version: 66.04
glider: 146
mission: 4
dive: 346
start: 6 28 109 0 43 38
data:
$ID,146
$MISSION,4
$DIVE,346
$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,-211564.98
$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,35
$R_STBD_OVSHOOT,134
$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
$GPS1,234628,2250.284,-15800.154,447,99.0,466,10.1
$_CALLS,8
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.7
$GPS2,234628,2250.284,-15800.154,447,99.0,466,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,RETC
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.021,-0.259
$KALMAN_X,2624.4,-274.0,-141.1,-5633.3,193.9
$KALMAN_Y,9030.5,1101.9,151.0,-20600.9,399.7
$MHEAD_RNG_PITCHd_Wd,174.5,9790,-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,-146.0,0.0,0.0,0,136,0.00,0.00,-115.72,0.000,2,0.000,0.000,461,1705,3323
$GC,141,-1.27,-146.0,3.3,-5.9,15,166,12.45,2.30,-4.45,0.000,4,0.169,0.069,2791,329,3553
$GC,209,-1.27,-146.0,18.7,-11.5,25,217,0.00,2.00,0.00,0.000,6,0.000,0.022,2790,1700,3554
$GC,484,-1.27,-146.0,45.3,-7.7,59,487,0.00,2.10,0.00,0.000,4,0.000,0.020,2790,3073,3553
$GC,513,-1.27,-146.0,47.8,-8.2,61,516,0.00,2.12,0.00,0.000,6,0.000,0.026,2790,1719,3553
$GC,783,-1.27,-146.0,69.1,-8.4,86,787,0.00,2.30,0.00,0.000,4,0.000,0.057,2790,322,3552
$GC,829,-1.27,-146.0,72.8,-8.7,89,833,0.00,2.03,0.00,0.000,6,0.000,0.018,2790,1731,3553
$GC,1100,-1.27,-146.0,98.0,-10.7,114,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1745,3552
$GC,1365,-1.27,-146.0,126.9,-9.6,139,1369,0.00,2.38,0.00,0.000,4,0.000,0.061,2790,318,3552
$GC,1453,-1.27,-146.0,135.1,-9.2,146,1456,0.00,2.03,0.00,0.000,6,0.000,0.023,2790,1725,3552
$GC,1723,-1.27,-146.0,154.4,-7.0,171,1727,0.00,2.35,0.00,0.000,4,0.000,0.061,2790,324,3551
$GC,1755,-1.27,-146.0,156.6,-7.4,173,1759,0.00,2.00,0.00,0.000,6,0.000,0.025,2790,1725,3551
$GC,2025,-1.27,-146.0,175.0,-6.5,198,2029,0.00,2.05,0.00,0.000,4,0.000,0.021,2790,3066,3550
$GC,2063,-1.27,-146.0,177.4,-6.4,201,2066,0.00,2.12,0.00,0.000,6,0.000,0.025,2790,1711,3550
$GC,2333,-1.27,-146.0,196.3,-7.8,226,2337,0.00,2.30,0.00,0.000,4,0.000,0.058,2790,326,3549
$GC,2422,-1.27,-146.0,204.0,-8.5,231,2426,0.00,2.00,0.00,0.000,6,0.000,0.023,2790,1719,3549
$GC,2707,-1.27,-146.0,222.8,-6.3,238,2711,0.00,2.05,0.00,0.000,4,0.000,0.022,2790,3062,3548
$GC,2742,-1.27,-146.0,224.9,-5.8,238,2746,0.00,2.10,0.00,0.000,6,0.000,0.032,2790,1721,3548
$GC,3001,-1.27,-146.0,239.4,-5.8,245,3005,0.00,2.35,0.00,0.000,4,0.000,0.062,2790,322,3547
$GC,3051,-1.27,-146.0,243.3,-7.4,246,3055,0.00,2.03,0.00,0.000,6,0.000,0.024,2790,1687,3547
$GC,3331,-1.27,-146.0,265.6,-8.4,253,3334,0.00,2.20,0.00,0.000,4,0.000,0.037,2790,3096,3546
$GC,3393,-1.27,-146.0,270.6,-7.8,254,3397,0.00,2.17,0.00,0.000,6,0.000,0.031,2790,1723,3546
$GC,3670,-1.27,-146.0,287.0,-5.9,261,3674,0.00,2.40,0.00,0.000,4,0.000,0.076,2790,319,3544
$GC,3715,-1.27,-146.0,290.1,-6.6,262,3719,0.00,2.10,0.00,0.000,6,0.000,0.025,2790,1700,3544
$STATE,3916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3916,begin apogee
$GC,3926,-0.31,0.0,301.4,5.5,267,4046,0.93,0.00,116.35,0.728,6,0.059,0.000,3011,1839,2955
$STATE,4046,end apogee,CONTROL_FINISHED_OK
$STATE,4046,begin climb
$GC,4050,1.27,146.0,305.9,0.0,270,4179,1.35,2.50,119.97,0.719,4,0.036,0.064,3370,431,2360
$GC,4238,1.33,188.2,303.4,8.0,274,4280,0.00,2.17,36.17,0.697,6,0.000,0.022,3370,1812,2188
$GC,4547,1.33,188.2,273.9,10.2,282,4551,0.00,2.30,0.00,0.000,4,0.000,0.035,3369,3238,2179
$GC,4706,1.33,188.2,256.4,10.6,285,4710,0.00,2.30,0.00,0.000,6,0.000,0.039,3370,1824,2177
$GC,4968,1.33,188.2,226.8,11.4,292,4972,0.00,2.25,0.00,0.000,4,0.000,0.035,3370,3237,2176
$GC,5210,1.37,223.2,201.2,8.4,297,5245,0.00,2.30,28.67,0.657,6,0.000,0.032,3369,1815,2045
$GC,5500,1.37,225.4,175.6,9.9,323,5504,0.00,2.28,0.00,0.000,4,0.000,0.032,3370,3246,2040
$GC,5545,1.38,232.6,171.0,9.7,326,5558,0.00,2.33,8.70,0.568,6,0.000,0.035,3370,1827,2007
$GC,5820,1.38,232.6,143.7,10.7,351,5824,0.00,2.25,0.00,0.000,4,0.000,0.035,3370,3246,2004
$GC,5931,1.38,232.6,131.8,11.1,360,5935,0.00,2.30,0.00,0.000,6,0.000,0.034,3370,1818,2002
$GC,6196,1.38,232.6,103.4,10.2,384,6200,0.00,2.25,0.00,0.000,4,0.000,0.028,3370,3246,2001
$GC,6261,1.38,232.6,96.3,11.1,389,6265,0.00,2.28,0.00,0.000,6,0.000,0.032,3370,1829,2001
$GC,6527,1.42,265.5,72.2,8.5,413,6566,0.00,2.33,28.38,0.561,4,0.000,0.033,3369,3243,1871
$GC,6638,1.42,265.5,61.4,10.2,422,6642,0.00,2.30,0.00,0.000,6,0.000,0.031,3369,1819,1869
$GC,6904,1.42,267.3,32.3,9.9,446,6908,0.00,2.25,0.00,0.000,4,0.000,0.027,3370,3242,1866
$GC,7013,1.46,297.4,22.7,8.6,462,7046,0.00,2.30,27.10,0.516,6,0.000,0.035,3369,1831,1742
$STATE,7214,end climb,SURFACE_DEPTH_REACHED
$STATE,7214,begin surface coast
$FINISH,0.3,1.010237
$STATE,7244,end surface coast,CONTROL_FINISHED_OK
$STATE,7244,begin surface
$SM_CCo,7269,245.43,0.498,0,0,476,608.10
$SM_GC,1.01,0.00,0.00,245.43,0.000,0.000,0.498,458,1703,476,-12.03,-0.48,608.10
$IRIDIUM_FIX,2241.69,-15802.37,220998,000020
$TT8_MAMPS,0.025311
$HUMID,1705
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,21.60
$XPDR_PINGS,387
$24V_AH,23.8,47.353
$10V_AH,10.7,47.712
$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,26.325,84.525,365.350,245.425,0.000,231.123,570.035,311.852,96.750,0.000,0.000,1503.213,1017.711,4010.749,652.656,3652.787,1530.901,33.369,1350.412,0.000,2015.175,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,93.574,727.883,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.984,1732.231,458.183,657.912,1383.236,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38186,501
$CAP_FILE_SIZE,85393,0
$CFSIZE,260165632,209776640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270609,234628,2250.284,-15800.154,447,99.0,466,10.1