version: 66.04
glider: 146
mission: 4
dive: 16
start: 3 4 109 10 45 57
data:
$ID,146
$MISSION,4
$DIVE,16
$D_SURF,3
$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,67
$T_MISSION,75
$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,400
$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,-26659.477
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$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,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,-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,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
$GPS1,103734,4806.914,-12223.086,12,99.0,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.5
$GPS2,104501,4806.930,-12223.076,9,1.2,9,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.212
$KALMAN_X,-1589.9,11.6,35.9,1826.0,-14.4
$KALMAN_Y,1464.4,-32.6,-134.6,-3331.1,-78.9
$MHEAD_RNG_PITCHd_Wd,316.4,2287,-13.0,-7.463
$D_GRID,103
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.99,-146.6,0.0,0.0,0,108,0.00,0.00,-86.40,0.000,2,0.000,0.000,480,1844,3608
$GC,112,-0.99,-146.6,3.2,-2.9,11,146,13.62,2.53,-9.38,0.000,4,0.196,0.087,2818,442,3955
$GC,338,-0.99,-146.6,19.9,-7.3,49,346,0.00,2.28,0.00,0.000,6,0.000,0.028,2819,1854,3955
$GC,416,-0.99,-146.6,25.0,-6.4,62,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3955
$GC,493,-0.99,-146.6,29.8,-6.2,75,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3955
$GC,571,-0.99,-146.6,34.8,-6.2,88,579,0.00,2.30,0.00,0.000,4,0.000,0.044,2818,3233,3955
$GC,600,-0.99,-146.6,36.6,-6.4,92,608,0.00,2.33,0.00,0.000,6,0.000,0.038,2819,1850,3955
$GC,680,-0.99,-146.6,41.6,-6.1,105,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1850,3955
$GC,820,-0.99,-146.6,50.6,-6.4,130,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1849,3955
$GC,964,-0.99,-146.6,59.6,-6.2,155,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1849,3955
$GC,1104,-0.99,-146.6,68.3,-6.0,180,1112,0.00,2.33,0.00,0.000,4,0.000,0.042,2818,3241,3955
$GC,1139,-0.99,-146.6,70.3,-6.2,185,1145,0.00,2.30,0.00,0.000,6,0.000,0.037,2819,1848,3955
$GC,1280,-0.99,-146.6,79.3,-6.3,210,1288,0.00,2.50,0.00,0.000,4,0.000,0.071,2818,448,3955
$GC,1306,-0.99,-146.6,81.0,-6.1,214,1314,0.00,2.25,0.00,0.000,6,0.000,0.027,2818,1840,3955
$GC,1454,-0.99,-146.6,90.2,-6.3,239,1460,0.00,2.30,0.00,0.000,4,0.000,0.044,2818,3243,3955
$GC,1492,-0.99,-146.6,92.9,-6.6,245,1498,0.00,2.30,0.00,0.000,6,0.000,0.034,2818,1839,3955
$GC,1632,-0.99,-146.6,101.4,-5.9,270,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1839,3955
$STATE,1655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1655,begin apogee
$GC,1663,-0.31,0.0,103.1,6.2,274,1759,0.68,0.00,91.57,0.719,6,0.092,0.000,2968,1787,3488
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1763,0.99,146.6,105.0,0.0,288,1885,1.25,0.00,115.85,0.692,6,0.065,0.000,3254,1787,2889
$GC,2020,0.99,146.6,87.7,8.4,330,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1787,2888
$GC,2166,0.99,146.6,75.6,8.4,355,2172,0.00,2.35,0.00,0.000,4,0.000,0.042,3254,3202,2887
$GC,2237,0.99,146.6,69.2,9.0,367,2244,0.00,2.33,0.00,0.000,6,0.000,0.041,3254,1812,2887
$GC,2377,0.99,146.6,57.0,8.3,392,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1813,2887
$GC,2521,0.99,146.6,45.6,8.1,417,2527,0.00,2.28,0.00,0.000,4,0.000,0.041,3254,3194,2887
$GC,2559,0.99,146.6,42.4,8.5,423,2565,0.00,2.33,0.00,0.000,6,0.000,0.044,3254,1802,2887
$GC,2700,0.99,146.6,30.8,7.8,448,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1801,2887
$GC,2778,0.99,146.6,24.4,8.6,461,2786,0.00,2.33,0.00,0.000,4,0.000,0.043,3254,3191,2887
$GC,2807,0.99,146.6,22.0,8.4,465,2815,0.00,2.35,0.00,0.000,6,0.000,0.045,3254,1802,2887
$GC,2884,0.99,146.6,15.5,8.0,478,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1802,2887
$GC,2962,1.00,154.1,9.7,7.2,491,2971,0.00,0.00,7.40,0.575,6,0.000,0.000,3254,1802,2858
$GC,3041,1.05,197.1,4.3,6.0,504,3082,0.00,2.35,34.50,0.640,4,0.000,0.041,3254,3203,2684
$STATE,3088,end climb,SURFACE_DEPTH_REACHED
$STATE,3088,begin surface coast
$FINISH,1.3,1.020047
$STATE,3133,end surface coast,CONTROL_FINISHED_OK
$STATE,3134,begin surface
$SM_CCo,3160,165.40,0.630,0,0,1856,400.08
$SM_GC,1.13,0.00,0.00,165.40,0.000,0.000,0.630,483,1841,1856,-11.77,-0.25,400.08
$IRIDIUM_FIX,4751.72,-12219.12,290598,090908
$TT8_MAMPS,0.026078
$HUMID,1482
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,12.00
$XPDR_PINGS,22
$24V_AH,23.4,1.905
$10V_AH,10.5,1.667
$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,27.425,42.075,249.325,165.400,0.000,26.008,26.234,241.250,5.500,0.000,0.000,10.984,823.272,355.107,467.230,1600.330,537.466,33.341,1046.532,0.000,1623.143,0.000,0.530,0.000
$DEVICE_MAMPS,196.352,112.749,718.679,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.358,256.086,362.191,612.032,1288.418,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41316,518
$CAP_FILE_SIZE,57263,0
$CFSIZE,260165632,229433344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,114214,4807.136,-12223.376,10,1.2,10,18.3