version: 66.04
glider: 146
mission: 4
dive: 133
start: 5 30 109 4 24 43
data:
$ID,146
$MISSION,4
$DIVE,133
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,200
$T_MISSION,260
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30174.908
$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,25
$R_STBD_OVSHOOT,55
$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
$GPS1,041837,2258.687,-15741.747,28,1.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.6
$GPS2,042349,2258.669,-15741.820,9,1.7,9,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,0.036
$KALMAN_X,-38756.5,-384.0,527.8,84619.0,-1031.7
$KALMAN_Y,-114059.8,238.0,-14.4,248386.1,-1462.1
$MHEAD_RNG_PITCHd_Wd,62.1,1276,-32.3,-8.333
$D_GRID,500
$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,-2.06,-33.9,0.0,0.0,0,103,0.00,0.00,-78.05,0.000,6,0.000,0.000,470,1709,3095
$GC,106,-2.09,-59.4,3.6,-4.1,11,132,12.02,2.35,-2.03,0.000,4,0.182,0.054,2608,311,3202
$GC,175,-2.09,-59.4,25.6,-27.2,21,183,0.00,2.17,0.00,0.000,6,0.000,0.018,2608,1749,3202
$GC,447,-2.09,-59.4,83.3,-19.1,47,451,0.00,2.08,0.00,0.000,4,0.000,0.028,2608,3093,3203
$GC,615,-2.09,-59.4,115.0,-17.8,62,619,0.00,2.20,0.00,0.000,6,0.000,0.028,2608,1711,3204
$GC,885,-2.09,-59.4,163.8,-17.9,87,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1711,3205
$GC,1156,-2.09,-59.4,207.3,-15.6,110,1159,0.00,2.17,0.00,0.000,4,0.000,0.028,2609,3096,3205
$GC,1211,-2.09,-59.4,216.0,-15.9,111,1215,0.00,2.22,0.00,0.000,6,0.000,0.036,2608,1715,3205
$GC,1484,-2.09,-59.4,258.4,-15.8,118,1488,0.00,2.17,0.00,0.000,4,0.000,0.030,2608,3083,3206
$GC,1557,-2.09,-59.4,269.5,-14.8,119,1561,0.00,2.22,0.00,0.000,6,0.000,0.047,2608,1728,3205
$GC,1812,-2.09,-59.4,306.7,-14.7,126,1816,0.00,2.17,0.00,0.000,4,0.000,0.041,2608,3081,3205
$GC,1908,-2.09,-59.4,320.7,-14.2,128,1912,0.00,2.28,0.00,0.000,6,0.000,0.047,2608,1717,3205
$GC,2186,-2.09,-59.4,357.6,-13.2,135,2190,0.00,2.22,0.00,0.000,4,0.000,0.044,2608,3086,3204
$GC,2361,-2.09,-59.4,379.3,-12.3,138,2367,0.00,2.33,0.00,0.000,6,0.000,0.062,2608,1722,3203
$GC,2611,-2.09,-59.4,411.5,-12.9,145,2615,0.00,2.22,0.00,0.000,4,0.000,0.048,2608,3075,3202
$GC,2774,-2.09,-59.4,434.2,-13.6,148,2778,0.00,2.33,0.00,0.000,6,0.000,0.062,2608,1722,3202
$GC,3030,-2.09,-59.4,470.3,-14.0,155,3034,0.00,2.28,0.00,0.000,4,0.000,0.059,2609,3079,3199
$GC,3086,-2.09,-59.4,478.2,-13.6,156,3090,0.00,2.35,0.00,0.000,6,0.000,0.067,2608,1719,3199
$STATE,3268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3268,begin apogee
$GC,3276,-0.31,0.0,503.3,13.6,161,3331,1.88,0.00,50.85,0.911,6,0.112,0.000,3001,1782,2956
$STATE,3332,end apogee,CONTROL_FINISHED_OK
$STATE,3332,begin climb
$GC,3336,2.09,59.4,505.5,0.0,162,3397,2.17,2.67,50.78,0.895,4,0.039,0.107,3542,417,2712
$GC,3409,2.14,94.7,504.3,2.5,163,3448,0.00,2.33,31.98,0.870,6,0.000,0.039,3541,1823,2569
$GC,3705,2.14,94.7,473.3,11.7,171,3709,0.00,2.47,0.00,0.000,4,0.000,0.073,3542,3246,2561
$GC,3898,2.14,94.7,452.6,10.2,175,3902,0.00,2.40,0.00,0.000,6,0.000,0.048,3541,1825,2558
$GC,4171,2.14,94.7,426.7,9.2,182,4175,0.00,2.35,0.00,0.000,4,0.000,0.044,3542,3247,2556
$GC,4256,2.14,94.7,419.4,9.2,184,4260,0.00,2.40,0.00,0.000,6,0.000,0.048,3542,1822,2556
$GC,4541,2.14,97.9,396.9,7.8,191,4545,0.00,2.33,0.00,0.000,4,0.000,0.037,3542,3250,2554
$GC,4800,2.15,101.8,376.6,7.7,196,4809,0.00,2.38,4.18,0.573,6,0.000,0.043,3542,1824,2541
$GC,5094,2.15,101.8,349.1,9.5,204,5098,0.00,2.30,0.00,0.000,4,0.000,0.036,3541,3257,2540
$GC,5353,2.15,101.8,324.4,9.0,209,5359,0.00,2.35,0.00,0.000,6,0.000,0.042,3542,1828,2538
$GC,5604,2.15,106.8,304.3,7.5,216,5614,0.00,2.30,5.30,0.626,4,0.000,0.035,3542,3254,2520
$GC,5869,2.16,114.0,284.5,7.1,222,5883,0.00,2.35,7.80,0.690,6,0.000,0.037,3542,1820,2490
$GC,6157,2.17,120.3,262.9,7.3,229,6170,0.00,2.38,6.82,0.653,4,0.000,0.035,3542,3250,2464
$GC,6427,2.18,125.9,242.6,7.4,235,6438,0.00,2.33,6.40,0.630,6,0.000,0.041,3542,1827,2442
$GC,6711,2.19,136.7,222.0,6.6,242,6727,0.00,2.33,10.60,0.682,4,0.000,0.031,3541,3262,2399
$GC,6979,2.19,136.7,197.6,10.6,248,6987,0.00,2.38,0.00,0.000,6,0.000,0.033,3541,1824,2396
$GC,7243,2.19,137.3,176.3,8.2,273,7247,0.00,2.30,0.00,0.000,4,0.000,0.033,3542,3267,2395
$GC,7503,2.19,137.3,149.4,11.0,296,7507,0.00,2.35,0.00,0.000,6,0.000,0.035,3542,1816,2395
$GC,7768,2.20,141.3,127.1,7.7,320,7781,0.00,2.38,5.10,0.499,4,0.000,0.059,3542,427,2380
$GC,8032,2.20,141.3,101.7,10.1,343,8041,0.00,2.22,0.00,0.000,6,0.000,0.025,3542,1861,2380
$GC,8297,2.20,141.3,77.6,9.4,368,8301,0.00,2.40,0.00,0.000,4,0.000,0.054,3542,416,2379
$GC,8360,2.20,141.3,70.4,11.4,373,8364,0.00,2.15,0.00,0.000,6,0.000,0.018,3542,1830,2379
$GC,8631,2.20,144.6,44.2,7.8,398,8645,0.00,2.22,5.00,0.436,4,0.000,0.031,3542,3229,2366
$GC,8896,2.21,156.7,25.0,6.3,428,8913,0.00,2.28,12.20,0.517,6,0.000,0.035,3542,1830,2317
$GC,9182,2.24,174.6,6.0,5.4,478,9206,0.00,2.25,16.52,0.512,4,0.000,0.025,3542,3223,2242
$STATE,9224,end climb,SURFACE_DEPTH_REACHED
$STATE,9224,begin surface coast
$FINISH,0.5,0.999323
$STATE,9269,end surface coast,CONTROL_FINISHED_OK
$STATE,9269,begin surface
$SM_CCo,9297,198.20,0.525,0,0,1242,420.20
$SM_GC,1.21,0.00,0.00,198.20,0.000,0.000,0.525,472,1713,1242,-11.96,-0.20,420.20
$IRIDIUM_FIX,2253.38,-15742.79,240898,010123
$TT8_MAMPS,0.026078
$HUMID,1490
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,22.50
$XPDR_PINGS,66
$24V_AH,23.6,19.373
$10V_AH,10.7,17.163
$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,28.525,96.950,213.525,198.200,0.000,22.259,28.329,139.590,16.500,0.000,0.000,11.070,1033.391,5603.351,496.247,2223.033,457.467,33.353,1325.162,0.000,2213.948,0.000,0.535,0.000
$DEVICE_MAMPS,181.779,260.013,911.196,524.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.767,271.434,390.110,541.623,1143.731,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38137,492
$CAP_FILE_SIZE,88066,0
$CFSIZE,260165632,223334400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300509,070350,2258.308,-15741.608,7,1.7,7,10.1