version: 66.03
glider: 148
mission: 6
dive: 193
start: 9 6 108 5 6 52
data:
$ID,148
$MISSION,6
$DIVE,193
$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,-10208.229
$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,45
$R_STBD_OVSHOOT,36
$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
$GPS1,045951,2248.163,-15748.658,7,1.7,7,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.9
$GPS2,050557,2248.089,-15748.691,13,1.5,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,0.131
$KALMAN_X,-127834.9,414.5,-270.2,141813.4,-1378.1
$KALMAN_Y,-129762.3,151.5,-549.6,130152.8,-1733.9
$MHEAD_RNG_PITCHd_Wd,18.5,552,-26.7,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.73,-50.6,0.0,0.0,0,106,0.00,0.00,-84.53,0.000,2,0.000,0.000,409,2127,2742
$GC,109,-1.78,-90.2,3.4,-4.0,11,134,11.30,2.20,-8.35,0.000,4,0.161,0.044,2524,3462,3119
$GC,218,-1.68,-90.2,27.0,-22.7,28,225,0.10,2.22,0.00,0.000,6,0.130,0.027,2546,2049,3120
$GC,425,-1.68,-90.2,69.4,-17.2,48,428,0.00,2.20,0.00,0.000,4,0.000,0.030,2546,652,3120
$GC,457,-1.68,-90.2,75.4,-17.4,50,466,0.00,2.20,0.00,0.000,6,0.000,0.018,2546,2064,3120
$GC,656,-1.68,-90.2,109.9,-17.0,69,660,0.00,2.25,0.00,0.000,4,0.000,0.030,2546,644,3121
$GC,711,-1.72,-90.2,118.7,-16.4,73,715,0.00,2.17,0.00,0.000,6,0.000,0.023,2546,2049,3121
$GC,910,-1.72,-90.2,150.0,-15.1,91,914,0.00,2.20,0.00,0.000,4,0.000,0.031,2546,652,3122
$GC,1004,-1.80,-90.2,165.0,-15.0,99,1012,0.00,2.20,0.00,0.000,6,0.000,0.021,2546,2051,3122
$GC,1335,-1.87,-90.2,213.1,-14.8,125,1339,0.15,2.20,0.00,0.000,4,0.052,0.030,2495,652,3123
$GC,1479,-1.87,-90.2,236.9,-15.1,128,1483,0.00,2.17,0.00,0.000,6,0.000,0.018,2495,2052,3123
$GC,1798,-1.87,-90.2,281.9,-13.9,136,1802,0.00,2.22,0.00,0.000,4,0.000,0.040,2495,651,3122
$GC,1914,-1.87,-90.2,298.0,-13.8,138,1918,0.00,2.20,0.00,0.000,6,0.000,0.021,2495,2048,3122
$GC,2251,-1.92,-90.2,338.5,-11.6,147,2255,0.00,2.25,0.00,0.000,4,0.000,0.045,2495,652,3123
$GC,2470,-1.97,-90.2,366.1,-12.2,152,2474,0.00,2.20,0.00,0.000,6,0.000,0.033,2495,2055,3123
$GC,2793,-2.03,-90.2,405.2,-12.0,160,2797,0.00,2.28,0.00,0.000,4,0.000,0.048,2495,664,3122
$GC,3029,-2.08,-90.2,439.6,-14.1,165,3033,0.12,2.20,0.00,0.000,6,0.061,0.030,2459,2052,3120
$GC,3342,-2.08,-90.2,483.6,-14.0,173,3345,0.00,2.28,0.00,0.000,4,0.000,0.054,2458,665,3118
$STATE,3524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3524,begin apogee
$GC,3531,-0.31,0.0,510.2,14.0,177,3609,1.83,0.00,73.85,0.900,6,0.115,0.000,2847,2000,2749
$STATE,3610,end apogee,CONTROL_FINISHED_OK
$STATE,3610,begin climb
$GC,3612,1.78,90.2,512.5,0.0,179,3692,1.95,0.00,75.68,0.878,6,0.042,0.000,3314,2000,2381
$GC,4013,1.51,90.2,465.3,13.5,189,4018,0.30,2.33,0.00,0.000,4,0.123,0.048,3253,613,2372
$GC,4271,1.32,90.2,435.7,9.9,194,4277,0.22,2.22,0.00,0.000,6,0.119,0.032,3209,2000,2369
$GC,4602,1.25,90.2,407.7,8.8,203,4606,0.00,2.30,0.00,0.000,4,0.000,0.049,3209,608,2367
$GC,4837,1.14,92.8,386.2,8.2,208,4842,0.20,2.22,0.00,0.000,6,0.121,0.031,3171,2007,2365
$GC,5185,1.17,110.0,363.1,6.6,217,5205,0.00,2.35,14.68,0.794,4,0.000,0.048,3171,611,2300
$GC,5322,1.17,111.6,352.0,8.3,220,5326,0.00,2.25,0.00,0.000,6,0.000,0.031,3171,2028,2297
$GC,5641,1.20,113.2,325.9,8.3,228,5645,0.00,2.35,0.00,0.000,4,0.000,0.048,3170,608,2295
$GC,5819,1.20,113.2,309.4,9.1,232,5823,0.00,2.22,0.00,0.000,6,0.000,0.028,3171,1997,2294
$GC,6144,1.27,126.8,284.7,7.0,240,6164,0.12,2.38,14.12,0.742,4,0.062,0.056,3209,3395,2232
$GC,6192,1.24,129.1,280.9,8.2,241,6196,0.00,2.22,0.00,0.000,6,0.000,0.025,3209,2004,2230
$GC,6509,1.24,129.1,253.6,8.7,249,6513,0.00,2.30,0.00,0.000,4,0.000,0.039,3210,3399,2228
$GC,6576,1.24,129.1,247.6,8.6,250,6580,0.00,2.25,0.00,0.000,6,0.000,0.031,3209,2000,2227
$GC,6918,1.24,129.1,215.3,9.7,259,6922,0.00,2.28,0.00,0.000,4,0.000,0.039,3209,3395,2227
$GC,6995,1.24,129.1,207.8,9.3,260,6999,0.00,2.22,0.00,0.000,6,0.000,0.030,3209,2001,2226
$GC,7322,1.27,149.1,182.3,6.2,285,7347,0.00,2.30,19.38,0.667,4,0.000,0.044,3209,598,2141
$GC,7398,1.27,149.1,176.4,8.5,291,7407,0.00,2.25,0.00,0.000,6,0.000,0.020,3209,2010,2139
$GC,7726,1.28,158.0,154.6,7.5,322,7740,0.00,2.35,8.55,0.583,4,0.000,0.043,3209,600,2105
$GC,7899,1.28,158.0,139.1,9.5,337,7906,0.00,2.22,0.00,0.000,6,0.000,0.021,3209,2000,2104
$GC,8098,1.32,158.0,122.1,9.1,356,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2000,2103
$GC,8288,1.37,158.0,103.0,10.2,374,8292,0.00,2.25,0.00,0.000,4,0.000,0.037,3209,599,2103
$GC,8408,1.37,158.0,89.9,11.5,384,8412,0.00,2.20,0.00,0.000,6,0.000,0.023,3209,2005,2103
$GC,8607,1.42,158.0,70.0,9.3,402,8611,0.00,2.25,0.00,0.000,4,0.000,0.046,3209,3404,2103
$GC,8650,1.49,158.0,65.8,10.1,405,8655,0.15,2.20,0.00,0.000,6,0.050,0.024,3259,1993,2103
$GC,8849,1.49,158.0,45.1,10.0,423,8853,0.00,2.22,0.00,0.000,4,0.000,0.042,3259,594,2103
$GC,9005,1.47,182.6,33.9,5.7,436,9032,0.00,2.20,21.75,0.535,6,0.000,0.021,3259,2017,2003
$GC,9232,1.47,182.6,15.6,9.8,470,9240,0.00,2.30,0.00,0.000,4,0.000,0.035,3259,608,2001
$GC,9272,1.47,182.6,11.4,10.4,476,9280,0.00,2.17,0.00,0.000,6,0.000,0.020,3259,1987,2000
$STATE,9360,end climb,SURFACE_DEPTH_REACHED
$STATE,9360,begin surface coast
$FINISH,0.6,1.010679
$STATE,9397,end surface coast,CONTROL_FINISHED_OK
$STATE,9397,begin surface
$SM_CCo,9417,137.40,0.509,0,0,954,440.07
$SM_GC,1.48,0.00,0.00,137.40,0.000,0.000,0.509,413,2110,954,-11.53,1.70,440.07
$IRIDIUM_FIX,2239.35,-15834.92,011297,020203
$TT8_MAMPS,0.026845
$HUMID,1676
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,134
$24V_AH,23.8,32.889
$10V_AH,10.1,29.854
$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,28.050,98.750,228.000,137.400,0.000,28.973,29.763,205.204,33.500,0.000,0.000,14.585,1033.011,5956.303,464.174,1968.121,500.326,33.368,1239.191,0.000,2020.618,0.000,0.469
$DEVICE_MAMPS,161.070,75.933,899.691,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.364,304.398,590.272,441.523,905.064,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38263,497
$CAP_FILE_SIZE,209441,0
$CFSIZE,260165632,245301248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060908,074725,2248.178,-15748.862,24,1.6,41,10.1