version: 66.04
glider: 148
mission: 7
dive: 20
start: 3 4 109 15 20 3
data:
$ID,148
$MISSION,7
$DIVE,20
$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,-19702.863
$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
$GPS1,151103,4806.490,-12222.788,9,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.4
$GPS2,151908,4806.421,-12222.729,12,1.2,12,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.213
$KALMAN_X,-2942.6,59.8,91.7,3316.4,-11.0
$KALMAN_Y,2329.5,-357.4,-165.7,-4872.3,-70.4
$MHEAD_RNG_PITCHd_Wd,317.2,3320,-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,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,-86.90,0.000,2,0.000,0.000,416,1741,3748
$GC,112,-0.99,-146.0,3.8,-3.8,11,137,11.98,0.00,-4.68,0.000,6,0.173,0.000,2584,1741,3950
$GC,211,-0.86,-146.0,13.3,-4.9,26,219,0.17,0.00,0.00,0.000,6,0.114,0.000,2623,1741,3951
$GC,291,-0.81,-146.0,17.2,-4.7,39,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1742,3950
$GC,371,-0.77,-146.0,20.9,-4.8,52,379,0.10,0.00,0.00,0.000,6,0.114,0.000,2642,1741,3950
$GC,450,-0.77,-146.0,24.7,-4.5,65,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1741,3950
$GC,530,-0.77,-146.0,28.2,-4.4,78,539,0.00,2.42,0.00,0.000,4,0.000,0.048,2642,3155,3950
$GC,567,-0.77,-146.0,29.7,-4.3,83,575,0.00,2.38,0.00,0.000,6,0.000,0.041,2642,1757,3951
$GC,647,-0.77,-146.0,33.4,-4.4,96,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1757,3950
$GC,726,-0.77,-146.0,37.0,-4.6,109,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1757,3951
$GC,804,-0.77,-146.0,40.5,-4.5,122,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1757,3950
$GC,948,-0.77,-146.0,47.0,-4.4,147,954,0.00,2.38,0.00,0.000,4,0.000,0.046,2643,3164,3951
$GC,975,-0.80,-146.0,48.1,-4.3,151,982,0.00,2.38,0.00,0.000,6,0.000,0.040,2643,1744,3950
$GC,1119,-0.80,-146.0,53.9,-3.7,176,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1744,3950
$GC,1267,-0.84,-146.0,59.5,-3.8,201,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1744,3950
$GC,1409,-0.87,-146.0,65.3,-4.1,226,1418,0.00,2.40,0.00,0.000,4,0.000,0.046,2643,3151,3950
$GC,1436,-0.91,-146.0,66.5,-4.4,230,1443,0.10,2.38,0.00,0.000,6,0.038,0.040,2602,1748,3950
$GC,1583,-0.86,-146.0,74.0,-5.3,255,1590,0.10,2.40,0.00,0.000,4,0.110,0.066,2623,347,3950
$GC,1602,-0.82,-146.0,75.3,-5.2,258,1610,0.00,2.35,0.00,0.000,6,0.000,0.037,2622,1759,3950
$GC,1749,-0.82,-146.0,82.2,-4.9,283,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1761,3950
$GC,1891,-0.82,-146.0,88.6,-4.2,308,1900,0.00,2.35,0.00,0.000,4,0.000,0.047,2622,3151,3950
$GC,1926,-0.82,-146.0,90.3,-4.4,313,1933,0.00,2.35,0.00,0.000,6,0.000,0.041,2622,1741,3950
$GC,2067,-0.82,-146.0,96.8,-4.6,338,2075,0.00,2.42,0.00,0.000,4,0.000,0.061,2623,346,3950
$GC,2114,-0.82,-146.0,99.1,-5.3,345,2121,0.00,2.30,0.00,0.000,6,0.000,0.036,2623,1754,3950
$STATE,2194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2194,begin apogee
$GC,2202,-0.31,0.0,103.2,4.8,359,2297,0.52,0.00,89.12,0.709,6,0.091,0.000,2739,1869,3499
$STATE,2298,end apogee,CONTROL_FINISHED_OK
$STATE,2298,begin climb
$GC,2301,0.99,146.0,105.1,0.0,373,2426,1.27,2.58,115.60,0.683,4,0.065,0.066,3027,445,2904
$GC,2464,0.84,146.0,94.3,10.3,397,2470,0.15,2.33,0.00,0.000,6,0.112,0.037,2999,1840,2902
$GC,2608,0.78,146.0,81.3,8.7,422,2616,0.00,2.45,0.00,0.000,4,0.000,0.053,2999,3254,2902
$GC,2655,0.73,146.0,77.4,9.0,429,2662,0.15,2.38,0.00,0.000,6,0.110,0.042,2970,1850,2902
$GC,2799,0.73,146.0,66.2,7.5,454,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1850,2901
$GC,2946,0.73,151.4,55.9,7.3,479,2960,0.00,2.45,5.75,0.534,4,0.000,0.051,2970,3254,2882
$GC,2974,0.73,151.4,53.7,7.5,483,2980,0.00,2.38,0.00,0.000,6,0.000,0.041,2970,1846,2883
$GC,3114,0.74,154.7,43.4,7.3,508,3123,0.00,0.00,4.47,0.481,6,0.000,0.000,2970,1846,2869
$GC,3265,0.75,162.9,32.9,7.2,533,3281,0.00,2.45,8.40,0.583,4,0.000,0.050,2970,3251,2835
$GC,3297,0.76,174.9,30.5,7.0,537,3315,0.00,2.40,11.10,0.600,6,0.000,0.041,2970,1849,2787
$GC,3387,0.77,185.3,24.0,7.1,551,3403,0.00,0.00,9.98,0.588,6,0.000,0.000,2970,1849,2744
$GC,3475,0.78,194.0,17.7,7.2,565,3491,0.00,2.45,8.60,0.572,4,0.000,0.050,2970,3252,2709
$GC,3509,0.82,194.2,15.3,7.5,569,3517,0.00,2.40,0.00,0.000,6,0.000,0.041,2970,1850,2709
$GC,3590,0.86,203.1,9.0,7.2,582,3607,0.12,2.45,9.15,0.574,4,0.056,0.061,3009,434,2671
$GC,3635,0.86,203.1,5.2,8.5,588,3643,0.00,2.38,0.00,0.000,6,0.000,0.038,3009,1843,2671
$STATE,3688,end climb,SURFACE_DEPTH_REACHED
$STATE,3688,begin surface coast
$FINISH,1.3,1.018515
$STATE,3805,end surface coast,CONTROL_FINISHED_OK
$STATE,3805,begin surface
$SM_CCo,3827,95.55,0.617,0,0,1868,400.08
$SM_GC,1.24,0.00,0.00,95.55,0.000,0.000,0.617,419,1737,1868,-11.01,-0.37,400.08
$IRIDIUM_FIX,4748.51,-12226.29,290598,141453
$TT8_MAMPS,0.027612
$HUMID,1482
$INTERNAL_PRESSURE,9.17414
$TCM_TEMP,13.20
$XPDR_PINGS,5
$24V_AH,23.5,2.249
$10V_AH,10.4,2.205
$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,25.800,57.850,262.175,95.550,0.000,23.557,24.146,252.244,1.250,0.000,0.000,13.818,993.286,429.493,425.964,1812.895,721.363,33.341,1101.651,0.000,1924.410,0.000,0.531,0.000
$DEVICE_MAMPS,172.575,65.962,709.475,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,459.874,338.449,658.494,799.824,1499.887,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50921,617
$CAP_FILE_SIZE,201892,0
$CFSIZE,260165632,223006720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040309,162619,4806.649,-12223.028,11,1.7,11,18.3