version: 66.04
glider: 146
mission: 4
dive: 336
start: 6 26 109 17 0 18
data:
$ID,146
$MISSION,4
$DIVE,336
$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,100
$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,608.09869
$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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-195192.61
$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,33
$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
$GPS1,095148,2254.192,-15758.308,572,99.0,591,10.1
$_CALLS,8
$_XMS_NAKs,38
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.4
$GPS2,095148,2254.192,-15758.308,572,99.0,591,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SGFIX2
$TGT_LATLONG,2251.400,-15800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.137,-0.221
$KALMAN_X,1767.4,106.4,125.5,-3152.7,105.8
$KALMAN_Y,1991.4,331.3,264.8,-6742.2,38.3
$MHEAD_RNG_PITCHd_Wd,201.8,5923,-17.5,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,135,0.00,0.00,-115.50,0.000,2,0.000,0.000,458,1710,3290
$GC,140,-1.27,-146.0,3.1,-5.4,15,165,12.55,2.33,-5.38,0.000,4,0.171,0.067,2792,320,3553
$GC,241,-1.27,-146.0,20.4,-10.9,31,249,0.00,2.17,0.00,0.000,6,0.000,0.018,2792,1774,3554
$GC,520,-1.27,-146.0,48.3,-7.9,64,523,0.00,2.10,0.00,0.000,4,0.000,0.021,2792,3143,3553
$GC,536,-1.27,-146.0,49.9,-8.0,65,540,0.00,2.25,0.00,0.000,6,0.000,0.027,2792,1716,3554
$GC,800,-1.27,-146.0,71.1,-7.7,89,804,0.00,2.30,0.00,0.000,4,0.000,0.054,2792,321,3553
$GC,855,-1.27,-146.0,75.4,-7.8,93,859,0.00,2.15,0.00,0.000,6,0.000,0.021,2792,1803,3553
$GC,1122,-1.27,-146.0,98.3,-9.6,117,1126,0.00,2.47,0.00,0.000,4,0.000,0.055,2792,315,3553
$GC,1156,-1.27,-146.0,102.3,-10.0,119,1164,0.00,2.17,0.00,0.000,6,0.000,0.022,2792,1788,3553
$GC,1423,-1.27,-146.0,126.3,-8.3,144,1427,0.00,2.45,0.00,0.000,4,0.000,0.061,2792,317,3552
$GC,1457,-1.27,-146.0,129.4,-8.4,146,1465,0.00,2.17,0.00,0.000,6,0.000,0.014,2792,1788,3552
$GC,1723,-1.27,-146.0,147.4,-7.7,171,1726,0.00,2.08,0.00,0.000,4,0.000,0.028,2792,3141,3552
$GC,1764,-1.27,-146.0,151.1,-8.4,174,1773,0.00,2.28,0.00,0.000,6,0.000,0.034,2792,1718,3552
$GC,2029,-1.27,-146.0,174.1,-8.2,199,2033,0.00,2.33,0.00,0.000,4,0.000,0.058,2792,320,3551
$GC,2074,-1.27,-146.0,178.0,-7.6,202,2082,0.00,2.17,0.00,0.000,6,0.000,0.018,2792,1792,3551
$GC,2339,-1.27,-146.0,196.0,-6.6,227,2343,0.00,2.47,0.00,0.000,4,0.000,0.064,2792,319,3551
$GC,2374,-1.27,-146.0,198.9,-7.6,229,2382,0.00,2.17,0.00,0.000,6,0.000,0.021,2792,1786,3550
$GC,2636,-1.27,-146.0,221.6,-9.1,237,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1787,3549
$GC,2880,-1.27,-146.0,243.2,-8.5,243,2884,0.00,2.45,0.00,0.000,4,0.000,0.062,2792,325,3549
$GC,2920,-1.27,-146.0,246.6,-8.9,243,2926,0.00,2.15,0.00,0.000,6,0.000,0.021,2792,1772,3549
$GC,3171,-1.27,-146.0,262.3,-5.8,250,3175,0.00,2.45,0.00,0.000,4,0.000,0.067,2792,324,3548
$GC,3200,-1.27,-146.0,263.9,-5.5,250,3204,0.00,2.12,0.00,0.000,6,0.000,0.024,2792,1751,3548
$GC,3456,-1.27,-146.0,281.6,-7.5,257,3460,0.00,2.12,0.00,0.000,4,0.000,0.028,2792,3113,3547
$GC,3479,-1.27,-146.0,283.6,-8.1,257,3484,0.00,2.22,0.00,0.000,6,0.000,0.038,2792,1718,3547
$STATE,3740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3740,begin apogee
$GC,3748,-0.31,0.0,301.7,6.3,264,3867,0.90,0.00,115.85,0.713,6,0.058,0.000,3007,1920,2956
$STATE,3868,end apogee,CONTROL_FINISHED_OK
$STATE,3868,begin climb
$GC,3872,1.27,146.0,307.2,0.0,267,3996,1.38,0.00,119.32,0.706,6,0.024,0.000,3371,1920,2360
$GC,4241,1.28,150.8,286.2,9.8,276,4250,0.00,2.10,4.15,0.451,4,0.000,0.031,3370,3208,2341
$GC,4460,1.31,174.6,263.8,8.9,280,4487,0.00,2.28,21.67,0.665,6,0.000,0.041,3370,1825,2243
$GC,4756,1.36,218.4,239.0,8.0,288,4799,0.00,2.30,37.10,0.667,4,0.000,0.028,3370,3208,2064
$GC,4961,1.36,218.4,218.7,10.2,292,4965,0.00,2.22,0.00,0.000,6,0.000,0.039,3370,1828,2058
$GC,5218,1.36,218.4,189.5,12.0,304,5222,0.00,2.20,0.00,0.000,4,0.000,0.027,3370,3214,2056
$GC,5312,1.36,218.4,177.9,11.9,312,5320,0.00,2.28,0.00,0.000,6,0.000,0.041,3370,1828,2055
$GC,5577,1.36,218.4,149.1,10.6,337,5581,0.00,2.20,0.00,0.000,4,0.000,0.028,3370,3224,2054
$GC,5661,1.38,230.1,140.9,9.5,344,5675,0.00,2.28,9.60,0.546,6,0.000,0.035,3370,1822,2018
$GC,5938,1.38,230.1,116.1,10.2,369,5942,0.00,2.20,0.00,0.000,4,0.000,0.026,3370,3216,2015
$GC,6020,1.38,230.1,106.3,12.0,376,6024,0.00,2.25,0.00,0.000,6,0.000,0.038,3370,1818,2014
$GC,6285,1.38,230.1,76.0,10.3,400,6289,0.00,2.20,0.00,0.000,4,0.000,0.031,3370,3211,2014
$GC,6412,1.38,232.7,63.2,9.9,411,6416,0.00,2.22,0.00,0.000,6,0.000,0.034,3370,1826,2013
$GC,6677,1.41,255.3,38.4,9.0,435,6701,0.00,0.00,22.08,0.517,6,0.000,0.000,3370,1826,1915
$GC,6966,1.41,255.3,12.1,10.2,477,6974,0.00,2.22,0.00,0.000,4,0.000,0.033,3370,3212,1910
$GC,7046,1.42,266.6,4.3,9.5,490,7062,0.00,2.25,10.18,0.457,6,0.000,0.035,3370,1822,1868
$STATE,7069,end climb,SURFACE_DEPTH_REACHED
$STATE,7069,begin surface coast
$FINISH,0.4,1.016893
$STATE,7110,end surface coast,CONTROL_FINISHED_OK
$STATE,7110,begin surface
$SM_CCo,7136,268.85,0.491,0,0,477,608.10
$SM_GC,1.06,0.00,0.00,268.85,0.000,0.000,0.491,461,1706,477,-12.02,-0.40,608.10
$IRIDIUM_FIX,2246.36,-15758.45,200998,161618
$TT8_MAMPS,0.026078
$HUMID,1671
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,22.20
$XPDR_PINGS,362
$24V_AH,23.8,45.569
$10V_AH,10.7,45.822
$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,26.400,81.125,339.950,268.850,0.000,240.392,499.933,539.153,90.500,0.000,0.000,1506.763,992.210,3988.681,683.138,3561.706,1704.505,33.328,1334.800,0.000,1949.890,0.000,0.539,0.000
$DEVICE_MAMPS,171.041,85.904,712.543,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.643,1733.167,458.099,674.474,1415.050,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34987,500
$CAP_FILE_SIZE,86191,0
$CFSIZE,260165632,210599936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260609,190831,2252.240,-15759.898,219,99.0,238,10.1