version: 66.04
glider: 148
mission: 7
dive: 8
start: 3 4 109 2 14 56
data:
$ID,148
$MISSION,7
$DIVE,8
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52629
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2200
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19404.434
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1970
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-11.678058
$PRESSURE_SLOPE,0.00011637
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043988163
$SEABIRD_T_H,0.0006414433
$SEABIRD_T_I,2.6398575e-05
$SEABIRD_T_J,2.9043883e-06
$SEABIRD_C_G,-10.103149
$SEABIRD_C_H,1.1453719
$SEABIRD_C_I,-0.0014561723
$SEABIRD_C_J,0.00020149905
$GPS1,020328,4807.726,-12223.216,30,6.4,49,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.8
$GPS2,021404,4807.849,-12223.223,14,2.2,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,-0.232
$KALMAN_X,-554.6,-316.3,-86.0,875.3,-33.4
$KALMAN_Y,1043.1,538.3,170.9,-2184.7,-15.3
$MHEAD_RNG_PITCHd_Wd,135.2,3743,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,90,0.00,0.00,-71.47,0.000,2,0.000,0.000,418,1985,3598
$GC,94,-1.27,-146.0,3.3,-5.1,9,120,11.82,2.53,-8.27,0.000,4,0.175,0.070,2550,562,3953
$GC,131,-0.36,-146.0,10.5,-19.4,13,140,0.93,2.38,0.00,0.000,6,0.104,0.041,2746,1966,3954
$GC,212,-0.76,-146.0,13.1,-1.3,26,221,0.32,2.42,0.00,0.000,4,0.048,0.050,2658,3377,3954
$GC,243,-1.02,-146.0,14.1,-3.7,30,250,0.17,2.40,0.00,0.000,6,0.041,0.042,2601,1968,3954
$GC,322,-1.07,-146.0,18.1,-5.2,43,330,0.00,2.45,0.00,0.000,4,0.000,0.059,2602,564,3954
$GC,420,-1.11,-146.0,23.9,-6.6,59,428,0.00,2.38,0.00,0.000,6,0.000,0.040,2601,1974,3954
$GC,500,-1.17,-146.0,28.4,-5.2,72,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1975,3954
$GC,580,-1.24,-146.0,32.7,-5.2,85,589,0.17,2.47,0.00,0.000,4,0.051,0.058,2539,563,3953
$GC,622,-1.14,-146.0,35.7,-7.5,91,629,0.20,2.38,0.00,0.000,6,0.105,0.040,2582,1975,3954
$GC,699,-1.17,-146.0,40.9,-6.9,104,707,0.00,2.47,0.00,0.000,4,0.000,0.058,2582,561,3954
$GC,746,-1.17,-146.0,43.8,-7.2,111,752,0.00,2.35,0.00,0.000,6,0.000,0.040,2582,1976,3954
$GC,889,-1.21,-146.0,53.3,-5.9,136,897,0.00,2.47,0.00,0.000,4,0.000,0.058,2582,561,3954
$GC,971,-1.21,-146.0,59.2,-6.8,150,979,0.00,2.38,0.00,0.000,6,0.000,0.040,2582,1975,3954
$GC,1118,-1.24,-146.0,68.5,-6.6,175,1124,0.00,2.45,0.00,0.000,4,0.000,0.064,2582,555,3953
$GC,1155,-1.24,-146.0,71.3,-7.6,181,1161,0.00,2.35,0.00,0.000,6,0.000,0.041,2582,1973,3954
$GC,1297,-1.29,-146.0,80.6,-5.8,206,1306,0.12,2.47,0.00,0.000,4,0.058,0.061,2536,560,3953
$GC,1421,-1.20,-146.0,90.4,-8.9,225,1428,0.17,2.35,0.00,0.000,6,0.109,0.039,2570,1981,3954
$GC,1568,-1.20,-146.0,101.0,-6.4,250,1576,0.00,2.47,0.00,0.000,4,0.000,0.060,2570,562,3953
$GC,1650,-1.20,-146.0,106.6,-7.6,263,1657,0.00,2.33,0.00,0.000,6,0.000,0.039,2570,1972,3953
$STATE,1698,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1698,begin apogee
$GC,1705,-0.31,0.0,109.8,6.2,271,1801,0.88,0.00,89.22,0.721,6,0.096,0.000,2759,1976,3501
$STATE,1802,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1805,1.27,146.0,111.6,0.0,285,1931,1.55,0.00,115.90,0.692,6,0.061,0.000,3112,1976,2904
$GC,2070,1.11,146.0,81.8,14.6,327,2077,0.17,2.47,0.00,0.000,4,0.120,0.061,3079,560,2902
$GC,2122,0.99,146.0,75.1,13.9,335,2129,0.15,2.38,0.00,0.000,6,0.130,0.044,3052,1970,2902
$GC,2265,0.95,146.0,58.6,10.5,360,2273,0.00,2.47,0.00,0.000,4,0.000,0.063,3052,568,2902
$GC,2289,0.89,146.0,56.1,11.3,363,2295,0.12,2.38,0.00,0.000,6,0.127,0.042,3030,1978,2902
$GC,2432,0.92,169.1,42.1,8.9,388,2459,0.00,2.50,19.83,0.640,4,0.000,0.061,3029,558,2809
$GC,2481,0.92,169.1,37.5,10.2,395,2489,0.00,2.42,0.00,0.000,6,0.000,0.044,3029,1972,2808
$GC,2560,0.95,190.1,30.0,9.0,408,2584,0.00,0.00,17.83,0.625,6,0.000,0.000,3029,1972,2725
$GC,2657,0.99,198.8,20.6,9.6,423,2674,0.10,0.00,9.00,0.577,6,0.067,0.000,3061,1972,2688
$GC,2745,0.99,198.8,10.4,11.1,437,2753,0.00,2.50,0.00,0.000,4,0.000,0.061,3061,561,2687
$GC,2762,0.99,198.8,8.6,10.7,439,2770,0.00,2.40,0.00,0.000,6,0.000,0.042,3061,1972,2687
$GC,2843,1.30,323.9,3.9,4.2,452,2886,0.20,0.00,37.95,0.623,2,0.047,0.000,3120,1972,2446
$STATE,2886,end climb,SURFACE_DEPTH_REACHED
$STATE,2886,begin surface coast
$FINISH,1.3,1.018996
$STATE,2922,end surface coast,CONTROL_FINISHED_OK
$STATE,2922,begin surface
$SM_CCo,2945,42.78,0.609,0,0,2072,350.04
$SM_GC,1.38,0.00,0.00,42.78,0.000,0.000,0.609,420,1975,2072,-11.10,0.11,350.04
$IRIDIUM_FIX,4748.51,-12221.84,290598,020246
$TT8_MAMPS,0.026845
$HUMID,1475
$INTERNAL_PRESSURE,9.19367
$TCM_TEMP,13.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,95.3,24.3
$24V_AH,23.5,1.170
$10V_AH,10.4,0.900
$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,28.925,63.025,289.725,42.775,0.000,64.685,74.353,248.176,3.750,0.000,0.000,36.034,752.368,362.031,359.063,1407.110,726.949,33.323,919.545,0.000,1477.627,0.000,19.181,0.000
$DEVICE_MAMPS,174.876,69.797,720.980,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.188,246.977,510.176,624.957,1152.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38212,463
$CAP_FILE_SIZE,162832,0
$CFSIZE,260165632,223739904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040309,030537,4807.607,-12223.176,8,2.0,12,18.3