version: 66.04
glider: 148
mission: 7
dive: 12
start: 3 4 109 6 24 52
data:
$ID,148
$MISSION,7
$DIVE,12
$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,733.20166
$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,-19512.977
$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,23
$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
$GPS1,060752,4806.952,-12222.750,127,4.1,146,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.6
$GPS2,062357,4806.870,-12222.787,10,3.4,29,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.192
$KALMAN_X,-1478.6,-291.0,-74.1,2299.7,-138.6
$KALMAN_Y,2129.7,433.0,19.1,-4821.6,104.9
$MHEAD_RNG_PITCHd_Wd,126.7,1882,-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,17,-0.99,-146.0,0.0,0.0,0,91,0.00,0.00,-72.18,0.000,2,0.000,0.000,420,1973,3668
$GC,95,-0.99,-146.0,3.5,-3.5,9,120,12.00,2.33,-7.18,0.000,4,0.173,0.076,2594,623,3951
$GC,379,-0.86,-146.0,22.5,-6.6,57,387,0.15,2.38,0.00,0.000,6,0.104,0.041,2628,2029,3953
$GC,458,-0.86,-146.0,26.9,-5.5,70,465,0.00,2.45,0.00,0.000,4,0.000,0.058,2628,628,3952
$GC,532,-0.86,-146.0,31.3,-5.8,82,540,0.00,2.38,0.00,0.000,6,0.000,0.041,2628,2033,3952
$GC,611,-0.86,-146.0,35.2,-4.7,95,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2033,3952
$GC,691,-0.86,-146.0,39.1,-4.6,108,699,0.00,2.45,0.00,0.000,4,0.000,0.057,2628,629,3952
$GC,741,-0.86,-146.0,41.7,-5.7,116,749,0.00,2.35,0.00,0.000,6,0.000,0.041,2628,2024,3952
$GC,887,-0.86,-146.0,48.5,-4.6,141,893,0.00,2.42,0.00,0.000,4,0.000,0.057,2628,615,3952
$GC,938,-0.86,-146.0,51.1,-5.5,149,944,0.00,2.35,0.00,0.000,6,0.000,0.040,2628,2030,3952
$GC,1080,-0.86,-146.0,58.0,-4.9,174,1088,0.00,2.45,0.00,0.000,4,0.000,0.057,2629,623,3952
$GC,1138,-0.86,-146.0,61.0,-5.4,183,1144,0.00,2.35,0.00,0.000,6,0.000,0.043,2628,2038,3952
$GC,1278,-0.86,-146.0,67.5,-4.4,208,1287,0.00,2.45,0.00,0.000,4,0.000,0.057,2628,628,3952
$GC,1328,-0.86,-146.0,69.9,-5.0,216,1335,0.00,2.35,0.00,0.000,6,0.000,0.040,2628,2030,3952
$GC,1475,-0.86,-146.0,76.0,-4.2,241,1481,0.00,2.42,0.00,0.000,4,0.000,0.056,2628,616,3952
$GC,1504,-0.86,-146.0,77.5,-4.8,246,1512,0.00,2.38,0.00,0.000,6,0.000,0.040,2629,2030,3952
$STATE,1563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1563,begin apogee
$GC,1570,-0.31,0.0,80.3,4.5,255,1668,0.55,0.00,89.00,0.700,6,0.091,0.000,2750,2034,3499
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1669,begin climb
$GC,1672,0.99,146.0,81.8,0.0,269,1793,1.25,0.00,115.22,0.673,6,0.062,0.000,3035,2034,2904
$GC,1935,0.86,146.0,60.5,10.5,311,1942,0.12,2.45,0.00,0.000,4,0.115,0.059,3011,624,2903
$GC,1986,0.76,146.0,55.7,9.9,319,1993,0.12,2.38,0.00,0.000,6,0.123,0.049,2989,2036,2902
$GC,2131,0.76,146.0,43.5,7.9,344,2139,0.00,2.47,0.00,0.000,4,0.000,0.060,2988,629,2902
$GC,2165,0.73,146.0,40.8,8.5,349,2171,0.00,2.35,0.00,0.000,6,0.000,0.041,2988,2030,2902
$GC,2310,0.73,146.0,29.4,7.6,374,2318,0.00,2.47,0.00,0.000,4,0.000,0.060,2988,624,2902
$GC,2332,0.70,146.0,27.6,7.7,377,2341,0.00,2.38,0.00,0.000,6,0.000,0.041,2988,2023,2902
$GC,2412,0.70,146.0,21.4,7.7,390,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2023,2902
$GC,2492,0.70,146.0,15.5,7.5,403,2500,0.00,2.45,0.00,0.000,4,0.000,0.059,2988,628,2902
$GC,2533,0.70,146.0,12.3,7.9,409,2541,0.00,2.38,0.00,0.000,6,0.000,0.041,2988,2028,2902
$GC,2615,0.75,189.4,7.0,6.0,422,2658,0.00,2.50,35.78,0.630,4,0.000,0.054,2988,3439,2726
$STATE,2732,end climb,SURFACE_DEPTH_REACHED
$STATE,2732,begin surface coast
$FINISH,2.5,1.020206
$STATE,2762,end surface coast,CONTROL_FINISHED_OK
$STATE,2762,begin surface
$SM_CCo,2787,354.98,0.607,1,1,534,727.31
$SM_CCo,3151,4.00,0.386,0,0,511,733.20
$SM_GC,1.10,0.00,0.00,4.00,0.000,0.000,0.386,418,2022,511,-11.05,-0.23,733.20
$IRIDIUM_FIX,4748.51,-12224.57,290598,060636
$TT8_MAMPS,0.027612
$HUMID,1465
$INTERNAL_PRESSURE,9.05695
$TCM_TEMP,12.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.3,6.3
$24V_AH,23.5,1.542
$10V_AH,10.4,1.305
$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,25.325,57.750,240.000,358.975,0.000,165.693,154.248,191.935,1.500,0.000,0.000,33.843,719.787,483.453,644.121,1386.127,867.347,33.336,1158.151,0.000,1463.141,0.000,6.017,0.000
$DEVICE_MAMPS,173.342,75.933,699.504,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.278,274.294,528.746,632.301,1173.928,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35011,445
$CAP_FILE_SIZE,157552,8
$CFSIZE,260165632,223510528
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,040309,071836,4806.653,-12222.695,12,1.5,28,18.3