version: 66.03
glider: 148
mission: 6
dive: 189
start: 9 5 108 17 30 28
data:
$ID,148
$MISSION,6
$DIVE,189
$D_SURF,3
$D_FLARE,3
$D_TGT,510
$D_ABORT,700
$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,200
$T_MISSION,300
$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,140
$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,440
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10118.703
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$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,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2749
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,61.200001
$PRESSURE_YINT,-11.792777
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043992815
$SEABIRD_T_H,0.00064238382
$SEABIRD_T_I,2.7016365e-05
$SEABIRD_T_J,3.0340441e-06
$SEABIRD_C_G,-10.010528
$SEABIRD_C_H,1.1459081
$SEABIRD_C_I,-0.0015769247
$SEABIRD_C_J,0.00021306775
$GPS1,172201,2248.653,-15748.601,29,0.9,39,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-61.2
$GPS2,172932,2248.565,-15748.679,10,1.2,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.035
$KALMAN_X,-124663.0,-148.0,-295.4,139251.2,-1227.9
$KALMAN_Y,-124623.3,143.3,-491.9,125839.9,-871.2
$MHEAD_RNG_PITCHd_Wd,93.7,1182,-27.0,-8.500
$D_GRID,510
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.75,-49.4,0.0,0.0,0,107,0.00,0.00,-85.05,0.000,2,0.000,0.000,406,2087,2750
$GC,110,-1.80,-89.9,3.4,-3.8,11,136,11.30,2.35,-8.12,0.000,4,0.161,0.041,2521,642,3118
$GC,151,-1.01,-89.9,12.1,-18.3,16,160,0.82,2.17,0.00,0.000,6,0.119,0.019,2692,2030,3119
$GC,368,-1.28,-89.9,39.0,-11.4,47,370,0.22,0.00,0.00,0.000,6,0.039,0.000,2622,2031,3120
$GC,559,-1.46,-89.9,62.6,-11.3,65,563,0.00,2.20,0.00,0.000,4,0.000,0.039,2622,646,3120
$GC,592,-1.65,-89.9,67.0,-12.2,67,601,0.22,2.20,0.00,0.000,6,0.029,0.019,2542,2056,3120
$GC,789,-1.65,-89.9,101.7,-19.1,86,792,0.00,2.25,0.00,0.000,4,0.000,0.030,2542,637,3120
$GC,878,-1.69,-89.9,120.1,-21.0,93,884,0.00,2.20,0.00,0.000,6,0.000,0.020,2542,2041,3120
$GC,1078,-1.73,-89.9,156.7,-16.6,112,1082,0.00,2.20,0.00,0.000,4,0.000,0.031,2542,649,3121
$GC,1208,-1.80,-89.9,179.4,-15.4,123,1212,0.00,2.17,0.00,0.000,6,0.000,0.020,2542,2057,3121
$GC,1556,-1.89,-89.9,227.1,-12.7,141,1560,0.15,2.25,0.00,0.000,4,0.047,0.031,2487,641,3121
$GC,1762,-1.89,-89.9,262.8,-16.1,145,1766,0.05,2.20,0.00,0.000,6,0.125,0.020,2500,2046,3122
$GC,2099,-1.94,-89.9,310.1,-13.5,154,2103,0.00,2.22,0.00,0.000,4,0.000,0.038,2500,653,3121
$GC,2357,-1.99,-89.9,346.0,-13.7,159,2363,0.00,2.17,0.00,0.000,6,0.000,0.024,2500,2049,3121
$GC,2688,-2.06,-89.9,386.4,-12.1,168,2693,0.12,2.28,0.00,0.000,4,0.058,0.044,2460,655,3121
$GC,2887,-2.06,-89.9,415.8,-14.2,172,2892,0.00,2.22,0.00,0.000,6,0.000,0.029,2460,2039,3119
$GC,3230,-2.06,-89.9,459.5,-12.2,181,3234,0.00,2.28,0.00,0.000,4,0.000,0.046,2460,654,3117
$GC,3487,-2.06,-89.9,494.3,-14.0,186,3493,0.00,2.25,0.00,0.000,6,0.000,0.039,2460,2048,3115
$STATE,3614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3614,begin apogee
$GC,3619,-0.31,0.0,511.1,13.3,190,3697,1.83,0.00,73.62,0.900,6,0.107,0.000,2846,2048,2749
$STATE,3697,end apogee,CONTROL_FINISHED_OK
$STATE,3698,begin climb
$GC,3700,1.80,89.9,513.8,0.0,192,3783,1.95,2.42,74.65,0.880,4,0.043,0.065,3316,3409,2381
$GC,3834,1.51,89.9,503.2,13.4,195,3839,0.32,2.28,0.00,0.000,6,0.125,0.031,3253,2012,2378
$GC,4155,1.35,89.9,470.0,9.9,203,4160,0.15,2.42,0.00,0.000,4,0.128,0.064,3220,596,2374
$GC,4170,1.20,89.9,468.0,9.9,203,4175,0.20,2.28,0.00,0.000,6,0.120,0.031,3182,2003,2373
$GC,4519,1.20,89.9,433.6,11.0,212,4523,0.00,2.33,0.00,0.000,4,0.000,0.051,3182,596,2370
$GC,4693,1.15,89.9,413.6,10.3,215,4699,0.00,2.25,0.00,0.000,6,0.000,0.026,3182,2004,2368
$GC,5024,1.16,96.6,385.3,7.7,224,5033,0.00,2.38,4.12,0.568,4,0.000,0.058,3182,3401,2355
$GC,5068,1.16,96.7,381.7,8.5,225,5072,0.00,2.28,0.00,0.000,6,0.000,0.029,3182,1984,2354
$GC,5392,1.16,97.2,355.3,8.5,233,5396,0.00,2.33,0.00,0.000,4,0.000,0.061,3182,596,2352
$GC,5492,1.12,97.2,345.6,9.4,235,5496,0.00,2.22,0.00,0.000,6,0.000,0.022,3182,2007,2351
$GC,5839,1.13,109.1,317.9,7.1,244,5852,0.00,0.00,11.25,0.748,6,0.000,0.000,3182,2007,2304
$GC,6164,1.14,114.0,292.3,7.9,252,6174,0.00,2.35,5.57,0.622,4,0.000,0.044,3182,595,2283
$GC,6303,1.14,114.0,280.1,8.9,255,6307,0.00,2.22,0.00,0.000,6,0.000,0.027,3182,2002,2282
$GC,6623,1.19,122.8,255.4,7.5,263,6634,0.00,0.00,8.57,0.673,6,0.000,0.000,3182,2003,2247
$GC,6947,1.25,136.4,231.1,6.9,271,6961,0.00,0.00,12.62,0.690,6,0.000,0.000,3182,2002,2193
$GC,7272,1.32,136.4,200.8,10.0,279,7277,0.10,2.30,0.00,0.000,4,0.067,0.044,3214,596,2190
$GC,7529,1.32,136.4,174.2,10.3,299,7536,0.00,2.22,0.00,0.000,6,0.000,0.023,3215,1995,2188
$GC,7855,1.32,138.1,147.0,8.3,330,7859,0.00,2.28,0.00,0.000,4,0.000,0.038,3215,589,2188
$GC,8063,1.32,138.1,129.7,8.5,348,8067,0.00,2.22,0.00,0.000,6,0.000,0.023,3215,2007,2188
$GC,8260,1.37,176.4,119.1,4.1,366,8300,0.00,0.00,33.85,0.617,6,0.000,0.000,3215,2007,2030
$GC,8493,1.43,187.1,105.0,7.3,388,8505,0.00,0.00,10.05,0.546,6,0.000,0.000,3215,2007,1986
$GC,8696,1.50,187.1,85.0,11.8,407,8701,0.12,2.30,0.00,0.000,4,0.055,0.037,3258,585,1984
$GC,8706,1.54,187.1,83.4,11.1,407,8712,0.00,2.22,0.00,0.000,6,0.000,0.021,3258,2002,1984
$GC,8905,1.54,187.1,59.4,11.4,426,8909,0.00,2.28,0.00,0.000,4,0.000,0.042,3258,3403,1984
$GC,8946,1.54,187.1,55.0,10.6,429,8950,0.00,2.22,0.00,0.000,6,0.000,0.028,3258,1982,1982
$GC,9145,1.54,187.1,35.1,10.1,447,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1982,1982
$GC,9344,1.54,187.1,15.9,9.4,477,9353,0.00,2.33,0.00,0.000,4,0.000,0.037,3258,3397,1982
$GC,9367,1.54,187.1,13.8,9.5,480,9375,0.00,2.20,0.00,0.000,6,0.000,0.022,3258,1999,1982
$STATE,9473,end climb,SURFACE_DEPTH_REACHED
$STATE,9473,begin surface coast
$FINISH,0.7,1.010395
$STATE,9503,end surface coast,CONTROL_FINISHED_OK
$STATE,9503,begin surface
$SM_CCo,9523,123.70,0.506,0,0,954,440.07
$SM_GC,1.56,0.00,0.00,123.70,0.000,0.000,0.506,407,2137,954,-11.56,2.46,440.07
$IRIDIUM_FIX,2241.69,-15829.72,301197,141454
$TT8_MAMPS,0.026845
$HUMID,1674
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,151
$24V_AH,23.8,32.464
$10V_AH,10.1,29.452
$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
$DEVICE_SECS,29.125,86.025,234.325,123.700,0.000,27.393,29.392,278.153,37.750,0.000,0.000,17.139,1022.603,6138.867,460.136,1892.647,582.599,33.362,1185.243,0.000,1941.060,0.000,0.468
$DEVICE_MAMPS,161.070,72.098,899.691,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.898,326.045,587.200,460.773,943.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38362,503
$CAP_FILE_SIZE,209151,0
$CFSIZE,260165632,245563392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050908,201232,2248.180,-15748.034,39,1.4,39,10.1