version: 66.04
glider: 146
mission: 4
dive: 68
start: 5 21 109 22 21 8
data:
$ID,146
$MISSION,4
$DIVE,68
$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,-28912.078
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3060
$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,1740
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,54
$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
$GPS1,220437,2252.477,-15755.536,37,1.0,38,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.6
$GPS2,222014,2252.392,-15755.535,11,1.2,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,WP2
$TGT_LATLONG,2254.000,-15750.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.133,0.200
$KALMAN_X,-26554.3,-477.4,115.8,49338.6,-99.4
$KALMAN_Y,-50581.0,209.7,-203.2,173504.5,-1219.6
$MHEAD_RNG_PITCHd_Wd,23.5,9902,-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,-93.18,0.000,6,0.000,0.000,472,1725,3553
$GC,119,-1.06,-146.0,4.6,-5.9,12,137,13.07,2.35,0.00,0.000,4,0.179,0.055,2821,350,3555
$GC,229,-1.06,-146.0,34.5,-12.9,27,232,0.00,2.12,0.00,0.000,6,0.000,0.018,2821,1759,3555
$GC,499,-1.06,-146.0,67.1,-11.8,52,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1765,3555
$GC,763,-1.06,-146.0,98.8,-11.9,77,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1765,3555
$GC,1027,-1.06,-146.0,129.8,-11.5,102,1031,0.00,2.12,0.00,0.000,4,0.000,0.032,2821,3128,3555
$GC,1075,-1.06,-146.0,135.0,-10.5,106,1079,0.00,2.20,0.00,0.000,6,0.000,0.038,2821,1737,3555
$GC,1344,-1.06,-146.0,163.8,-9.8,131,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1737,3555
$GC,1599,-1.06,-146.0,187.0,-8.8,155,1603,0.00,2.35,0.00,0.000,4,0.000,0.064,2821,344,3555
$GC,1638,-1.06,-146.0,190.7,-9.0,158,1646,0.00,2.12,0.00,0.000,6,0.000,0.018,2821,1747,3555
$GC,1913,-1.06,-146.0,214.7,-8.9,173,1916,0.00,2.15,0.00,0.000,4,0.000,0.030,2821,3118,3555
$GC,1946,-1.06,-146.0,217.9,-8.8,173,1950,0.00,2.20,0.00,0.000,6,0.000,0.037,2821,1744,3555
$GC,2197,-1.06,-146.0,238.5,-8.1,179,2201,0.00,2.42,0.00,0.000,4,0.000,0.076,2821,333,3555
$GC,2230,-1.06,-146.0,241.6,-8.8,179,2234,0.00,2.12,0.00,0.000,6,0.000,0.018,2821,1731,3554
$GC,2486,-1.06,-146.0,261.4,-7.4,186,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1732,3554
$GC,2730,-1.06,-146.0,280.6,-7.9,192,2734,0.00,2.25,0.00,0.000,4,0.000,0.038,2821,3138,3553
$GC,2758,-1.06,-146.0,282.9,-8.3,192,2762,0.00,2.28,0.00,0.000,6,0.000,0.041,2821,1747,3553
$STATE,3005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3005,begin apogee
$GC,3013,-0.31,0.0,302.3,8.0,198,3134,0.75,0.00,118.72,0.738,6,0.072,0.000,2994,1926,2956
$STATE,3135,end apogee,CONTROL_FINISHED_OK
$STATE,3135,begin climb
$GC,3139,1.06,146.0,306.7,0.0,201,3266,1.23,2.12,120.30,0.719,4,0.038,0.042,3298,3224,2358
$GC,3371,1.07,156.7,299.9,7.6,206,3385,0.00,2.33,9.60,0.623,6,0.000,0.044,3298,1830,2317
$GC,3637,1.07,156.7,275.4,9.4,213,3641,0.00,2.47,0.00,0.000,4,0.000,0.072,3298,412,2312
$GC,3661,1.07,156.7,273.3,9.5,213,3665,0.00,2.22,0.00,0.000,6,0.000,0.021,3298,1828,2311
$GC,3917,1.08,161.3,252.6,7.8,220,3926,0.00,2.45,4.28,0.471,4,0.000,0.061,3298,427,2298
$GC,3943,1.08,161.3,250.0,9.7,220,3947,0.00,2.20,0.00,0.000,6,0.000,0.028,3298,1831,2297
$GC,4200,1.10,180.1,230.3,7.3,227,4224,0.00,2.35,17.60,0.667,4,0.000,0.041,3298,3246,2220
$GC,4282,1.12,198.2,224.3,7.3,228,4304,0.00,2.33,16.70,0.657,6,0.000,0.035,3298,1826,2148
$GC,4572,1.15,218.7,203.7,7.2,236,4596,0.00,2.47,18.30,0.656,4,0.000,0.070,3298,428,2063
$GC,4653,1.15,218.7,196.4,8.9,237,4660,0.00,2.20,0.00,0.000,6,0.000,0.018,3298,1845,2061
$GC,4915,1.15,218.7,174.3,8.9,262,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1847,2059
$GC,5170,1.15,218.7,151.7,8.8,286,5174,0.00,2.42,0.00,0.000,4,0.000,0.060,3298,421,2058
$GC,5234,1.15,218.7,145.6,9.9,291,5239,0.00,2.17,0.00,0.000,6,0.000,0.025,3298,1836,2056
$GC,5499,1.17,233.3,124.0,7.5,315,5516,0.00,2.22,12.88,0.587,4,0.000,0.033,3298,3232,2004
$GC,5550,1.17,240.1,119.8,7.7,319,5563,0.00,2.33,7.60,0.532,6,0.000,0.040,3298,1823,1976
$GC,5830,1.17,240.1,97.8,8.8,345,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1823,1974
$GC,6094,1.17,240.1,73.4,9.2,370,6098,0.00,2.35,0.00,0.000,4,0.000,0.064,3298,421,1974
$GC,6114,1.17,240.1,71.5,9.4,371,6118,0.00,2.15,0.00,0.000,6,0.000,0.018,3298,1840,1972
$GC,6383,1.17,240.1,47.5,8.4,396,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1842,1972
$GC,6649,1.19,249.7,26.1,7.6,425,6666,0.00,2.40,9.32,0.490,4,0.000,0.059,3298,419,1937
$GC,6697,1.19,249.7,22.0,8.4,432,6705,0.00,2.20,0.00,0.000,6,0.000,0.018,3298,1836,1935
$STATE,6937,end climb,SURFACE_DEPTH_REACHED
$STATE,6937,begin surface coast
$FINISH,0.6,1.023644
$STATE,6977,end surface coast,CONTROL_FINISHED_OK
$STATE,6977,begin surface
$SM_CCo,7001,138.45,0.515,0,0,1243,420.20
$SM_GC,1.15,0.00,0.00,138.45,0.000,0.000,0.515,475,1722,1243,-11.89,-0.51,420.20
$IRIDIUM_FIX,2241.69,-15804.53,150898,222259
$TT8_MAMPS,0.026078
$HUMID,1493
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,22.20
$XPDR_PINGS,42
$24V_AH,23.7,11.783
$10V_AH,10.8,9.614
$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,26.400,68.400,335.300,138.450,0.000,119.819,115.275,353.236,10.500,0.000,0.000,13.129,875.892,4036.287,523.315,1774.880,875.221,33.355,1119.312,0.000,1790.670,0.000,0.537,0.000
$DEVICE_MAMPS,179.478,108.147,737.854,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.985,310.785,437.115,625.880,1321.839,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35165,482
$CAP_FILE_SIZE,73081,0
$CFSIZE,260165632,226631680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220509,002122,2252.664,-15755.145,11,2.3,30,10.1