version: 66.04
glider: 146
mission: 4
dive: 21
start: 3 4 109 16 6 2
data:
$ID,146
$MISSION,4
$DIVE,21
$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,380
$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,-26767.807
$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,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,49
$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
$GPS1,155825,4807.996,-12224.102,6,1.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.3
$GPS2,160507,4807.984,-12224.096,43,0.9,43,18.3
$SPEED_LIMITS,0.107,0.234
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.234,0.017
$KALMAN_X,-1890.0,122.2,-41.0,834.3,-53.7
$KALMAN_Y,848.8,-332.3,-68.8,-527.8,-34.7
$MHEAD_RNG_PITCHd_Wd,67.5,1355,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-146.6,0.0,0.0,0,112,0.00,0.00,-93.28,0.000,2,0.000,0.000,482,1838,3704
$GC,116,-0.99,-146.6,3.2,-3.0,12,143,13.90,2.42,-6.38,0.000,4,0.205,0.077,2817,496,3955
$GC,228,-0.99,-146.6,14.5,-6.2,30,237,0.00,2.28,0.00,0.000,6,0.000,0.024,2817,1903,3956
$GC,307,-0.99,-146.6,19.5,-6.4,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1903,3955
$GC,384,-0.99,-146.6,24.6,-6.9,56,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1903,3955
$GC,461,-0.99,-146.6,29.6,-6.1,69,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1903,3955
$GC,539,-0.99,-146.6,34.6,-6.3,82,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1903,3955
$GC,617,-0.99,-146.6,39.5,-6.7,95,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1903,3955
$GC,694,-0.99,-146.6,44.8,-6.5,108,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1904,3955
$GC,839,-0.99,-146.6,54.2,-6.5,133,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1903,3955
$GC,978,-0.99,-146.6,63.3,-6.3,158,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1904,3955
$GC,1123,-0.99,-146.6,72.8,-6.5,183,1129,0.00,2.28,0.00,0.000,4,0.000,0.038,2817,3289,3955
$GC,1151,-0.99,-146.6,74.5,-6.5,187,1157,0.00,2.30,0.00,0.000,6,0.000,0.038,2817,1888,3955
$GC,1292,-0.99,-146.6,83.4,-6.0,212,1299,0.00,2.45,0.00,0.000,4,0.000,0.066,2817,503,3955
$GC,1325,-0.99,-146.6,85.3,-6.2,217,1331,0.00,2.22,0.00,0.000,6,0.000,0.025,2818,1897,3955
$GC,1467,-0.99,-146.6,93.6,-5.5,242,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1897,3955
$GC,1614,-0.99,-146.6,101.5,-5.5,267,1620,0.00,2.45,0.00,0.000,4,0.000,0.070,2818,496,3955
$STATE,1639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1639,begin apogee
$GC,1649,-0.31,0.0,103.1,5.5,271,1746,0.68,0.00,92.20,0.720,6,0.094,0.000,2965,1808,3488
$STATE,1746,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1750,0.99,146.6,105.4,0.0,285,1877,1.27,2.58,116.88,0.693,4,0.063,0.075,3256,397,2889
$GC,1889,0.99,146.6,97.8,8.0,306,1898,0.00,2.30,0.00,0.000,6,0.000,0.030,3256,1798,2888
$GC,2036,0.99,146.6,85.4,8.6,331,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1800,2888
$GC,2175,0.99,146.6,73.8,7.9,356,2183,0.00,2.35,0.00,0.000,4,0.000,0.047,3256,3194,2887
$GC,2201,0.99,146.6,71.6,7.9,360,2210,0.00,2.35,0.00,0.000,6,0.000,0.040,3256,1807,2887
$GC,2347,0.99,146.6,60.3,8.2,385,2353,0.00,2.30,0.00,0.000,4,0.000,0.037,3256,3197,2887
$GC,2384,0.99,146.6,57.1,8.3,391,2390,0.00,2.35,0.00,0.000,6,0.000,0.041,3256,1793,2887
$GC,2524,0.99,146.6,45.5,8.1,416,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1793,2887
$GC,2667,0.99,146.6,34.6,7.5,441,2676,0.00,2.35,0.00,0.000,4,0.000,0.041,3256,3196,2887
$GC,2712,0.99,146.6,31.0,7.9,448,2720,0.00,2.38,0.00,0.000,6,0.000,0.044,3256,1795,2887
$GC,2790,0.99,146.6,24.9,7.8,461,2799,0.00,2.50,0.00,0.000,4,0.000,0.077,3256,395,2887
$GC,2813,0.99,146.6,22.9,7.9,464,2822,0.00,2.28,0.00,0.000,6,0.000,0.025,3256,1802,2887
$GC,2891,0.99,146.6,16.8,7.7,477,2900,0.00,2.33,0.00,0.000,4,0.000,0.039,3256,3196,2887
$GC,2930,0.99,146.6,13.6,7.7,483,2939,0.00,2.35,0.00,0.000,6,0.000,0.040,3256,1804,2887
$GC,3009,1.00,153.5,7.9,7.2,496,3018,0.00,0.00,6.80,0.576,6,0.000,0.000,3256,1804,2861
$GC,3088,1.09,228.6,3.6,4.9,509,3106,0.10,0.00,15.35,0.632,2,0.069,0.000,3284,1804,2789
$STATE,3106,end climb,SURFACE_DEPTH_REACHED
$STATE,3106,begin surface coast
$FINISH,1.4,1.020205
$STATE,3184,end surface coast,CONTROL_FINISHED_OK
$STATE,3184,begin surface
$SM_CCo,3209,170.45,0.637,0,0,1938,380.21
$SM_GC,1.26,0.00,0.00,170.45,0.000,0.000,0.637,483,1922,1938,-11.77,0.62,380.21
$IRIDIUM_FIX,4751.72,-12226.29,290598,151536
$TT8_MAMPS,0.026078
$HUMID,1475
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,12.10
$XPDR_PINGS,24
$24V_AH,23.4,2.384
$10V_AH,10.5,2.179
$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,28.025,47.075,231.225,170.450,0.000,23.252,25.243,179.837,6.000,0.000,0.000,44.588,839.752,363.092,473.334,1655.295,463.956,33.336,1063.323,0.000,1645.900,0.000,0.530,0.000
$DEVICE_MAMPS,204.789,77.467,720.213,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.817,258.267,367.467,619.814,1306.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41413,525
$CAP_FILE_SIZE,57897,0
$CFSIZE,260165632,229232640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,170313,4807.919,-12223.668,9,1.3,9,18.3