version: 66.04
glider: 146
mission: 4
dive: 337
start: 6 26 109 20 8 8
data:
$ID,146
$MISSION,4
$DIVE,337
$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,-196699.22
$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,34
$R_STBD_OVSHOOT,63
$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
$GPS1,190831,2252.240,-15759.898,219,99.0,238,10.1
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-62.4
$GPS2,190831,2252.240,-15759.898,219,99.0,238,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SGFIX2
$TGT_LATLONG,2251.400,-15800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.139,-0.219
$KALMAN_X,1984.7,143.5,-23.1,-3975.1,46.1
$KALMAN_Y,2256.0,346.9,23.0,-8065.3,-94.2
$MHEAD_RNG_PITCHd_Wd,202.2,1566,-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,-115.53,0.000,2,0.000,0.000,460,1704,3316
$GC,140,-1.27,-146.0,3.3,-5.7,15,166,12.52,2.33,-4.55,0.000,4,0.171,0.067,2789,333,3555
$GC,230,-1.27,-146.0,22.6,-11.1,29,239,0.00,2.10,0.00,0.000,6,0.000,0.023,2790,1754,3555
$GC,501,-1.27,-146.0,52.9,-10.8,59,505,0.00,2.03,0.00,0.000,4,0.000,0.027,2790,3082,3555
$GC,516,-1.27,-146.0,54.9,-10.6,60,520,0.00,2.15,0.00,0.000,6,0.000,0.035,2790,1716,3555
$GC,781,-1.27,-146.0,80.6,-9.0,84,785,0.00,2.30,0.00,0.000,4,0.000,0.054,2790,319,3555
$GC,824,-1.27,-146.0,84.8,-9.9,87,827,0.00,2.05,0.00,0.000,6,0.000,0.013,2790,1741,3554
$GC,1094,-1.27,-146.0,109.6,-8.6,112,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1757,3554
$GC,1360,-1.27,-146.0,131.4,-8.6,137,1364,0.00,2.40,0.00,0.000,4,0.000,0.056,2790,317,3554
$GC,1395,-1.27,-146.0,134.9,-9.7,139,1404,0.00,2.05,0.00,0.000,6,0.000,0.022,2790,1728,3554
$GC,1660,-1.27,-146.0,155.9,-7.8,164,1663,0.00,2.05,0.00,0.000,4,0.000,0.021,2790,3071,3554
$GC,1707,-1.27,-146.0,159.6,-7.6,168,1711,0.00,2.12,0.00,0.000,6,0.000,0.034,2790,1716,3554
$GC,1979,-1.27,-146.0,180.0,-7.2,193,1983,0.00,2.33,0.00,0.000,4,0.000,0.058,2790,321,3553
$GC,2010,-1.27,-146.0,182.6,-7.9,195,2014,0.00,2.00,0.00,0.000,6,0.000,0.020,2790,1728,3553
$GC,2306,-1.27,-146.0,207.0,-8.5,217,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1729,3553
$GC,2549,-1.27,-146.0,226.9,-8.0,223,2553,0.00,2.35,0.00,0.000,4,0.000,0.060,2790,326,3552
$GC,2571,-1.27,-146.0,228.6,-7.5,223,2575,0.00,2.00,0.00,0.000,6,0.000,0.019,2790,1703,3552
$GC,2833,-1.27,-146.0,244.9,-6.0,230,2837,0.00,2.12,0.00,0.000,4,0.000,0.031,2789,3087,3551
$GC,2858,-1.27,-146.0,246.3,-5.9,230,2861,0.00,2.15,0.00,0.000,6,0.000,0.028,2790,1725,3551
$GC,3125,-1.27,-146.0,265.3,-7.8,237,3129,0.00,2.38,0.00,0.000,4,0.000,0.073,2790,319,3550
$GC,3161,-1.27,-146.0,268.4,-8.7,237,3167,0.00,2.05,0.00,0.000,6,0.000,0.022,2790,1692,3550
$GC,3413,-1.27,-146.0,284.9,-5.7,244,3417,0.00,2.20,0.00,0.000,4,0.000,0.038,2790,3105,3550
$GC,3452,-1.27,-146.0,286.5,-4.1,244,3458,0.00,2.20,0.00,0.000,6,0.000,0.030,2790,1724,3549
$GC,3705,-1.27,-146.0,299.0,-5.8,251,3710,0.00,2.42,0.00,0.000,4,0.000,0.073,2789,313,3548
$STATE,3713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3714,begin apogee
$GC,3724,-0.31,0.0,300.2,7.0,251,3843,0.88,0.00,115.97,0.715,6,0.058,0.000,3005,1815,2956
$STATE,3844,end apogee,CONTROL_FINISHED_OK
$STATE,3844,begin climb
$GC,3848,1.27,146.0,308.2,0.0,254,3975,1.38,2.38,119.30,0.709,4,0.023,0.043,3368,3236,2359
$GC,4024,1.28,148.4,308.5,9.9,258,4028,0.00,2.33,0.00,0.000,6,0.000,0.042,3368,1820,2355
$GC,4303,1.28,148.4,278.6,10.3,265,4307,0.00,2.28,0.00,0.000,4,0.000,0.035,3368,3244,2351
$GC,4516,1.37,223.7,261.7,6.5,269,4588,0.00,2.30,64.88,0.686,6,0.000,0.038,3368,1826,2041
$GC,4852,1.37,223.7,221.8,13.2,278,4856,0.00,2.25,0.00,0.000,4,0.000,0.027,3368,3239,2034
$GC,4992,1.37,223.7,203.2,12.8,281,4996,0.00,2.30,0.00,0.000,6,0.000,0.033,3368,1820,2031
$GC,5257,1.37,223.7,174.1,10.3,304,5261,0.00,2.28,0.00,0.000,4,0.000,0.029,3368,3250,2030
$GC,5344,1.38,231.5,165.2,9.6,311,5358,0.00,2.30,5.68,0.490,6,0.000,0.034,3368,1820,2012
$GC,5619,1.38,231.5,138.0,11.2,336,5623,0.00,2.25,0.00,0.000,4,0.000,0.031,3368,3245,2009
$GC,5719,1.38,231.5,125.5,12.3,344,5723,0.00,2.28,0.00,0.000,6,0.000,0.039,3368,1824,2008
$GC,5983,1.39,244.1,98.4,9.4,368,6000,0.00,2.30,11.90,0.537,4,0.000,0.035,3368,3240,1959
$GC,6079,1.39,244.1,87.8,11.6,376,6083,0.00,2.28,0.00,0.000,6,0.000,0.031,3368,1821,1957
$GC,6350,1.39,244.1,57.5,11.1,401,6354,0.00,2.25,0.00,0.000,4,0.000,0.026,3368,3243,1957
$GC,6470,1.39,244.1,43.9,11.6,411,6474,0.00,2.28,0.00,0.000,6,0.000,0.033,3368,1825,1957
$GC,6741,1.45,286.6,18.4,8.0,448,6781,0.00,0.00,36.00,0.509,6,0.000,0.000,3368,1826,1786
$STATE,6902,end climb,SURFACE_DEPTH_REACHED
$STATE,6902,begin surface coast
$FINISH,0.5,1.001193
$STATE,6935,end surface coast,CONTROL_FINISHED_OK
$STATE,6935,begin surface
$SM_CCo,6960,253.00,0.492,0,0,477,608.10
$SM_GC,1.01,0.00,0.00,253.00,0.000,0.000,0.492,460,1681,477,-12.02,-1.10,608.10
$IRIDIUM_FIX,2244.02,-15759.32,200998,191958
$TT8_MAMPS,0.025311
$HUMID,1671
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,22.20
$XPDR_PINGS,336
$24V_AH,23.8,45.746
$10V_AH,10.7,46.003
$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,26.325,80.350,353.725,253.000,0.000,226.736,361.195,678.146,84.000,0.000,0.000,1505.966,956.285,3912.508,660.119,3505.990,1707.024,33.337,1312.033,0.000,1885.871,0.000,0.539,0.000
$DEVICE_MAMPS,171.041,72.865,714.844,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.966,1654.336,438.688,631.748,1328.228,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35086,480
$CAP_FILE_SIZE,90240,0
$CFSIZE,260165632,210509824
$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