version: 66.04
glider: 148
mission: 7
dive: 13
start: 3 4 109 7 28 39
data:
$ID,148
$MISSION,7
$DIVE,13
$D_SURF,3
$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,67
$T_MISSION,75
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19545.785
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2821
$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,2030
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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,1
$XPDR_VALID,2
$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
$GPS1,071836,4806.653,-12222.695,12,1.5,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-65.0
$GPS2,072746,4806.625,-12222.744,10,2.1,29,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,-0.167
$KALMAN_X,-1997.5,-245.5,-51.7,2805.7,-283.0
$KALMAN_Y,2535.1,338.5,4.5,-5571.7,200.0
$MHEAD_RNG_PITCHd_Wd,117.4,1479,-13.0,-7.463
$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,-0.99,-146.0,0.0,0.0,0,173,0.00,0.00,-153.48,0.000,2,0.000,0.000,419,2023,3830
$GC,176,-0.99,-146.0,3.7,-3.4,19,202,12.02,2.45,-2.83,0.000,4,0.173,0.067,2597,622,3953
$GC,460,-0.88,-146.0,26.5,-5.9,67,468,0.10,2.38,0.00,0.000,6,0.110,0.039,2621,2031,3954
$GC,541,-0.88,-146.0,30.5,-4.8,80,549,0.00,2.45,0.00,0.000,4,0.000,0.055,2621,627,3954
$GC,605,-0.85,-146.0,33.6,-5.2,90,613,0.00,2.38,0.00,0.000,6,0.000,0.039,2621,2035,3954
$GC,685,-0.85,-146.0,37.8,-5.0,103,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2036,3954
$GC,762,-0.85,-146.0,41.8,-5.0,116,770,0.00,2.45,0.00,0.000,4,0.000,0.056,2621,628,3954
$GC,810,-0.85,-146.0,44.3,-5.7,123,816,0.00,2.35,0.00,0.000,6,0.000,0.039,2621,2042,3954
$GC,953,-0.85,-146.0,51.6,-4.4,148,961,0.00,2.47,0.00,0.000,4,0.000,0.055,2621,620,3954
$GC,1020,-0.85,-146.0,55.0,-5.3,159,1027,0.00,2.35,0.00,0.000,6,0.000,0.039,2621,2038,3954
$GC,1161,-0.85,-146.0,62.2,-4.7,184,1168,0.00,2.45,0.00,0.000,4,0.000,0.055,2621,627,3954
$GC,1207,-0.85,-146.0,64.4,-5.4,191,1213,0.00,2.33,0.00,0.000,6,0.000,0.038,2621,2033,3954
$GC,1350,-0.85,-146.0,71.8,-5.2,216,1358,0.00,2.45,0.00,0.000,4,0.000,0.055,2621,623,3954
$GC,1397,-0.85,-146.0,74.1,-5.5,223,1403,0.00,2.33,0.00,0.000,6,0.000,0.044,2621,2030,3954
$STATE,1516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1516,begin apogee
$GC,1523,-0.31,0.0,80.3,4.8,244,1618,0.57,0.00,89.68,0.696,6,0.093,0.000,2747,2034,3500
$STATE,1618,end apogee,CONTROL_FINISHED_OK
$STATE,1618,begin climb
$GC,1621,0.99,146.0,82.0,0.0,258,1743,1.27,0.00,115.90,0.670,6,0.064,0.000,3035,2034,2904
$GC,1879,0.86,146.0,61.6,10.1,300,1887,0.12,0.00,0.00,0.000,6,0.117,0.000,3011,2034,2902
$GC,2024,0.79,146.0,48.4,9.4,325,2030,0.00,2.45,0.00,0.000,4,0.000,0.058,3011,620,2902
$GC,2099,0.69,146.0,40.9,9.8,338,2107,0.17,2.38,0.00,0.000,6,0.100,0.040,2972,2021,2902
$GC,2247,0.70,156.5,29.8,7.1,363,2263,0.00,2.45,9.80,0.588,4,0.000,0.056,2972,617,2862
$GC,2291,0.70,156.5,26.4,7.5,369,2299,0.00,2.40,0.00,0.000,6,0.000,0.040,2972,2028,2861
$GC,2370,0.71,161.7,20.6,7.3,382,2379,0.00,0.00,5.95,0.526,6,0.000,0.000,2972,2028,2840
$GC,2452,0.77,183.0,15.1,6.7,395,2477,0.00,2.45,18.30,0.616,4,0.000,0.056,2972,622,2755
$GC,2504,0.79,205.9,11.5,6.7,402,2535,0.00,2.40,20.62,0.611,6,0.000,0.040,2972,2031,2659
$GC,2610,0.94,258.4,4.9,5.6,418,2661,0.20,2.42,44.20,0.620,4,0.047,0.052,3033,3440,2444
$STATE,2668,end climb,SURFACE_DEPTH_REACHED
$STATE,2668,begin surface coast
$FINISH,1.1,1.019844
$STATE,2699,end surface coast,CONTROL_FINISHED_OK
$STATE,2699,begin surface
$SM_CCo,2724,69.25,0.606,0,0,1868,400.08
$SM_GC,1.33,0.00,0.00,69.25,0.000,0.000,0.606,418,2020,1868,-11.06,-0.28,400.08
$IRIDIUM_FIX,4751.72,-12223.57,290598,060608
$TT8_MAMPS,0.026845
$HUMID,1474
$INTERNAL_PRESSURE,9.18391
$TCM_TEMP,13.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.3,6.3
$24V_AH,23.5,1.632
$10V_AH,10.4,1.404
$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,25.750,48.225,304.450,69.250,0.000,24.541,36.663,312.109,1.500,0.000,0.000,32.180,669.342,224.496,407.288,1339.248,685.855,33.345,961.141,0.000,1417.425,0.000,5.722,0.000
$DEVICE_MAMPS,173.342,67.496,695.669,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.544,259.792,516.471,616.715,1142.606,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35201,430
$CAP_FILE_SIZE,151435,0
$CFSIZE,260165632,223490048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,081622,4806.430,-12222.586,8,6.0,27,18.3