version: 66.04
glider: 148
mission: 7
dive: 14
start: 3 4 109 8 25 16
data:
$ID,148
$MISSION,7
$DIVE,14
$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,-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,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,-19579.076
$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,1750
$C_ROLL_CLIMB,1850
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,081622,4806.430,-12222.586,8,6.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.6
$GPS2,082422,4806.429,-12222.613,11,8.4,30,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.187,-0.141
$KALMAN_X,-2527.7,-209.4,-44.4,3452.3,-337.8
$KALMAN_Y,2929.4,244.7,9.8,-6239.2,200.1
$MHEAD_RNG_PITCHd_Wd,108.8,1099,-13.0,-7.463
$D_GRID,105
$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,-146.0,0.0,0.0,0,106,0.00,0.00,-86.53,0.000,2,0.000,0.000,417,2021,3672
$GC,112,-0.99,-146.0,3.2,-2.8,11,138,12.00,2.90,-6.60,0.000,4,0.171,0.070,2595,345,3950
$GC,285,-0.87,-146.0,18.7,-6.8,39,293,0.12,2.38,0.00,0.000,6,0.111,0.038,2624,1759,3951
$GC,365,-0.83,-146.0,22.8,-4.3,52,373,0.00,2.38,0.00,0.000,4,0.000,0.048,2624,3154,3952
$GC,395,-0.80,-146.0,24.0,-4.4,56,403,0.08,2.38,0.00,0.000,6,0.098,0.041,2643,1757,3952
$GC,475,-0.80,-146.0,27.7,-3.8,69,483,0.00,2.47,0.00,0.000,4,0.000,0.061,2643,342,3952
$GC,497,-0.80,-146.0,28.8,-4.3,72,506,0.00,2.35,0.00,0.000,6,0.000,0.038,2643,1746,3952
$GC,579,-0.80,-146.0,32.3,-4.2,85,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1749,3952
$GC,658,-0.80,-146.0,35.6,-4.3,98,666,0.00,2.40,0.00,0.000,4,0.000,0.048,2643,3156,3952
$GC,689,-0.83,-146.0,36.9,-4.3,102,697,0.00,2.40,0.00,0.000,6,0.000,0.041,2643,1745,3952
$GC,769,-0.83,-146.0,40.4,-4.4,115,775,0.00,2.42,0.00,0.000,4,0.000,0.061,2643,336,3952
$GC,798,-0.83,-146.0,41.9,-4.3,120,807,0.00,2.35,0.00,0.000,6,0.000,0.038,2644,1743,3951
$GC,944,-0.86,-146.0,47.9,-4.0,145,950,0.00,2.38,0.00,0.000,4,0.000,0.047,2643,3158,3951
$GC,984,-0.90,-146.0,49.5,-4.3,151,990,0.00,2.38,0.00,0.000,6,0.000,0.041,2643,1740,3951
$GC,1127,-0.94,-146.0,55.6,-3.7,176,1134,0.12,2.42,0.00,0.000,4,0.053,0.061,2598,349,3951
$GC,1162,-0.94,-146.0,57.3,-5.1,181,1169,0.00,2.30,0.00,0.000,6,0.000,0.038,2598,1750,3951
$GC,1303,-0.88,-146.0,65.0,-5.1,206,1311,0.15,0.00,0.00,0.000,6,0.099,0.000,2629,1752,3951
$GC,1451,-0.88,-146.0,71.2,-4.4,231,1457,0.00,2.35,0.00,0.000,4,0.000,0.054,2629,3156,3951
$GC,1488,-0.88,-146.0,73.1,-4.8,237,1494,0.00,2.35,0.00,0.000,6,0.000,0.046,2629,1750,3951
$GC,1631,-0.88,-146.0,79.4,-4.4,262,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1750,3951
$GC,1779,-0.88,-146.0,86.0,-4.5,287,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1750,3951
$GC,1921,-0.88,-146.0,92.3,-4.3,312,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1750,3951
$GC,2067,-0.88,-146.0,98.6,-4.7,337,2074,0.00,2.38,0.00,0.000,4,0.000,0.049,2629,3160,3951
$GC,2086,-0.88,-146.0,99.4,-4.2,340,2093,0.00,2.38,0.00,0.000,6,0.000,0.045,2629,1754,3951
$STATE,2218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2218,begin apogee
$GC,2226,-0.31,0.0,105.1,4.0,364,2322,0.52,0.00,89.43,0.709,6,0.092,0.000,2745,1871,3499
$STATE,2323,end apogee,CONTROL_FINISHED_OK
$STATE,2323,begin climb
$GC,2326,0.99,146.0,106.4,0.0,378,2450,1.27,0.00,115.78,0.683,6,0.064,0.000,3035,1871,2904
$GC,2588,0.86,146.0,84.7,10.6,420,2596,0.12,0.00,0.00,0.000,6,0.117,0.000,3012,1871,2902
$GC,2733,0.77,146.0,71.4,8.9,445,2739,0.12,0.00,0.00,0.000,6,0.123,0.000,2988,1871,2902
$GC,2876,0.73,146.0,59.0,8.2,470,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1871,2902
$GC,3023,0.70,146.0,46.7,8.0,495,3029,0.00,2.33,0.00,0.000,4,0.000,0.050,2989,3239,2902
$GC,3049,0.67,146.0,44.5,8.4,499,3056,0.10,2.35,0.00,0.000,6,0.120,0.043,2970,1844,2902
$GC,3194,0.68,152.6,33.9,7.2,524,3211,0.00,2.47,6.95,0.558,4,0.000,0.061,2970,444,2877
$GC,3227,0.68,154.6,31.6,7.4,528,3236,0.00,2.35,3.28,0.381,6,0.000,0.038,2970,1837,2869
$GC,3308,0.68,154.6,25.4,7.5,541,3316,0.00,2.42,0.00,0.000,4,0.000,0.051,2970,3249,2868
$GC,3338,0.69,163.8,23.4,7.1,545,3354,0.00,2.40,9.07,0.584,6,0.000,0.044,2970,1845,2831
$GC,3425,0.70,172.7,16.7,7.2,559,3441,0.00,2.47,8.85,0.577,4,0.000,0.059,2970,438,2794
$GC,3458,0.70,172.7,14.4,7.7,563,3466,0.00,2.38,0.00,0.000,6,0.000,0.038,2970,1844,2793
$GC,3539,0.77,208.2,8.5,6.2,576,3581,0.00,2.47,29.98,0.625,4,0.000,0.059,2970,3256,2650
$GC,3609,0.92,253.3,4.4,5.9,585,3653,0.20,2.40,35.65,0.615,2,0.040,0.043,3030,1855,2478
$STATE,3654,end climb,SURFACE_DEPTH_REACHED
$STATE,3654,begin surface coast
$FINISH,1.2,1.019850
$STATE,3695,end surface coast,CONTROL_FINISHED_OK
$STATE,3695,begin surface
$SM_CCo,3718,73.12,0.605,0,0,1868,400.08
$SM_GC,1.39,0.00,0.00,73.12,0.000,0.000,0.605,419,1731,1868,-11.05,-0.54,400.08
$IRIDIUM_FIX,4748.51,-12214.67,290598,070700
$TT8_MAMPS,0.027612
$HUMID,1485
$INTERNAL_PRESSURE,9.18391
$TCM_TEMP,12.80
$XPDR_PINGS,6
$24V_AH,23.5,1.718
$10V_AH,9.6,1.525
$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,26.150,67.750,298.975,73.125,0.000,24.004,24.805,234.801,1.500,0.000,0.000,32.659,953.703,428.469,421.406,1759.954,687.292,33.347,1091.115,0.000,1834.133,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,69.797,709.475,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,459.004,345.105,636.407,759.591,1421.047,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47929,597
$CAP_FILE_SIZE,194443,0
$CFSIZE,260165632,223375360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,092936,4806.131,-12222.231,11,1.6,27,18.3