version: 66.04
glider: 146
mission: 3
dive: 14
start: 11 13 108 7 29 16
data:
$ID,146
$MISSION,3
$DIVE,14
$D_SURF,5
$D_FLARE,3
$D_TGT,210
$D_ABORT,1090
$D_NO_BLEED,80
$D_FINISH,7
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,47
$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,52158
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,732.22046
$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,-22204.74
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2662
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,21
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3462
$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,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.114069
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,0
$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,0.0042943107
$SEABIRD_T_H,0.00062841887
$SEABIRD_T_I,2.3281167e-05
$SEABIRD_T_J,2.4418403e-06
$SEABIRD_C_G,-10.095174
$SEABIRD_C_H,1.1317128
$SEABIRD_C_I,-0.0020966067
$SEABIRD_C_J,0.00024836216
$GPS1,043141,4807.135,-12222.714,81,99.0,100,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.8
$GPS2,043141,4807.135,-12222.714,81,99.0,100,18.3
$SPEED_LIMITS,0.213,0.293
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,216.5,433,-24.5,-14.894
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.71,-146.6,0.0,0.0,0,59,0.00,0.00,-41.15,0.000,2,0.000,0.000,477,1847,1553
$GC,63,-1.71,-146.6,3.4,-5.1,7,160,10.20,2.33,-80.75,0.000,4,0.188,0.048,2284,3240,3953
$GC,415,-1.71,-146.6,24.5,-8.2,68,421,0.00,2.28,0.00,0.000,6,0.000,0.038,2284,1842,3955
$GC,491,-1.71,-146.6,30.7,-8.0,81,498,0.00,2.28,0.00,0.000,4,0.000,0.037,2284,3241,3955
$GC,573,-1.71,-146.6,38.3,-8.5,95,579,0.00,2.28,0.00,0.000,6,0.000,0.035,2284,1849,3955
$GC,648,-1.71,-146.6,45.3,-9.8,108,654,0.00,2.28,0.00,0.000,4,0.000,0.035,2284,3248,3955
$GC,667,-1.71,-146.6,47.1,-9.2,111,673,0.00,2.28,0.00,0.000,6,0.000,0.035,2284,1848,3955
$GC,810,-1.71,-146.6,60.1,-9.4,136,816,0.00,2.28,0.00,0.000,4,0.000,0.035,2284,3246,3955
$GC,840,-1.71,-146.6,62.8,-8.7,141,846,0.00,2.28,0.00,0.000,6,0.000,0.035,2284,1843,3955
$GC,985,-1.71,-146.6,75.7,-8.8,166,991,0.00,2.28,0.00,0.000,4,0.000,0.035,2284,3243,3955
$GC,1021,-1.75,-146.6,79.2,-9.7,172,1027,0.00,2.28,0.00,0.000,6,0.000,0.035,2284,1848,3955
$GC,1168,-1.78,-146.6,92.2,-8.9,197,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1847,3955
$GC,1313,-1.81,-146.6,105.5,-9.3,222,1319,0.00,2.28,0.00,0.000,4,0.000,0.038,2284,3250,3955
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1332,-0.31,0.0,107.1,9.4,224,1435,1.45,0.00,97.35,0.705,6,0.107,0.000,2588,1840,3462
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1440,1.71,146.6,109.0,0.0,243,1563,1.88,0.00,115.95,0.674,6,0.044,0.000,3044,1840,2863
$GC,1700,1.61,146.6,68.5,18.6,290,1707,0.17,2.30,0.00,0.000,4,0.127,0.036,3012,3239,2861
$GC,1732,1.56,146.6,62.8,18.5,295,1738,0.00,2.30,0.00,0.000,6,0.000,0.044,3012,1856,2861
$GC,1875,1.53,146.6,37.8,17.0,320,1881,0.00,2.28,0.00,0.000,4,0.000,0.038,3012,3247,2861
$GC,1906,1.53,146.6,32.5,17.2,325,1912,0.00,2.33,0.00,0.000,6,0.000,0.044,3012,1846,2861
$GC,1981,1.53,146.6,20.1,16.5,338,1987,0.00,2.28,0.00,0.000,4,0.000,0.037,3012,3241,2861
$GC,2068,1.65,218.2,8.9,10.0,353,2134,0.00,2.30,58.10,0.616,6,0.000,0.041,3012,1839,2570
$GC,2207,2.18,441.7,5.6,-0.3,376,2297,0.50,0.00,86.65,0.610,2,0.081,0.000,3137,1839,2139
$STATE,2298,end climb,SURFACE_DEPTH_REACHED
$STATE,2298,begin surface coast
$FINISH,4.0,1.016936
$STATE,2489,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2489,begin surface
$SM_CCo,2513,327.25,0.599,0,0,477,732.22
$SM_GC,2.22,0.00,0.00,327.25,0.000,0.000,0.599,476,1837,477,-10.06,-0.37,732.22
$IRIDIUM_FIX,4748.51,-12224.57,070298,040418
$TT8_MAMPS,0.026078
$HUMID,1738
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.10
$XPDR_PINGS,382
$24V_AH,23.5,66.924
$10V_AH,10.2,54.996
$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,25.650,41.175,358.050,327.250,0.000,164.954,141.861,0.000,97.250,0.000,0.000,906.046,612.073,977.372,742.323,1606.828,494.844,0.000,1179.246,0.000,708.514,0.000,12.720,0.000
$DEVICE_MAMPS,187.915,48.321,704.873,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,290.873,145.636,0.000,285.614,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28651,425
$CAP_FILE_SIZE,47968,0
$CFSIZE,260165632,231149568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,131108,043141,4807.135,-12222.714,81,99.0,100,18.3