version: 66.04
glider: 148
mission: 7
dive: 15
start: 3 4 109 9 38 39
data:
$ID,148
$MISSION,7
$DIVE,15
$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,-19592.393
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2812
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,092936,4806.131,-12222.231,11,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.1
$GPS2,093744,4806.126,-12222.222,11,1.6,11,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,-0.102
$KALMAN_X,-2569.0,-192.8,-82.6,3990.9,-169.4
$KALMAN_Y,2849.4,163.5,31.7,-6653.0,51.4
$MHEAD_RNG_PITCHd_Wd,104.8,361,-17.8,-7.463
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.22,-86.9,0.0,0.0,0,105,0.00,0.00,-86.50,0.000,2,0.000,0.000,420,1731,3720
$GC,112,-1.29,-146.0,3.7,-3.6,11,136,11.68,0.00,-5.25,0.000,6,0.174,0.000,2521,1732,3952
$GC,209,-1.17,-146.0,15.8,-7.6,26,217,0.17,0.00,0.00,0.000,6,0.123,0.000,2558,1731,3953
$GC,289,-1.13,-146.0,21.4,-6.8,39,296,0.00,2.40,0.00,0.000,4,0.000,0.060,2558,355,3953
$GC,352,-1.05,-146.0,26.0,-8.3,49,359,0.08,2.35,0.00,0.000,6,0.121,0.037,2576,1760,3953
$GC,431,-1.05,-146.0,31.7,-6.1,62,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1764,3953
$GC,511,-1.05,-146.0,36.7,-6.2,75,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1763,3952
$GC,589,-1.05,-146.0,41.8,-5.7,88,597,0.00,2.47,0.00,0.000,4,0.000,0.059,2576,349,3952
$GC,639,-1.05,-146.0,45.1,-7.2,96,647,0.00,2.33,0.00,0.000,6,0.000,0.038,2575,1744,3952
$GC,787,-1.05,-146.0,54.6,-6.4,121,793,0.00,2.35,0.00,0.000,4,0.000,0.046,2575,3152,3952
$GC,805,-1.05,-146.0,55.9,-6.2,124,813,0.00,2.38,0.00,0.000,6,0.000,0.041,2575,1752,3952
$GC,952,-1.05,-146.0,64.7,-6.0,149,958,0.00,2.42,0.00,0.000,4,0.000,0.063,2576,341,3952
$GC,996,-1.05,-146.0,67.7,-7.1,156,1004,0.00,2.35,0.00,0.000,6,0.000,0.038,2575,1750,3952
$GC,1142,-1.09,-146.0,77.2,-6.5,181,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1753,3952
$GC,1285,-1.12,-146.0,85.8,-5.7,206,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1753,3952
$GC,1433,-1.15,-146.0,94.0,-5.6,231,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1753,3952
$GC,1575,-1.19,-146.0,102.4,-6.0,256,1583,0.10,2.45,0.00,0.000,4,0.066,0.064,2541,351,3952
$GC,1602,-1.19,-146.0,104.4,-6.8,260,1609,0.00,2.33,0.00,0.000,6,0.000,0.037,2541,1750,3952
$STATE,1634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1634,begin apogee
$GC,1641,-0.31,0.0,107.2,7.7,266,1737,0.93,0.00,89.55,0.710,6,0.107,0.000,2736,1863,3499
$STATE,1738,end apogee,CONTROL_FINISHED_OK
$STATE,1738,begin climb
$GC,1741,1.29,146.0,109.4,0.0,280,1873,1.58,2.53,115.78,0.685,4,0.066,0.067,3092,448,2903
$GC,1881,1.14,146.0,98.1,11.8,300,1888,0.12,2.35,0.00,0.000,6,0.119,0.038,3065,1830,2903
$GC,2028,1.08,146.0,80.3,11.8,325,2034,0.00,2.45,0.00,0.000,4,0.000,0.062,3065,3257,2903
$GC,2054,1.01,146.0,77.0,12.1,329,2061,0.17,2.40,0.00,0.000,6,0.127,0.044,3032,1841,2902
$GC,2197,1.01,146.0,61.3,10.9,354,2205,0.00,2.42,0.00,0.000,4,0.000,0.060,3032,450,2902
$GC,2220,1.01,146.0,59.0,10.8,357,2226,0.00,2.33,0.00,0.000,6,0.000,0.038,3032,1850,2901
$GC,2362,1.01,146.0,43.8,9.9,382,2370,0.00,2.42,0.00,0.000,4,0.000,0.052,3032,3257,2902
$GC,2377,1.01,146.0,42.3,9.6,384,2385,0.00,2.40,0.00,0.000,6,0.000,0.042,3032,1850,2901
$GC,2524,1.01,146.0,28.0,9.8,409,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1850,2901
$GC,2604,1.01,146.0,20.4,9.3,422,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1849,2901
$GC,2684,1.01,146.0,12.8,9.8,435,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1850,2901
$GC,2762,1.05,146.0,5.7,8.4,448,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1849,2901
$GC,2842,1.38,253.0,3.4,1.3,461,2886,0.30,0.00,37.92,0.621,2,0.041,0.000,3120,1850,2616
$STATE,2886,end climb,SURFACE_DEPTH_REACHED
$STATE,2886,begin surface coast
$FINISH,0.8,1.019278
$STATE,3086,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3086,begin surface
$SM_CCo,3109,88.10,0.614,0,0,1869,400.08
$SM_GC,1.44,0.00,0.00,88.10,0.000,0.000,0.614,421,1740,1869,-11.00,-0.28,400.08
$IRIDIUM_FIX,4748.51,-12220.12,290598,080852
$TT8_MAMPS,0.026845
$HUMID,1466
$INTERNAL_PRESSURE,9.17414
$TCM_TEMP,11.30
$XPDR_PINGS,5
$24V_AH,23.5,1.798
$10V_AH,10.4,1.630
$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,26.900,43.425,243.250,88.100,0.000,32.680,25.719,241.864,1.250,0.000,0.000,12.688,802.775,316.247,389.106,1487.885,663.638,33.349,959.864,0.000,1567.468,0.000,0.533,0.000
$DEVICE_MAMPS,174.109,66.729,710.242,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.555,307.259,546.175,656.508,1235.247,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41435,501
$CAP_FILE_SIZE,166888,0
$CFSIZE,260165632,223346688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040309,103249,4805.870,-12221.865,7,1.2,12,18.3