version: 66.04
glider: 146
mission: 4
dive: 61
start: 5 21 109 8 3 56
data:
$ID,146
$MISSION,4
$DIVE,61
$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,-28765.211
$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,26
$R_STBD_OVSHOOT,53
$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
$GPS1,075530,2251.441,-15758.316,36,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.8
$GPS2,080302,2251.364,-15758.291,9,1.9,9,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,WP2
$TGT_LATLONG,2254.000,-15750.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.217,0.103
$KALMAN_X,-27040.8,482.3,411.2,43828.3,-342.9
$KALMAN_Y,-41789.7,21.3,-5.1,162803.9,-2038.8
$MHEAD_RNG_PITCHd_Wd,54.5,14963,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.06,-146.0,0.0,0.0,0,114,0.00,0.00,-93.25,0.000,6,0.000,0.000,471,1735,3553
$GC,118,-1.06,-146.0,4.7,-6.0,12,136,13.15,2.38,0.00,0.000,4,0.183,0.055,2813,340,3555
$GC,227,-1.06,-146.0,34.9,-14.9,28,231,0.00,2.15,0.00,0.000,6,0.000,0.024,2814,1766,3556
$GC,498,-1.06,-146.0,68.8,-12.0,53,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1768,3555
$GC,762,-1.06,-146.0,99.4,-11.7,78,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1768,3556
$GC,1026,-1.06,-146.0,128.7,-10.9,103,1030,0.00,2.40,0.00,0.000,4,0.000,0.058,2814,347,3556
$GC,1101,-1.06,-146.0,137.1,-11.4,109,1105,0.00,2.12,0.00,0.000,6,0.000,0.016,2814,1767,3556
$GC,1367,-1.06,-146.0,166.0,-11.1,134,1371,0.00,2.12,0.00,0.000,4,0.000,0.031,2814,3137,3556
$GC,1382,-1.06,-146.0,167.4,-11.0,135,1386,0.00,2.20,0.00,0.000,6,0.000,0.035,2814,1746,3556
$GC,1649,-1.06,-146.0,195.5,-10.8,160,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1746,3556
$GC,1905,-1.06,-146.0,220.1,-9.3,170,1908,0.00,2.38,0.00,0.000,4,0.000,0.065,2813,347,3556
$GC,1921,-1.06,-146.0,221.7,-9.1,170,1925,0.00,2.10,0.00,0.000,6,0.000,0.024,2814,1753,3556
$GC,2195,-1.06,-146.0,242.8,-7.6,177,2199,0.00,2.40,0.00,0.000,4,0.000,0.064,2813,347,3556
$GC,2222,-1.06,-146.0,245.2,-8.5,177,2226,0.00,2.12,0.00,0.000,6,0.000,0.018,2813,1741,3556
$GC,2478,-1.06,-146.0,267.9,-9.1,184,2482,0.00,2.22,0.00,0.000,4,0.000,0.034,2814,3146,3555
$GC,2511,-1.06,-146.0,271.3,-9.5,184,2517,0.00,2.25,0.00,0.000,6,0.000,0.044,2813,1760,3556
$GC,2762,-1.06,-146.0,293.1,-8.3,191,2765,0.00,2.20,0.00,0.000,4,0.000,0.038,2813,3144,3554
$GC,2784,-1.06,-146.0,295.1,-8.6,191,2788,0.00,2.28,0.00,0.000,6,0.000,0.047,2813,1751,3554
$STATE,2879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2880,begin apogee
$GC,2887,-0.31,0.0,302.2,7.3,194,3008,0.73,0.00,117.47,0.732,6,0.072,0.000,2980,1946,2956
$STATE,3008,end apogee,CONTROL_FINISHED_OK
$STATE,3009,begin climb
$GC,3012,1.06,146.0,304.3,0.0,197,3139,1.25,2.17,118.70,0.716,4,0.044,0.044,3284,3239,2359
$GC,3159,1.12,196.7,299.6,6.1,200,3209,0.00,2.33,43.33,0.697,6,0.000,0.044,3283,1848,2153
$GC,3466,1.12,196.7,274.8,8.3,208,3470,0.00,2.47,0.00,0.000,4,0.000,0.076,3284,434,2146
$GC,3494,1.12,196.7,272.1,9.4,208,3498,0.00,2.22,0.00,0.000,6,0.000,0.020,3284,1848,2145
$GC,3744,1.12,196.7,251.4,8.4,214,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1849,2144
$GC,3988,1.12,196.7,230.6,8.7,220,3992,0.00,2.40,0.00,0.000,4,0.000,0.058,3284,435,2142
$GC,4089,1.12,196.7,221.2,9.4,222,4093,0.00,2.22,0.00,0.000,6,0.000,0.021,3283,1866,2140
$GC,4361,1.14,208.8,200.0,7.5,229,4373,0.00,0.00,9.57,0.609,6,0.000,0.000,3284,1867,2104
$GC,4614,1.18,247.8,182.1,6.6,250,4654,0.10,0.00,35.03,0.660,6,0.068,0.000,3314,1867,1945
$GC,4914,1.18,247.8,156.8,8.2,278,4918,0.00,2.42,0.00,0.000,4,0.000,0.062,3314,439,1939
$GC,4936,1.18,247.8,154.3,8.9,279,4942,0.00,2.20,0.00,0.000,6,0.000,0.021,3314,1863,1938
$GC,5200,1.18,247.8,131.7,8.8,304,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1864,1938
$GC,5465,1.18,247.8,106.6,9.8,329,5469,0.00,2.42,0.00,0.000,4,0.000,0.063,3314,428,1937
$GC,5542,1.18,247.8,97.3,11.7,335,5550,0.00,2.22,0.00,0.000,6,0.000,0.025,3314,1858,1936
$GC,5807,1.18,247.8,69.5,10.2,360,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1860,1936
$GC,6071,1.18,247.8,44.3,9.3,385,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1860,1936
$GC,6328,1.18,247.8,21.1,8.7,418,6337,0.00,2.42,0.00,0.000,4,0.000,0.055,3314,436,1936
$GC,6411,1.18,247.8,13.4,9.5,432,6419,0.00,2.20,0.00,0.000,6,0.000,0.019,3314,1856,1935
$STATE,6534,end climb,SURFACE_DEPTH_REACHED
$STATE,6535,begin surface coast
$FINISH,0.3,1.010411
$STATE,6578,end surface coast,CONTROL_FINISHED_OK
$STATE,6578,begin surface
$SM_CCo,6603,138.30,0.518,0,0,1243,420.20
$SM_GC,1.08,0.00,0.00,138.30,0.000,0.000,0.518,474,1733,1243,-11.85,-0.48,420.20
$IRIDIUM_FIX,2244.02,-15801.49,150898,060614
$TT8_MAMPS,0.025311
$HUMID,1502
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,21.90
$XPDR_PINGS,38
$24V_AH,23.7,11.034
$10V_AH,10.8,8.864
$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,26.650,59.400,324.100,138.300,0.000,22.569,27.155,248.155,9.500,0.000,0.000,11.317,829.066,3616.255,522.998,1661.602,571.746,33.361,1078.078,0.000,1686.741,0.000,0.536,0.000
$DEVICE_MAMPS,183.313,171.041,731.718,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.859,294.692,420.566,596.649,1259.869,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35024,461
$CAP_FILE_SIZE,63556,0
$CFSIZE,260165632,226910208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210509,095728,2250.956,-15757.394,7,2.3,27,10.1