version: 66.04
glider: 146
mission: 4
dive: 352
start: 6 28 109 20 18 3
data:
$ID,146
$MISSION,4
$DIVE,352
$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,-220665.41
$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,31
$R_STBD_OVSHOOT,64
$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
$GPS1,192122,2248.901,-15801.905,1473,99.0,1492,10.1
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.6
$GPS2,192122,2248.901,-15801.905,1473,99.0,1492,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,RETC
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.100,-0.240
$KALMAN_X,-501.7,49.1,-135.7,-4635.5,-207.1
$KALMAN_Y,15646.3,-338.4,239.4,-29071.0,491.8
$MHEAD_RNG_PITCHd_Wd,147.3,7923,-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,-115.72,0.000,2,0.000,0.000,454,1703,3313
$GC,140,-1.27,-146.0,3.3,-6.0,15,165,12.38,2.35,-4.72,0.000,4,0.164,0.072,2792,321,3553
$GC,219,-1.27,-146.0,18.8,-10.0,27,227,0.00,2.12,0.00,0.000,6,0.000,0.015,2792,1761,3553
$GC,493,-1.27,-146.0,44.9,-10.4,62,496,0.00,2.00,0.00,0.000,4,0.000,0.029,2792,3072,3553
$GC,521,-1.27,-146.0,48.4,-9.3,64,529,0.00,2.15,0.00,0.000,6,0.000,0.025,2792,1719,3553
$GC,788,-1.27,-146.0,66.5,-7.4,89,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1719,3552
$GC,1054,-1.27,-146.0,87.9,-6.7,114,1058,0.00,2.30,0.00,0.000,4,0.000,0.053,2792,322,3552
$GC,1121,-1.27,-146.0,93.4,-7.5,119,1129,0.00,2.05,0.00,0.000,6,0.000,0.015,2792,1746,3552
$GC,1388,-1.27,-146.0,116.1,-8.8,144,1392,0.00,2.00,0.00,0.000,4,0.000,0.024,2792,3059,3552
$GC,1404,-1.27,-146.0,117.7,-8.4,145,1408,0.00,2.10,0.00,0.000,6,0.000,0.034,2792,1719,3552
$GC,1675,-1.27,-146.0,138.7,-7.8,170,1680,0.00,2.33,0.00,0.000,4,0.000,0.055,2792,315,3551
$GC,1763,-1.27,-146.0,146.3,-8.3,177,1767,0.00,2.00,0.00,0.000,6,0.000,0.020,2792,1721,3551
$GC,2033,-1.27,-146.0,168.2,-8.2,202,2037,0.00,2.35,0.00,0.000,4,0.000,0.058,2792,326,3551
$GC,2054,-1.27,-146.0,169.9,-8.3,203,2058,0.00,1.98,0.00,0.000,6,0.000,0.022,2792,1720,3550
$GC,2324,-1.27,-146.0,195.1,-9.7,228,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1721,3550
$GC,2588,-1.27,-146.0,215.5,-6.8,239,2592,0.00,2.33,0.00,0.000,4,0.000,0.057,2792,326,3549
$GC,2635,-1.27,-146.0,218.4,-6.2,240,2639,0.00,2.00,0.00,0.000,6,0.000,0.024,2792,1722,3549
$GC,2920,-1.27,-146.0,235.6,-6.8,247,2924,0.00,2.03,0.00,0.000,4,0.000,0.022,2792,3063,3548
$GC,2954,-1.27,-146.0,238.8,-9.0,247,2958,0.00,2.10,0.00,0.000,6,0.000,0.025,2792,1719,3548
$GC,3211,-1.27,-146.0,261.3,-8.7,254,3215,0.00,2.35,0.00,0.000,4,0.000,0.071,2792,317,3548
$GC,3279,-1.27,-146.0,267.1,-8.1,255,3283,0.00,2.03,0.00,0.000,6,0.000,0.015,2792,1689,3547
$GC,3541,-1.27,-146.0,283.7,-6.2,262,3545,0.00,2.28,0.00,0.000,4,0.000,0.069,2792,326,3547
$GC,3576,-1.27,-146.0,286.0,-6.7,262,3580,0.00,2.08,0.00,0.000,6,0.000,0.019,2792,1713,3546
$STATE,3788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3788,begin apogee
$GC,3797,-0.31,0.0,301.5,7.3,268,3916,0.90,0.00,116.05,0.713,6,0.048,0.000,3014,1850,2956
$STATE,3917,end apogee,CONTROL_FINISHED_OK
$STATE,3917,begin climb
$GC,3921,1.27,146.0,309.5,0.0,271,4048,1.33,2.20,119.57,0.708,4,0.021,0.041,3372,3205,2359
$GC,4178,1.31,174.2,299.8,8.7,277,4208,0.00,2.22,24.17,0.673,6,0.000,0.032,3372,1832,2245
$GC,4466,1.31,174.2,269.6,10.6,284,4469,0.00,2.17,0.00,0.000,4,0.000,0.032,3372,3205,2238
$GC,4624,1.32,180.9,253.5,9.7,287,4634,0.00,2.22,5.70,0.525,6,0.000,0.040,3372,1827,2218
$GC,4886,1.36,217.5,231.3,8.3,294,4927,0.00,2.28,32.12,0.660,4,0.000,0.034,3372,3208,2067
$GC,5013,1.38,231.2,219.8,9.4,296,5030,0.00,2.22,12.68,0.609,6,0.000,0.038,3372,1830,2013
$GC,5289,1.38,234.7,193.4,9.8,308,5302,0.00,2.22,3.80,0.403,4,0.000,0.029,3372,3202,1998
$GC,5374,1.38,234.7,184.8,10.0,315,5378,0.00,2.22,0.00,0.000,6,0.000,0.035,3372,1821,1997
$GC,5638,1.38,234.7,156.3,11.5,339,5643,0.00,2.33,0.00,0.000,4,0.000,0.055,3372,428,1996
$GC,5661,1.38,234.7,153.6,12.3,340,5664,0.00,2.12,0.00,0.000,6,0.000,0.017,3372,1829,1995
$GC,5932,1.38,235.5,124.7,10.0,365,5935,0.00,2.17,0.00,0.000,4,0.000,0.035,3372,3224,1994
$GC,6080,1.42,263.9,110.7,8.7,378,6111,0.00,2.25,25.60,0.572,6,0.000,0.037,3372,1821,1879
$GC,6382,1.42,263.9,82.9,10.3,405,6386,0.00,2.20,0.00,0.000,4,0.000,0.026,3372,3215,1875
$GC,6430,1.42,263.9,76.7,11.8,409,6434,0.00,2.25,0.00,0.000,6,0.000,0.032,3372,1820,1874
$GC,6702,1.46,299.6,47.9,8.4,434,6743,0.00,2.28,30.30,0.525,4,0.000,0.026,3372,3218,1732
$GC,6849,1.49,320.2,34.6,9.1,446,6872,0.08,2.28,17.83,0.501,6,0.043,0.031,3406,1826,1650
$STATE,7132,end climb,SURFACE_DEPTH_REACHED
$STATE,7132,begin surface coast
$FINISH,0.5,1.023287
$STATE,7161,end surface coast,CONTROL_FINISHED_OK
$STATE,7161,begin surface
$SM_CCo,7188,227.18,0.490,0,0,476,608.10
$SM_GC,1.15,0.00,0.00,227.18,0.000,0.000,0.490,461,1697,476,-12.02,-0.65,608.10
$IRIDIUM_FIX,2239.35,-15800.20,220998,191915
$TT8_MAMPS,0.025311
$HUMID,1698
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.10
$XPDR_PINGS,388
$24V_AH,23.8,48.506
$10V_AH,10.7,48.874
$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,26.400,78.875,387.825,227.175,0.000,225.455,415.828,464.712,97.000,0.000,0.000,1503.203,1002.662,3981.456,657.176,3607.296,1518.396,33.340,1349.133,0.000,1988.865,0.000,0.540,0.000
$DEVICE_MAMPS,164.138,146.497,712.543,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.967,1719.167,454.761,668.403,1405.255,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34997,498
$CAP_FILE_SIZE,85849,0
$CFSIZE,260165632,209313792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280609,192122,2248.901,-15801.905,1473,99.0,1492,10.1