version: 66.04
glider: 146
mission: 4
dive: 288
start: 6 24 109 6 54 59
data:
$ID,146
$MISSION,4
$DIVE,288
$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,100
$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,608.09869
$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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-142725.31
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3074
$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,1720
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,66
$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
$GPS1,235025,2252.030,-15753.870,877,99.0,896,10.1
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.6
$GPS2,235025,2252.030,-15753.870,877,99.0,896,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SGFIX
$TGT_LATLONG,2250.540,-15753.618
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.057,-0.210
$KALMAN_X,132862.1,97.0,680.7,-107922.4,343.0
$KALMAN_Y,-50270.4,-1012.0,-1395.6,172182.3,1259.3
$MHEAD_RNG_PITCHd_Wd,185.1,2793,-21.5,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.47,-99.5,0.0,0.0,0,134,0.00,0.00,-115.50,0.000,2,0.000,0.000,460,1682,3341
$GC,138,-1.52,-146.0,3.5,-6.3,15,164,12.12,2.22,-4.12,0.000,4,0.167,0.067,2735,348,3553
$GC,257,-1.52,-146.0,28.6,-16.5,34,265,0.00,2.08,0.00,0.000,6,0.000,0.016,2735,1755,3553
$GC,523,-1.52,-146.0,61.0,-11.0,59,526,0.00,2.03,0.00,0.000,4,0.000,0.021,2735,3083,3553
$GC,551,-1.52,-146.0,64.8,-11.8,61,559,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,1738,3553
$GC,817,-1.52,-146.0,94.8,-11.3,86,821,0.00,2.35,0.00,0.000,4,0.000,0.061,2735,322,3553
$GC,837,-1.52,-146.0,97.4,-11.5,87,841,0.00,2.03,0.00,0.000,6,0.000,0.013,2736,1727,3553
$GC,1106,-1.52,-146.0,128.1,-11.6,112,1111,0.00,2.35,0.00,0.000,4,0.000,0.062,2736,326,3552
$GC,1130,-1.52,-146.0,131.2,-11.9,113,1138,0.00,2.05,0.00,0.000,6,0.000,0.015,2735,1730,3552
$GC,1394,-1.52,-146.0,160.8,-10.7,138,1398,0.00,2.35,0.00,0.000,4,0.000,0.062,2735,326,3553
$GC,1414,-1.52,-146.0,163.1,-10.9,139,1418,0.00,2.00,0.00,0.000,6,0.000,0.014,2735,1720,3552
$GC,1684,-1.52,-146.0,191.9,-10.2,164,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1720,3551
$GC,1969,-1.52,-146.0,222.8,-10.8,177,1973,0.00,2.35,0.00,0.000,4,0.000,0.061,2735,328,3550
$GC,1997,-1.52,-146.0,226.0,-11.0,177,2000,0.00,2.03,0.00,0.000,6,0.000,0.018,2735,1709,3550
$GC,2255,-1.52,-146.0,248.3,-8.6,184,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1710,3550
$GC,2497,-1.52,-146.0,271.5,-9.9,190,2500,0.00,2.15,0.00,0.000,4,0.000,0.038,2735,3082,3549
$GC,2525,-1.52,-146.0,274.4,-10.2,190,2529,0.00,2.17,0.00,0.000,6,0.000,0.042,2735,1730,3549
$GC,2783,-1.52,-146.0,295.6,-8.2,197,2787,0.00,2.47,0.00,0.000,4,0.000,0.084,2735,314,3548
$GC,2819,-1.52,-146.0,298.6,-8.4,197,2825,0.00,2.10,0.00,0.000,6,0.000,0.026,2735,1683,3548
$STATE,2863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2863,begin apogee
$GC,2871,-0.31,0.0,302.8,8.3,199,2990,1.17,0.00,115.90,0.711,6,0.068,0.000,3007,1846,2956
$STATE,2991,end apogee,CONTROL_FINISHED_OK
$STATE,2991,begin climb
$GC,2995,1.52,146.0,307.7,0.0,202,3122,1.58,2.50,118.95,0.704,4,0.031,0.061,3425,417,2359
$GC,3217,1.52,146.0,298.3,12.1,207,3221,0.00,2.20,0.00,0.000,6,0.000,0.027,3425,1817,2352
$GC,3490,1.52,146.0,269.7,10.7,214,3494,0.00,2.30,0.00,0.000,4,0.000,0.035,3425,3246,2350
$GC,3732,1.52,146.6,243.9,10.0,219,3737,0.00,2.30,0.00,0.000,6,0.000,0.041,3426,1826,2347
$GC,3998,1.55,164.9,221.1,8.8,226,4018,0.00,2.28,15.05,0.632,4,0.000,0.035,3426,3236,2282
$GC,4209,1.55,164.9,197.3,12.0,230,4217,0.00,2.33,0.00,0.000,6,0.000,0.036,3425,1823,2279
$GC,4473,1.55,167.7,169.3,9.8,255,4477,0.00,2.25,0.00,0.000,4,0.000,0.028,3425,3246,2278
$GC,4626,1.55,167.7,153.9,10.4,268,4630,0.00,2.30,0.00,0.000,6,0.000,0.035,3425,1813,2276
$GC,4890,1.55,167.7,125.9,11.1,292,4894,0.00,2.25,0.00,0.000,4,0.000,0.031,3426,3250,2276
$GC,5133,1.55,170.4,100.9,9.8,313,5142,0.00,2.30,4.95,0.435,6,0.000,0.033,3426,1834,2261
$GC,5400,1.57,183.7,75.4,9.1,338,5418,0.00,2.25,12.65,0.525,4,0.000,0.033,3425,3240,2206
$GC,5670,1.57,186.9,47.1,9.8,362,5684,0.00,2.28,4.05,0.366,6,0.000,0.039,3425,1825,2193
$GC,5944,1.59,202.6,27.5,8.9,389,5968,0.00,2.30,14.68,0.498,4,0.000,0.028,3425,3240,2129
$GC,6222,1.63,229.5,3.8,8.2,437,6240,0.00,2.30,13.15,0.472,2,0.000,0.038,3426,1829,2067
$STATE,6240,end climb,SURFACE_DEPTH_REACHED
$STATE,6240,begin surface coast
$FINISH,0.3,0.998789
$STATE,6287,end surface coast,CONTROL_FINISHED_OK
$STATE,6287,begin surface
$SM_CCo,6313,307.75,0.489,0,0,477,608.10
$SM_GC,1.23,0.00,0.00,307.75,0.000,0.000,0.489,467,1706,477,-11.99,-0.42,608.10
$IRIDIUM_FIX,2244.02,-15759.32,180998,060616
$TT8_MAMPS,0.025311
$HUMID,1645
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,22.70
$XPDR_PINGS,290
$24V_AH,23.8,42.796
$10V_AH,10.7,42.476
$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,26.850,67.400,299.375,307.750,0.000,225.397,410.455,651.838,72.500,0.000,0.000,1505.200,889.412,3473.604,674.217,3414.204,1721.486,33.349,1296.254,0.000,1813.679,0.000,0.540,0.000
$DEVICE_MAMPS,167.206,93.574,711.009,488.579,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,302.429,1548.107,410.096,603.800,1268.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31981,447
$CAP_FILE_SIZE,82200,0
$CFSIZE,260165632,211914752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230609,235025,2252.030,-15753.870,877,99.0,896,10.1