version: 66.04
glider: 146
mission: 4
dive: 4
start: 3 3 109 22 41 9
data:
$ID,146
$MISSION,4
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,1.0232
$MASS,52003
$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,2100
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26408.104
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3041
$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,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3488
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-28.713232
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$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
$GPS1,223132,4807.678,-12223.201,8,1.8,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.1
$GPS2,224014,4807.711,-12223.215,13,1.1,13,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.231
$KALMAN_X,-164.0,-133.1,-112.5,522.8,-45.3
$KALMAN_Y,185.4,172.5,151.7,-1096.6,50.4
$MHEAD_RNG_PITCHd_Wd,134.3,3507,-17.5,-10.000
$D_GRID,105
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.6,0.0,0.0,0,106,0.00,0.00,-85.43,0.000,2,0.000,0.000,482,1848,3802
$GC,110,-1.27,-146.6,3.9,-7.5,11,135,13.12,2.55,-3.15,0.000,4,0.193,0.088,2759,446,3955
$GC,145,-1.27,-146.6,15.3,-30.1,15,152,0.00,2.28,0.00,0.000,6,0.000,0.035,2759,1840,3955
$GC,221,-1.27,-146.6,21.9,-7.8,28,230,0.00,2.35,0.00,0.000,4,0.000,0.049,2759,3240,3955
$GC,283,-1.27,-146.6,26.6,-7.5,38,290,0.00,2.33,0.00,0.000,6,0.000,0.046,2759,1850,3955
$GC,360,-1.27,-146.6,32.7,-7.7,51,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1850,3955
$GC,436,-1.27,-146.6,38.8,-7.5,64,445,0.00,2.35,0.00,0.000,4,0.000,0.041,2759,3246,3955
$GC,471,-1.27,-146.6,41.7,-8.5,69,477,0.00,2.30,0.00,0.000,6,0.000,0.041,2759,1849,3955
$GC,613,-1.27,-146.6,53.3,-8.1,94,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1849,3955
$GC,759,-1.27,-146.6,65.1,-8.1,119,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1849,3955
$GC,898,-1.27,-146.6,76.5,-7.4,144,905,0.00,2.33,0.00,0.000,4,0.000,0.041,2759,3240,3955
$GC,934,-1.27,-146.6,79.5,-7.9,150,947,0.00,2.33,0.00,0.000,6,0.000,0.041,2759,1847,3955
$GC,1092,-1.27,-146.6,91.6,-8.1,175,1098,0.00,2.30,0.00,0.000,4,0.000,0.039,2759,3246,3955
$GC,1111,-1.27,-146.6,93.6,-8.2,178,1119,0.00,2.33,0.00,0.000,6,0.000,0.045,2759,1849,3955
$GC,1256,-1.27,-146.6,104.5,-7.3,203,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1849,3955
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1267,begin apogee
$GC,1274,-0.31,0.0,105.6,6.9,205,1373,0.95,0.00,91.30,0.719,6,0.094,0.000,2965,1849,3487
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1377,1.27,146.6,107.8,0.0,220,1498,1.52,0.00,115.50,0.693,6,0.070,0.000,3317,1849,2890
$GC,1636,1.27,146.6,84.5,10.8,262,1644,0.00,2.38,0.00,0.000,4,0.000,0.048,3317,3246,2888
$GC,1659,1.27,146.6,82.2,10.8,265,1665,0.00,2.35,0.00,0.000,6,0.000,0.047,3317,1851,2888
$GC,1800,1.27,146.6,66.7,10.8,290,1808,0.00,2.35,0.00,0.000,4,0.000,0.041,3316,3244,2888
$GC,1838,1.27,146.6,62.5,10.6,296,1846,0.00,2.38,0.00,0.000,6,0.000,0.051,3316,1850,2887
$GC,1982,1.27,146.6,47.6,10.3,321,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1850,2887
$GC,2123,1.27,146.6,32.6,10.3,346,2131,0.00,2.35,0.00,0.000,4,0.000,0.045,3316,3241,2887
$GC,2162,1.27,146.6,28.3,10.8,352,2170,0.00,2.38,0.00,0.000,6,0.000,0.053,3317,1846,2887
$GC,2240,1.27,146.6,20.5,10.3,365,2248,0.00,2.35,0.00,0.000,4,0.000,0.041,3316,3240,2888
$GC,2312,1.31,175.5,13.5,8.7,377,2344,0.00,2.38,24.15,0.646,6,0.000,0.048,3317,1845,2772
$GC,2413,1.50,329.3,7.8,2.9,393,2542,0.17,0.00,125.07,0.635,2,0.067,0.000,3365,1845,2152
$STATE,2542,end climb,SURFACE_DEPTH_REACHED
$STATE,2543,begin surface coast
$FINISH,0.2,1.007139
$STATE,2571,end surface coast,CONTROL_FINISHED_OK
$STATE,2574,begin surface
$SM_CCo,2598,17.67,0.551,2,0,2061,350.04
$SM_GC,1.89,0.00,0.00,17.67,0.000,0.000,0.551,477,1843,2061,-11.79,-0.17,350.04
$IRIDIUM_FIX,4748.51,-12226.29,280598,212135
$TT8_MAMPS,0.026078
$HUMID,1489
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,12.30
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,85.1,33.7
$24V_AH,23.5,0.803
$10V_AH,10.5,0.506
$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,28.150,42.325,356.025,17.675,0.000,22.461,24.336,291.044,7.250,0.000,0.000,14.847,640.444,285.588,368.593,1276.662,590.016,32.326,915.361,0.000,1287.464,0.000,7.352,0.000
$DEVICE_MAMPS,192.517,88.205,718.679,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,292.970,197.508,286.469,483.186,1015.427,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34997,414
$CAP_FILE_SIZE,52077,0
$CFSIZE,260165632,229892096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,030309,232606,4807.465,-12223.139,13,1.1,29,18.3