version: 66.04
glider: 148
mission: 7
dive: 9
start: 3 4 109 3 14 19
data:
$ID,148
$MISSION,7
$DIVE,9
$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,-19419.309
$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,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,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
$GPS1,030537,4807.607,-12223.176,8,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.2
$GPS2,031326,4807.604,-12223.102,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.231
$KALMAN_X,-744.5,-335.1,-53.4,1199.8,-86.8
$KALMAN_Y,1334.7,550.2,78.6,-2845.0,106.7
$MHEAD_RNG_PITCHd_Wd,134.6,3269,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-78.88,0.000,2,0.000,0.000,421,1975,3802
$GC,102,-1.27,-146.0,4.1,-7.4,10,127,11.88,2.42,-3.28,0.000,4,0.177,0.065,2551,3369,3953
$GC,273,-1.21,-146.0,21.6,-6.8,38,281,0.00,2.38,0.00,0.000,6,0.000,0.041,2551,1973,3953
$GC,353,-1.15,-146.0,27.4,-6.9,51,361,0.15,2.45,0.00,0.000,4,0.121,0.058,2579,568,3953
$GC,394,-1.15,-146.0,30.2,-7.0,57,402,0.00,2.38,0.00,0.000,6,0.000,0.041,2580,1973,3954
$GC,473,-1.15,-146.0,35.2,-5.9,70,481,0.00,2.47,0.00,0.000,4,0.000,0.058,2580,563,3954
$GC,504,-1.15,-146.0,37.2,-7.1,74,511,0.00,2.38,0.00,0.000,6,0.000,0.041,2580,1970,3954
$GC,587,-1.15,-146.0,42.6,-6.2,87,593,0.00,2.45,0.00,0.000,4,0.000,0.058,2580,556,3954
$GC,624,-1.15,-146.0,45.4,-7.4,93,630,0.00,2.35,0.00,0.000,6,0.000,0.041,2580,1972,3954
$GC,766,-1.15,-146.0,54.2,-6.0,118,774,0.00,2.47,0.00,0.000,4,0.000,0.058,2580,559,3954
$GC,835,-1.15,-146.0,58.6,-6.9,129,841,0.00,2.35,0.00,0.000,6,0.000,0.039,2579,1974,3954
$GC,979,-1.15,-146.0,67.5,-5.2,154,987,0.00,2.47,0.00,0.000,4,0.000,0.058,2579,560,3954
$GC,1049,-1.15,-146.0,71.9,-6.9,165,1055,0.00,2.35,0.00,0.000,6,0.000,0.039,2580,1979,3954
$GC,1192,-1.19,-146.0,80.2,-5.7,190,1200,0.00,2.47,0.00,0.000,4,0.000,0.064,2580,564,3954
$GC,1286,-1.19,-146.0,86.3,-6.8,205,1292,0.00,2.33,0.00,0.000,6,0.000,0.039,2579,1971,3954
$GC,1436,-1.23,-146.0,95.1,-5.6,230,1444,0.00,2.45,0.00,0.000,4,0.000,0.058,2580,568,3954
$GC,1494,-1.23,-146.0,99.1,-7.1,239,1500,0.00,2.33,0.00,0.000,6,0.000,0.045,2580,1972,3953
$GC,1634,-1.27,-146.0,107.8,-6.0,264,1642,0.00,2.45,0.00,0.000,4,0.000,0.058,2580,566,3954
$GC,1681,-1.27,-146.0,110.6,-6.7,271,1687,0.00,2.33,0.00,0.000,6,0.000,0.039,2579,1973,3953
$STATE,1704,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1704,begin apogee
$GC,1711,-0.31,0.0,112.5,6.6,275,1806,0.85,0.00,89.43,0.721,6,0.099,0.000,2762,1977,3499
$STATE,1807,end apogee,CONTROL_FINISHED_OK
$STATE,1807,begin climb
$GC,1810,1.27,146.0,114.0,0.0,289,1935,1.52,2.58,115.57,0.693,4,0.061,0.064,3110,559,2904
$GC,1950,1.08,146.0,102.2,13.4,309,1957,0.20,2.38,0.00,0.000,6,0.120,0.043,3073,1965,2902
$GC,2094,0.99,146.0,83.7,12.4,334,2102,0.10,2.47,0.00,0.000,4,0.140,0.061,3056,562,2902
$GC,2117,0.91,146.0,80.9,12.6,337,2124,0.12,2.38,0.00,0.000,6,0.130,0.042,3033,1973,2901
$GC,2261,0.91,146.0,65.1,10.7,362,2268,0.00,2.47,0.00,0.000,4,0.000,0.064,3033,571,2902
$GC,2306,0.91,146.0,60.5,10.9,369,2313,0.00,2.35,0.00,0.000,6,0.000,0.042,3033,1971,2901
$GC,2446,0.92,151.4,46.0,9.8,394,2455,0.00,0.00,6.03,0.540,6,0.000,0.000,3033,1971,2882
$GC,2595,0.93,162.4,31.6,9.5,419,2611,0.00,2.47,10.50,0.602,4,0.000,0.060,3033,560,2837
$GC,2638,0.93,162.4,27.1,10.3,425,2646,0.00,2.40,0.00,0.000,6,0.000,0.042,3033,1967,2836
$GC,2718,0.93,166.5,19.1,9.8,438,2727,0.00,0.00,4.88,0.492,6,0.000,0.000,3033,1968,2820
$GC,2800,0.96,191.0,11.1,8.9,451,2824,0.00,0.00,21.08,0.622,6,0.000,0.000,3033,1967,2720
$GC,2896,1.28,290.1,4.6,5.4,466,2954,0.30,0.00,55.30,0.624,2,0.042,0.000,3114,1968,2386
$STATE,2955,end climb,SURFACE_DEPTH_REACHED
$STATE,2955,begin surface coast
$FINISH,0.8,1.018171
$STATE,2997,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3019,37.12,0.606,0,0,2073,350.04
$SM_GC,1.58,0.00,0.00,37.12,0.000,0.000,0.606,422,1970,2073,-11.10,0.00,350.04
$IRIDIUM_FIX,4751.72,-12220.85,290598,020221
$TT8_MAMPS,0.027612
$HUMID,1475
$INTERNAL_PRESSURE,9.19367
$TCM_TEMP,13.20
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,95.1,27.3
$24V_AH,23.5,1.252
$10V_AH,10.4,0.999
$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,26.900,62.775,302.775,37.125,0.000,25.730,28.469,240.942,4.000,0.000,0.000,14.247,769.912,342.592,352.841,1402.057,635.759,33.325,916.384,0.000,1496.149,0.000,16.103,0.000
$DEVICE_MAMPS,177.177,65.195,720.980,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.524,256.406,507.805,622.471,1153.173,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38168,480
$CAP_FILE_SIZE,158965,0
$CFSIZE,260165632,223690752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,040646,4807.344,-12223.055,29,99.0,48,18.3