version: 66.04
glider: 148
mission: 7
dive: 19
start: 3 4 109 14 6 2
data:
$ID,148
$MISSION,7
$DIVE,19
$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,-19688.416
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,135654,4806.310,-12222.599,33,1.6,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.6
$GPS2,140507,4806.257,-12222.516,9,1.7,14,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.212
$KALMAN_X,-2890.5,19.5,66.4,3593.3,21.1
$KALMAN_Y,2478.3,-284.3,-124.6,-5440.2,-136.2
$MHEAD_RNG_PITCHd_Wd,316.4,3713,-13.0,-7.463
$D_GRID,103
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,115,0.00,0.00,-96.78,0.000,6,0.000,0.000,421,1741,3951
$GC,119,-0.99,-146.0,3.6,-3.0,12,135,11.98,0.00,0.00,0.000,6,0.174,0.000,2584,1741,3954
$GC,207,-0.87,-146.0,14.5,-5.1,26,215,0.17,0.00,0.00,0.000,6,0.114,0.000,2618,1741,3954
$GC,287,-0.81,-146.0,18.2,-4.6,39,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1741,3955
$GC,367,-0.75,-146.0,22.2,-5.1,52,375,0.15,2.42,0.00,0.000,4,0.104,0.060,2649,355,3955
$GC,398,-0.75,-146.0,23.5,-4.8,56,406,0.00,2.35,0.00,0.000,6,0.000,0.038,2648,1758,3955
$GC,477,-0.75,-146.0,26.9,-3.8,69,485,0.00,2.38,0.00,0.000,4,0.000,0.048,2649,3153,3955
$GC,509,-0.78,-146.0,28.1,-4.1,73,517,0.00,2.38,0.00,0.000,6,0.000,0.040,2648,1755,3955
$GC,590,-0.82,-146.0,31.6,-3.9,86,598,0.00,2.45,0.00,0.000,4,0.000,0.061,2648,349,3955
$GC,620,-0.85,-146.0,32.9,-4.2,90,628,0.00,2.35,0.00,0.000,6,0.000,0.037,2648,1755,3955
$GC,700,-0.89,-146.0,36.5,-4.0,103,709,0.15,2.38,0.00,0.000,4,0.046,0.046,2602,3154,3955
$GC,731,-0.89,-146.0,38.1,-4.8,107,739,0.00,2.38,0.00,0.000,6,0.000,0.040,2602,1753,3955
$GC,809,-0.83,-146.0,43.0,-6.1,120,818,0.15,2.40,0.00,0.000,4,0.102,0.046,2633,3154,3955
$GC,836,-0.83,-146.0,44.4,-5.5,124,844,0.00,2.38,0.00,0.000,6,0.000,0.040,2633,1753,3955
$GC,982,-0.83,-146.0,51.4,-5.4,149,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1753,3955
$GC,1123,-0.83,-146.0,58.1,-4.7,174,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1752,3954
$GC,1271,-0.83,-146.0,64.8,-4.6,199,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1753,3955
$GC,1412,-0.83,-146.0,71.3,-4.2,224,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1753,3955
$GC,1561,-0.83,-146.0,78.1,-4.8,249,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1752,3955
$GC,1703,-0.83,-146.0,84.7,-4.4,274,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1752,3955
$GC,1850,-0.83,-146.0,91.0,-4.1,299,1856,0.00,2.38,0.00,0.000,4,0.000,0.045,2633,3165,3955
$GC,1879,-0.83,-146.0,92.1,-4.4,303,1885,0.00,2.38,0.00,0.000,6,0.000,0.045,2633,1740,3955
$GC,2019,-0.83,-146.0,98.1,-4.3,328,2027,0.00,2.42,0.00,0.000,4,0.000,0.062,2633,346,3955
$GC,2053,-0.83,-146.0,99.6,-4.7,333,2060,0.00,2.30,0.00,0.000,6,0.000,0.042,2633,1754,3955
$STATE,2126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2126,begin apogee
$GC,2134,-0.31,0.0,103.0,4.2,346,2229,0.47,0.00,89.53,0.710,6,0.091,0.000,2738,1869,3500
$STATE,2230,end apogee,CONTROL_FINISHED_OK
$STATE,2230,begin climb
$GC,2233,0.99,146.0,104.4,0.0,360,2365,1.27,2.58,115.70,0.685,4,0.065,0.065,3026,444,2903
$GC,2395,0.84,146.0,93.3,10.1,384,2403,0.12,2.35,0.00,0.000,6,0.102,0.037,2998,1832,2902
$GC,2543,0.79,146.0,80.5,8.0,409,2549,0.00,2.45,0.00,0.000,4,0.000,0.061,2998,3262,2902
$GC,2594,0.74,146.0,76.2,8.5,417,2600,0.12,2.40,0.00,0.000,6,0.115,0.042,2974,1841,2902
$GC,2737,0.76,163.4,65.5,6.9,442,2758,0.00,0.00,15.57,0.634,6,0.000,0.000,2974,1841,2831
$GC,2898,0.76,163.4,53.5,7.7,469,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1842,2831
$GC,3041,0.77,167.3,42.6,7.3,494,3050,0.00,2.47,4.38,0.474,4,0.000,0.056,2974,3258,2817
$GC,3082,0.77,167.9,39.6,7.4,500,3090,0.00,2.40,0.00,0.000,6,0.000,0.041,2975,1851,2818
$GC,3162,0.77,170.8,33.8,7.4,513,3172,0.00,2.50,4.70,0.490,4,0.000,0.060,2974,443,2803
$GC,3199,0.77,170.8,30.8,7.7,518,3207,0.00,2.38,0.00,0.000,6,0.000,0.038,2974,1849,2802
$GC,3279,0.77,171.8,24.8,7.4,531,3287,0.00,2.42,0.00,0.000,4,0.000,0.052,2975,3257,2802
$GC,3314,0.77,171.8,22.1,7.7,536,3322,0.00,2.40,0.00,0.000,6,0.000,0.043,2974,1851,2803
$GC,3393,0.78,178.3,16.3,7.2,549,3409,0.00,0.00,7.78,0.570,6,0.000,0.000,2975,1850,2772
$GC,3481,0.79,186.2,9.8,7.2,563,3496,0.00,0.00,7.97,0.565,6,0.000,0.000,2974,1851,2740
$GC,3570,1.02,263.8,4.5,4.8,577,3621,0.22,0.00,48.25,0.630,2,0.046,0.000,3038,1850,2502
$STATE,3622,end climb,SURFACE_DEPTH_REACHED
$STATE,3622,begin surface coast
$FINISH,0.9,1.017202
$STATE,3730,end surface coast,CONTROL_FINISHED_OK
$STATE,3730,begin surface
$SM_CCo,3753,75.05,0.611,0,0,1869,400.08
$SM_GC,1.46,0.00,0.00,75.05,0.000,0.000,0.611,416,1741,1869,-11.02,-0.25,400.08
$IRIDIUM_FIX,4748.51,-12224.57,290598,121248
$TT8_MAMPS,0.027612
$HUMID,1469
$INTERNAL_PRESSURE,9.17414
$TCM_TEMP,12.70
$XPDR_PINGS,7
$24V_AH,23.5,2.165
$10V_AH,10.4,2.079
$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,26.100,57.975,293.875,75.050,0.000,28.023,35.925,235.034,1.750,0.000,0.000,15.969,964.639,421.962,422.750,1769.815,718.617,33.340,1108.340,0.000,1894.816,0.000,0.532,0.000
$DEVICE_MAMPS,174.109,65.195,710.242,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,440.157,331.854,660.480,794.115,1477.301,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47654,602
$CAP_FILE_SIZE,196830,0
$CFSIZE,260165632,223076352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040309,151103,4806.490,-12222.788,9,99.0,29,18.3