.4,11,10.1