version: 66.04
glider: 146
mission: 4
dive: 6
start: 5 13 109 2 7 14
data:
$ID,146
$MISSION,4
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$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,66
$T_MISSION,120
$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,-27775.785
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2989
$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,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,45
$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
$GPS1,015919,2147.096,-15806.164,11,1.1,29,9.9
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-71.9
$GPS2,020620,2147.101,-15806.163,13,1.4,13,9.9
$SPEED_LIMITS,0.144,0.261
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.203,0.163
$KALMAN_X,2924.7,1468.1,606.2,-864.3,861.0
$KALMAN_Y,-358.8,-269.8,-92.1,2739.2,-74.5
$MHEAD_RNG_PITCHd_Wd,298.9,107745,-17.7,-10.101
$D_GRID,200
$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,-1.28,-146.0,0.0,0.0,0,89,0.00,0.00,-70.43,0.000,2,0.000,0.000,471,2040,3343
$GC,93,-1.28,-146.0,3.6,-6.4,9,119,12.05,2.03,-3.85,0.000,4,0.168,0.050,2701,3302,3556
$GC,303,-1.28,-146.0,53.6,-19.1,34,307,0.00,2.25,0.00,0.000,6,0.000,0.031,2701,1894,3556
$GC,567,-1.28,-146.0,104.1,-18.8,58,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1894,3556
$GC,831,-1.28,-146.0,150.7,-16.8,83,835,0.00,2.38,0.00,0.000,4,0.000,0.066,2701,496,3556
$GC,870,-1.28,-146.0,158.3,-18.4,86,879,0.00,2.20,0.00,0.000,6,0.000,0.022,2701,1918,3556
$STATE,1131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1131,begin apogee
$GC,1139,-0.31,0.0,201.0,14.8,111,1258,1.00,0.00,114.82,0.638,6,0.088,0.000,2921,1786,2956
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1262,1.28,146.0,207.8,0.0,114,1386,1.48,2.28,115.15,0.626,4,0.054,0.035,3270,3186,2358
$GC,1465,1.33,184.5,198.4,8.3,118,1504,0.00,2.25,32.08,0.607,6,0.000,0.043,3269,1815,2203
$GC,1767,1.40,237.2,175.3,7.6,146,1817,0.10,2.58,43.67,0.610,4,0.228,0.078,3301,396,1989
$GC,1862,1.40,237.2,166.4,11.2,154,1867,0.00,2.17,0.00,0.000,6,0.000,0.028,3301,1791,1985
$GC,2127,1.40,237.2,139.8,10.2,178,2130,0.00,2.22,0.00,0.000,4,0.000,0.040,3301,3190,1983
$GC,2197,1.40,242.6,132.3,9.8,184,2211,0.00,2.28,5.07,0.446,6,0.000,0.041,3301,1801,1966
$GC,2469,1.43,268.0,106.6,8.9,209,2497,0.00,2.50,22.67,0.572,4,0.000,0.071,3301,399,1862
$GC,2525,1.43,268.0,99.9,12.6,213,2534,0.00,2.20,0.00,0.000,6,0.000,0.022,3301,1809,1860
$GC,2789,1.44,270.0,73.7,10.0,238,2794,0.00,2.42,0.00,0.000,4,0.000,0.062,3301,394,1859
$GC,2823,1.44,274.1,70.1,9.9,240,2833,0.00,2.17,5.95,0.452,6,0.000,0.028,3301,1802,1837
$GC,3102,1.48,308.7,46.8,8.5,266,3143,0.00,2.25,29.83,0.539,4,0.000,0.036,3301,3187,1695
$GC,3169,1.53,348.1,40.9,8.3,271,3209,0.00,2.28,33.10,0.527,6,0.000,0.039,3301,1792,1536
$GC,3469,1.53,348.1,12.7,10.8,314,3478,0.00,2.22,0.00,0.000,4,0.000,0.029,3301,3185,1530
$GC,3504,1.62,421.6,10.4,6.7,319,3575,0.12,2.30,59.67,0.510,6,0.042,0.045,3343,1807,1236
$STATE,3581,end climb,SURFACE_DEPTH_REACHED
$STATE,3581,begin surface coast
$FINISH,0.3,1.023064
$STATE,3607,end surface coast,CONTROL_FINISHED_OK
$STATE,3607,begin surface
$SM_CCo,3691,0.00,0.000,0,0,1230,423.39
$SM_GC,0.90,11.68,0.00,0.00,0.028,0.000,0.000,473,1912,1230,-11.48,0.34,423.39
$IRIDIUM_FIX,2138.81,-15804.59,070898,010121
$TT8_MAMPS,0.025311
$HUMID,1494
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,22.50
$XPDR_PINGS,26
$24V_AH,23.7,3.364
$10V_AH,10.8,2.756
$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,26.425,41.275,462.025,0.000,0.000,31.433,26.611,225.361,6.500,0.000,0.000,15.152,582.028,1324.424,429.791,1306.283,480.794,33.335,917.778,0.000,1319.559,0.000,0.539,0.000
$DEVICE_MAMPS,227.799,88.205,638.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,228.882,231.525,333.326,491.893,1035.902,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25505,333
$CAP_FILE_SIZE,47307,0
$CFSIZE,260165632,229863424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130509,031000,2147.416,-15806.019,37,1.9,37,9.9