version: 66.04
glider: 146
mission: 4
dive: 6
start: 3 4 109 0 29 32
data:
$ID,146
$MISSION,4
$DIVE,6
$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,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,1.0232
$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,-26440.141
$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,41
$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,10
$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
$GPS1,001821,4807.244,-12223.057,9,2.2,28,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.3
$GPS2,002837,4807.250,-12223.086,10,1.9,15,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.149,-0.213
$KALMAN_X,-396.3,-244.7,-93.8,1009.7,-70.3
$KALMAN_Y,263.9,228.5,118.2,-2052.8,-11.1
$MHEAD_RNG_PITCHd_Wd,126.8,2676,-17.5,-10.000
$D_GRID,150
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.27,-146.6,0.0,0.0,0,104,0.00,0.00,-85.82,0.000,2,0.000,0.000,479,1852,3835
$GC,108,-1.27,-146.6,4.0,-7.8,11,126,13.15,0.00,-2.42,0.000,6,0.192,0.000,2759,1852,3954
$GC,196,-1.27,-146.6,21.4,-9.0,25,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1852,3956
$GC,273,-1.27,-146.6,27.4,-7.7,38,281,0.00,2.33,0.00,0.000,4,0.000,0.044,2760,3242,3956
$GC,335,-1.27,-146.6,32.3,-8.2,48,342,0.00,2.33,0.00,0.000,6,0.000,0.045,2760,1850,3956
$GC,411,-1.27,-146.6,38.4,-7.3,61,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1850,3956
$GC,486,-1.27,-146.6,44.6,-8.1,74,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1850,3956
$GC,632,-1.27,-146.6,56.0,-7.3,99,638,0.00,2.30,0.00,0.000,4,0.000,0.037,2760,3249,3955
$GC,660,-1.27,-146.6,58.3,-8.2,103,666,0.00,2.30,0.00,0.000,6,0.000,0.038,2760,1850,3956
$GC,800,-1.27,-146.6,69.4,-8.0,128,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1850,3955
$GC,946,-1.27,-146.6,80.8,-8.4,153,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1849,3955
$GC,1085,-1.27,-146.6,91.8,-7.8,178,1093,0.00,2.33,0.00,0.000,4,0.000,0.037,2760,3247,3955
$GC,1108,-1.27,-146.6,93.4,-7.6,181,1114,0.00,2.30,0.00,0.000,6,0.000,0.043,2759,1842,3955
$GC,1250,-1.27,-146.6,104.4,-7.9,206,1257,0.00,2.33,0.00,0.000,4,0.000,0.037,2760,3243,3955
$GC,1264,-1.27,-146.6,105.7,-8.2,208,1272,0.00,2.33,0.00,0.000,6,0.000,0.037,2760,1849,3955
$STATE,1317,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1317,begin apogee
$GC,1324,-0.31,0.0,109.8,7.5,217,1423,0.98,0.00,91.40,0.721,6,0.095,0.000,2970,1849,3488
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1428,1.27,146.6,112.1,0.0,232,1555,1.50,0.00,116.05,0.694,6,0.070,0.000,3315,1849,2890
$GC,1691,1.27,146.6,88.3,11.6,275,1697,0.00,2.33,0.00,0.000,4,0.000,0.042,3315,3245,2888
$GC,1753,1.27,146.6,80.6,11.7,286,1761,0.00,2.38,0.00,0.000,6,0.000,0.051,3315,1851,2888
$GC,1897,1.27,146.6,64.8,10.8,311,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1851,2888
$GC,2036,1.27,146.6,49.2,11.6,336,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1851,2888
$GC,2179,1.27,146.6,34.1,10.7,361,2187,0.00,2.33,0.00,0.000,4,0.000,0.044,3316,3237,2888
$GC,2212,1.27,146.6,30.8,11.0,366,2220,0.00,2.35,0.00,0.000,6,0.000,0.047,3315,1852,2888
$GC,2290,1.28,149.8,22.7,9.9,379,2300,0.00,2.38,3.97,0.456,4,0.000,0.044,3315,3246,2876
$GC,2337,1.28,150.5,17.9,10.0,386,2345,0.00,2.38,0.00,0.000,6,0.000,0.051,3315,1846,2876
$GC,2414,1.36,218.1,11.3,6.9,399,2478,0.08,0.00,56.03,0.640,6,0.286,0.000,3335,1845,2598
$GC,2548,1.51,340.2,4.9,4.4,419,2606,0.15,0.00,54.17,0.627,2,0.130,0.000,3374,1846,2335
$STATE,2606,end climb,SURFACE_DEPTH_REACHED
$STATE,2606,begin surface coast
$FINISH,0.4,1.018674
$STATE,2641,end surface coast,CONTROL_FINISHED_OK
$STATE,2641,begin surface
$SM_CCo,2665,60.72,0.545,6,0,2061,350.04
$SM_GC,1.32,0.00,0.00,60.72,0.000,0.000,0.545,483,1844,2061,-11.77,-0.17,350.04
$IRIDIUM_FIX,4751.72,-12219.12,290598,000025
$TT8_MAMPS,0.026078
$HUMID,1479
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,11.90
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,80.2,39.2
$24V_AH,23.5,0.983
$10V_AH,10.5,0.676
$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,28.350,32.650,321.625,60.725,0.000,60.725,60.997,283.171,5.750,0.000,0.000,16.667,668.124,363.774,410.345,1327.851,614.924,33.321,948.243,0.000,1335.311,0.000,6.108,0.000
$DEVICE_MAMPS,286.091,50.622,720.980,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,303.415,208.094,295.582,499.091,1049.181,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35235,432
$CAP_FILE_SIZE,53699,0
$CFSIZE,260165632,229822464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,6,0
$GPS,040309,011636,4807.039,-12222.949,10,1.7,26,18.3