version: 66.04
glider: 146
mission: 4
dive: 136
start: 5 30 109 12 39 38
data:
$ID,146
$MISSION,4
$DIVE,136
$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,-30225.498
$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,30
$R_STBD_OVSHOOT,89
$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
$GPS1,123336,2258.951,-15741.849,33,1.3,33,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.3
$GPS2,123844,2258.970,-15741.824,14,1.2,14,10.1
$SPEED_LIMITS,0.119,0.244
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.066,0.099
$KALMAN_X,-40270.1,229.3,-18.8,86057.0,195.0
$KALMAN_Y,-116406.2,829.5,898.3,249783.0,-2529.2
$MHEAD_RNG_PITCHd_Wd,316.4,1821,-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,-78.30,0.000,6,0.000,0.000,474,1764,3095
$GC,106,-2.10,-61.5,3.3,-3.8,11,132,11.95,2.10,-2.28,0.000,4,0.180,0.043,2609,3081,3210
$GC,382,-2.10,-61.5,65.6,-18.7,43,386,0.00,2.17,0.00,0.000,6,0.000,0.037,2609,1722,3212
$GC,651,-2.10,-61.5,112.2,-17.6,68,655,0.00,2.12,0.00,0.000,4,0.000,0.027,2609,3084,3212
$GC,724,-2.10,-61.5,125.8,-18.3,74,730,0.00,2.20,0.00,0.000,6,0.000,0.034,2609,1725,3212
$GC,987,-2.10,-61.5,170.4,-15.6,99,991,0.00,2.12,0.00,0.000,4,0.000,0.021,2609,3095,3213
$GC,1116,-2.10,-61.5,191.4,-15.9,110,1123,0.00,2.22,0.00,0.000,6,0.000,0.031,2609,1722,3213
$GC,1380,-2.10,-61.5,235.4,-17.2,121,1384,0.00,2.15,0.00,0.000,4,0.000,0.034,2609,3088,3214
$GC,1426,-2.10,-61.5,242.7,-15.0,122,1430,0.00,2.20,0.00,0.000,6,0.000,0.041,2609,1727,3214
$GC,1710,-2.10,-61.5,286.8,-15.6,129,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1727,3214
$GC,1954,-2.10,-61.5,321.6,-13.8,135,1957,0.00,2.20,0.00,0.000,4,0.000,0.039,2609,3072,3214
$GC,2038,-2.10,-61.5,333.0,-12.2,136,2044,0.00,2.28,0.00,0.000,6,0.000,0.056,2609,1722,3214
$GC,2288,-2.10,-61.5,366.3,-13.5,143,2292,0.00,2.22,0.00,0.000,4,0.000,0.044,2609,3071,3213
$GC,2390,-2.10,-61.5,379.5,-13.6,145,2394,0.00,2.30,0.00,0.000,6,0.000,0.063,2609,1723,3212
$GC,2662,-2.10,-61.5,416.9,-13.7,152,2666,0.00,2.25,0.00,0.000,4,0.000,0.056,2609,3071,3212
$GC,2717,-2.10,-61.5,425.1,-14.0,153,2722,0.00,2.33,0.00,0.000,6,0.000,0.068,2609,1719,3210
$GC,2985,-2.10,-61.5,463.8,-14.7,160,2989,0.00,2.25,0.00,0.000,4,0.000,0.058,2609,3061,3209
$GC,3137,-2.10,-61.5,486.2,-15.1,163,3141,0.00,2.33,0.00,0.000,6,0.000,0.071,2609,1717,3208
$STATE,3232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3232,begin apogee
$GC,3240,-0.31,0.0,501.2,15.3,166,3297,1.88,0.00,52.53,0.906,6,0.114,0.000,3000,1781,2956
$STATE,3298,end apogee,CONTROL_FINISHED_OK
$STATE,3298,begin climb
$GC,3301,2.10,61.5,503.9,0.0,167,3364,2.22,2.55,52.70,0.890,4,0.041,0.051,3542,3230,2704
$GC,3371,2.15,107.2,503.9,0.8,169,3417,0.00,2.42,40.80,0.877,6,0.000,0.058,3542,1828,2519
$GC,3679,2.15,107.2,469.6,13.0,177,3683,0.00,2.33,0.00,0.000,4,0.000,0.047,3542,3226,2511
$GC,3774,2.15,107.2,457.3,12.8,179,3779,0.00,2.40,0.00,0.000,6,0.000,0.058,3542,1824,2509
$GC,4047,2.15,107.2,424.2,11.8,186,4051,0.00,2.33,0.00,0.000,4,0.000,0.038,3542,3231,2506
$GC,4306,2.15,107.2,394.3,11.2,191,4312,0.00,2.38,0.00,0.000,6,0.000,0.051,3542,1819,2504
$GC,4556,2.15,107.2,366.9,11.0,198,4560,0.00,2.30,0.00,0.000,4,0.000,0.033,3542,3236,2503
$GC,4814,2.15,107.2,341.4,9.1,203,4820,0.00,2.35,0.00,0.000,6,0.000,0.048,3542,1821,2501
$GC,5064,2.15,107.2,317.1,9.7,210,5068,0.00,2.30,0.00,0.000,4,0.000,0.031,3542,3247,2500
$GC,5323,2.15,107.2,291.8,9.0,215,5329,0.00,2.35,0.00,0.000,6,0.000,0.044,3542,1817,2498
$GC,5574,2.16,114.1,272.7,7.2,222,5578,0.00,2.28,0.00,0.000,4,0.000,0.030,3542,3237,2497
$GC,5752,2.17,121.9,260.5,7.0,226,5767,0.00,2.28,10.12,0.710,6,0.000,0.040,3542,1828,2457
$GC,6035,2.17,124.6,238.4,7.9,233,6040,0.00,2.40,0.00,0.000,4,0.000,0.070,3542,427,2455
$GC,6293,2.17,124.6,213.7,9.8,238,6300,0.00,2.20,0.00,0.000,6,0.000,0.019,3542,1853,2454
$GC,6547,2.19,137.0,196.9,6.3,248,6565,0.00,2.45,13.93,0.682,4,0.000,0.058,3542,418,2396
$GC,6817,2.19,137.0,171.6,11.0,271,6823,0.00,2.20,0.00,0.000,6,0.000,0.018,3542,1846,2393
$GC,7081,2.20,143.1,149.0,7.3,296,7095,0.00,2.40,6.60,0.563,4,0.000,0.051,3542,419,2371
$GC,7154,2.20,143.1,142.9,8.8,302,7158,0.00,2.17,0.00,0.000,6,0.000,0.018,3542,1834,2370
$GC,7424,2.20,143.1,121.4,8.5,327,7427,0.00,2.20,0.00,0.000,4,0.000,0.027,3542,3232,2369
$GC,7527,2.20,143.1,112.3,8.7,336,7531,0.00,2.28,0.00,0.000,6,0.000,0.038,3542,1819,2369
$GC,7797,2.20,143.1,87.6,9.3,361,7801,0.00,2.22,0.00,0.000,4,0.000,0.028,3542,3229,2369
$GC,8051,2.20,143.1,63.7,9.3,383,8059,0.00,2.28,0.00,0.000,6,0.000,0.032,3542,1830,2370
$GC,8316,2.20,144.6,43.8,8.1,408,8320,0.00,2.20,0.00,0.000,4,0.000,0.025,3543,3225,2371
$GC,8574,2.20,145.4,20.9,8.2,440,8584,0.00,2.28,3.92,0.368,6,0.000,0.031,3542,1825,2363
$STATE,8816,end climb,SURFACE_DEPTH_REACHED
$STATE,8816,begin surface coast
$FINISH,0.5,1.023844
$STATE,8889,end surface coast,CONTROL_FINISHED_OK
$STATE,8890,begin surface
$SM_CCo,8914,222.90,0.524,0,0,1243,420.20
$SM_GC,1.30,0.00,0.00,222.90,0.000,0.000,0.524,469,1708,1243,-11.98,-0.34,420.20
$IRIDIUM_FIX,2248.70,-15740.63,240898,101044
$TT8_MAMPS,0.026078
$HUMID,1501
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,22.30
$XPDR_PINGS,68
$24V_AH,23.6,19.640
$10V_AH,10.8,17.489
$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,28.550,91.250,180.600,222.900,0.000,29.129,24.430,129.078,17.000,0.000,0.000,16.461,1015.827,5315.508,510.870,2155.996,453.496,33.352,1264.636,0.000,2149.208,0.000,0.536,0.000
$DEVICE_MAMPS,180.245,249.275,905.827,523.861,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.667,278.281,403.044,565.678,1191.633,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38258,496
$CAP_FILE_SIZE,83530,0
$CFSIZE,260165632,223199232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300509,151306,2259.123,-15741.650,26,1.1,26,10.1