version: 66.04
glider: 146
mission: 4
dive: 13
start: 3 4 109 7 23 34
data:
$ID,146
$MISSION,4
$DIVE,13
$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,-26585.246
$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,24
$R_STBD_OVSHOOT,43
$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
$GPS1,071437,4806.243,-12222.347,7,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.1
$GPS2,072238,4806.222,-12222.345,10,1.5,10,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,0.203
$KALMAN_X,-1302.1,-178.3,-14.7,2680.4,36.9
$KALMAN_Y,1413.3,241.8,117.0,-5110.1,-98.7
$MHEAD_RNG_PITCHd_Wd,311.6,3877,-13.0,-7.463
$D_GRID,107
$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,16,-0.99,-146.6,0.0,0.0,0,105,0.00,0.00,-86.38,0.000,2,0.000,0.000,482,1842,3598
$GC,109,-0.99,-146.6,3.2,-2.8,11,143,13.62,2.38,-8.85,0.000,4,0.196,0.054,2818,3247,3955
$GC,240,-0.99,-146.6,15.1,-5.7,32,247,0.00,2.35,0.00,0.000,6,0.000,0.043,2818,1854,3956
$GC,317,-0.99,-146.6,19.8,-6.1,45,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3955
$GC,394,-0.99,-146.6,24.5,-5.9,58,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3956
$GC,471,-0.99,-146.6,29.2,-6.1,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3955
$GC,549,-0.99,-146.6,33.9,-6.2,84,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3955
$GC,627,-0.99,-146.6,39.0,-6.3,97,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3955
$GC,703,-0.99,-146.6,43.6,-5.7,110,711,0.00,2.33,0.00,0.000,4,0.000,0.037,2818,3246,3955
$GC,738,-0.99,-146.6,45.5,-6.0,115,744,0.00,2.33,0.00,0.000,6,0.000,0.038,2818,1843,3955
$GC,878,-0.99,-146.6,54.2,-6.1,140,886,0.00,2.50,0.00,0.000,4,0.000,0.076,2818,445,3955
$GC,916,-0.99,-146.6,56.7,-6.6,146,924,0.00,2.28,0.00,0.000,6,0.000,0.030,2818,1851,3955
$GC,1062,-0.99,-146.6,65.3,-5.9,171,1068,0.00,2.30,0.00,0.000,4,0.000,0.045,2818,3250,3955
$GC,1088,-0.99,-146.6,67.0,-6.1,175,1094,0.00,2.33,0.00,0.000,6,0.000,0.042,2818,1842,3955
$GC,1230,-0.99,-146.6,75.4,-5.6,200,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1842,3955
$GC,1376,-0.99,-146.6,83.7,-5.8,225,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1842,3955
$GC,1516,-0.99,-146.6,92.0,-5.9,250,1524,0.00,2.50,0.00,0.000,4,0.000,0.073,2818,444,3955
$GC,1540,-0.99,-146.6,93.3,-5.9,253,1546,0.00,2.25,0.00,0.000,6,0.000,0.028,2818,1855,3955
$GC,1681,-0.99,-146.6,101.8,-5.8,278,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1856,3955
$STATE,1771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1772,begin apogee
$GC,1779,-0.31,0.0,107.2,5.8,294,1874,0.68,0.00,91.65,0.718,6,0.095,0.000,2967,1856,3488
$STATE,1875,end apogee,CONTROL_FINISHED_OK
$STATE,1875,begin climb
$GC,1879,0.99,146.6,109.5,0.0,308,1999,1.25,0.00,116.65,0.690,6,0.070,0.000,3254,1856,2889
$GC,2135,0.99,146.6,92.7,8.8,350,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1856,2888
$GC,2281,0.99,146.6,80.3,8.9,375,2287,0.00,2.33,0.00,0.000,4,0.000,0.044,3254,3251,2887
$GC,2309,0.99,146.6,77.8,8.9,379,2316,0.00,2.38,0.00,0.000,6,0.000,0.044,3254,1843,2886
$GC,2450,0.99,146.6,65.3,8.6,404,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1843,2887
$GC,2595,0.99,146.6,53.5,8.1,429,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1843,2887
$GC,2735,0.99,146.6,42.0,8.3,454,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1843,2887
$GC,2878,0.99,146.6,30.4,8.0,479,2886,0.00,2.35,0.00,0.000,4,0.000,0.041,3254,3240,2887
$GC,2928,0.99,146.6,26.5,8.0,487,2936,0.00,2.38,0.00,0.000,6,0.000,0.050,3254,1845,2886
$GC,3007,0.99,146.6,20.3,7.8,500,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1845,2887
$GC,3084,1.01,160.9,14.7,7.0,513,3101,0.00,0.00,12.40,0.618,6,0.000,0.000,3254,1845,2832
$GC,3170,1.02,168.7,8.4,7.2,527,3186,0.00,0.00,8.07,0.578,6,0.000,0.000,3255,1845,2799
$GC,3256,1.12,249.2,3.6,4.7,541,3298,0.12,0.00,39.10,0.634,2,0.060,0.000,3289,1845,2606
$STATE,3299,end climb,SURFACE_DEPTH_REACHED
$STATE,3299,begin surface coast
$FINISH,0.6,1.019420
$STATE,3467,end surface coast,CONTROL_FINISHED_OK
$STATE,3467,begin surface
$SM_CCo,3491,150.52,0.628,0,0,1857,400.08
$SM_GC,1.50,0.00,0.00,150.52,0.000,0.000,0.628,478,1844,1857,-11.79,-0.17,400.08
$IRIDIUM_FIX,4748.51,-12219.12,290598,060630
$TT8_MAMPS,0.026078
$HUMID,1467
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,12.50
$XPDR_PINGS,19
$24V_AH,23.4,1.619
$10V_AH,10.5,1.354
$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,27.750,32.950,267.875,150.525,0.000,30.839,38.391,249.140,4.750,0.000,0.000,12.141,913.092,394.985,466.002,1778.726,580.135,33.332,1096.823,0.000,1807.959,0.000,0.829,0.000
$DEVICE_MAMPS,196.352,75.933,717.912,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.386,287.287,406.009,683.799,1441.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47796,576
$CAP_FILE_SIZE,61100,0
$CFSIZE,260165632,229548032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,082528,4806.470,-12222.660,10,3.8,29,18.3