version: 66.04
glider: 146
mission: 4
dive: 65
start: 5 21 109 16 8 2
data:
$ID,146
$MISSION,4
$DIVE,65
$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,-28867.117
$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,29
$R_STBD_OVSHOOT,59
$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
$GPS1,155907,2251.381,-15756.255,30,1.2,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.1
$GPS2,160708,2251.375,-15756.283,12,1.3,12,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,WP2
$TGT_LATLONG,2254.000,-15750.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.057,0.233
$KALMAN_X,-26469.8,-311.7,-130.8,48050.4,132.6
$KALMAN_Y,-47489.9,-174.8,434.7,168276.6,-1496.9
$MHEAD_RNG_PITCHd_Wd,3.7,11770,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.06,-146.0,0.0,0.0,0,115,0.00,0.00,-93.55,0.000,2,0.000,0.000,473,1733,3537
$GC,119,-1.06,-146.0,4.3,-5.1,12,138,13.12,2.38,-0.28,0.000,4,0.183,0.069,2814,353,3553
$GC,219,-1.06,-146.0,34.8,-14.9,26,228,0.00,2.15,0.00,0.000,6,0.000,0.018,2814,1748,3555
$GC,484,-1.06,-146.0,68.8,-12.5,51,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1749,3555
$GC,748,-1.06,-146.0,101.1,-12.0,76,751,0.00,2.17,0.00,0.000,4,0.000,0.028,2814,3134,3555
$GC,786,-1.06,-146.0,106.1,-11.8,79,794,0.00,2.25,0.00,0.000,6,0.000,0.035,2814,1751,3555
$GC,1050,-1.06,-146.0,134.7,-10.5,104,1054,0.00,2.17,0.00,0.000,4,0.000,0.023,2814,3137,3555
$GC,1076,-1.06,-146.0,137.5,-10.7,106,1080,0.00,2.20,0.00,0.000,6,0.000,0.028,2814,1748,3555
$GC,1337,-1.06,-146.0,165.5,-11.0,130,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1748,3555
$GC,1593,-1.06,-146.0,192.8,-10.9,154,1597,0.00,2.38,0.00,0.000,4,0.000,0.068,2814,344,3556
$GC,1658,-1.06,-146.0,200.1,-11.6,159,1662,0.00,2.12,0.00,0.000,6,0.000,0.017,2814,1771,3556
$GC,1925,-1.06,-146.0,227.3,-10.0,166,1929,0.00,2.10,0.00,0.000,4,0.000,0.034,2814,3126,3556
$GC,1959,-1.06,-146.0,230.9,-10.2,166,1963,0.00,2.20,0.00,0.000,6,0.000,0.040,2814,1756,3555
$GC,2209,-1.06,-146.0,253.8,-8.8,172,2214,0.00,2.45,0.00,0.000,4,0.000,0.075,2814,343,3555
$GC,2250,-1.06,-146.0,257.3,-9.0,173,2253,0.00,2.12,0.00,0.000,6,0.000,0.028,2815,1728,3555
$GC,2540,-1.06,-146.0,280.2,-8.0,180,2544,0.00,2.38,0.00,0.000,4,0.000,0.077,2814,351,3555
$GC,2567,-1.06,-146.0,282.6,-8.6,180,2571,0.00,2.17,0.00,0.000,6,0.000,0.031,2814,1744,3554
$STATE,2814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2814,begin apogee
$GC,2822,-0.31,0.0,303.1,8.2,186,2944,0.73,0.00,118.22,0.735,6,0.073,0.000,2981,1872,2955
$STATE,2944,end apogee,CONTROL_FINISHED_OK
$STATE,2944,begin climb
$GC,2948,1.06,146.0,306.1,0.0,189,3071,1.25,0.00,119.72,0.719,6,0.043,0.000,3284,1872,2359
$GC,3314,1.10,180.1,288.2,6.7,198,3345,0.00,0.00,29.15,0.698,6,0.000,0.000,3284,1872,2220
$GC,3557,1.10,181.4,269.4,8.0,204,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1872,2216
$GC,3801,1.10,181.4,248.9,8.4,210,3805,0.00,2.45,0.00,0.000,4,0.000,0.064,3284,445,2213
$GC,3886,1.10,181.4,240.2,10.9,212,3890,0.00,2.20,0.00,0.000,6,0.000,0.021,3285,1853,2212
$GC,4169,1.10,181.4,214.1,8.8,219,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1854,2211
$GC,4415,1.12,196.7,194.5,7.4,228,4434,0.00,2.25,13.95,0.637,4,0.000,0.036,3284,3250,2153
$GC,4463,1.12,196.7,190.8,8.2,231,4469,0.00,2.30,0.00,0.000,6,0.000,0.039,3284,1835,2151
$GC,4724,1.15,224.8,171.5,7.0,256,4761,0.00,2.47,25.08,0.647,4,0.000,0.067,3284,439,2037
$GC,4845,1.15,224.8,162.0,8.6,266,4852,0.00,2.22,0.00,0.000,6,0.000,0.018,3284,1859,2034
$GC,5109,1.18,241.2,143.2,7.4,291,5136,0.00,2.50,15.02,0.604,4,0.000,0.061,3285,442,1970
$GC,5161,1.18,241.2,139.1,8.7,295,5166,0.00,2.20,0.00,0.000,6,0.000,0.026,3284,1863,1969
$GC,5426,1.18,241.2,117.7,8.0,319,5430,0.00,2.17,0.00,0.000,4,0.000,0.036,3285,3243,1968
$GC,5465,1.18,241.2,114.1,8.2,322,5472,0.00,2.28,0.00,0.000,6,0.000,0.035,3284,1856,1966
$GC,5728,1.18,241.2,92.4,8.2,347,5732,0.00,2.38,0.00,0.000,4,0.000,0.058,3284,445,1966
$GC,5765,1.18,241.2,89.1,9.0,350,5769,0.00,2.15,0.00,0.000,6,0.000,0.025,3284,1853,1966
$GC,6035,1.19,252.4,67.7,7.6,375,6054,0.10,0.00,10.20,0.525,6,0.064,0.000,3317,1855,1927
$GC,6310,1.19,252.4,42.2,9.4,401,6314,0.00,2.38,0.00,0.000,4,0.000,0.059,3317,446,1925
$GC,6353,1.19,252.4,37.7,10.9,404,6357,0.00,2.15,0.00,0.000,6,0.000,0.021,3317,1859,1924
$GC,6624,1.19,252.4,13.2,9.0,446,6633,0.00,2.20,0.00,0.000,4,0.000,0.031,3317,3243,1924
$GC,6653,1.19,252.4,10.7,8.8,450,6661,0.00,2.28,0.00,0.000,6,0.000,0.038,3317,1850,1924
$STATE,6737,end climb,SURFACE_DEPTH_REACHED
$STATE,6737,begin surface coast
$FINISH,0.4,1.024034
$STATE,6772,end surface coast,CONTROL_FINISHED_OK
$STATE,6772,begin surface
$SM_CCo,6796,136.50,0.518,0,0,1243,420.20
$SM_GC,1.05,0.00,0.00,136.50,0.000,0.000,0.518,474,1733,1243,-11.85,-0.48,420.20
$IRIDIUM_FIX,2244.02,-15801.49,150898,141458
$TT8_MAMPS,0.025311
$HUMID,1496
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,22.30
$XPDR_PINGS,47
$24V_AH,23.7,11.455
$10V_AH,10.8,9.289
$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,26.600,68.175,331.350,136.500,0.000,27.381,45.212,251.681,11.750,0.000,0.000,13.841,850.288,3737.013,556.944,1692.407,586.244,33.362,1111.047,0.000,1708.535,0.000,0.537,0.000
$DEVICE_MAMPS,182.546,159.536,734.786,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.765,302.362,428.621,612.714,1289.806,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35014,471
$CAP_FILE_SIZE,66771,0
$CFSIZE,260165632,226754560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210509,180500,2251.845,-15755.949,37,1.2,43,10.1