version: 66.03
glider: 148
mission: 6
dive: 201
start: 9 7 108 4 29 43
data:
$ID,148
$MISSION,6
$DIVE,201
$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,-10363.979
$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,71
$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
$GPS1,042207,2248.854,-15747.997,33,1.1,33,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.3
$GPS2,042850,2248.814,-15748.027,13,1.1,18,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,0.090
$KALMAN_X,-137559.8,321.2,166.3,152320.2,-2138.2
$KALMAN_Y,-140170.6,423.8,-204.4,141277.5,-1875.8
$MHEAD_RNG_PITCHd_Wd,42.2,2243,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.75,-49.4,0.0,0.0,0,108,0.00,0.00,-85.03,0.000,2,0.000,0.000,406,2083,2771
$GC,112,-1.80,-87.6,3.4,-4.1,11,137,11.25,2.12,-7.40,0.000,4,0.160,0.042,2520,3423,3107
$GC,180,-1.68,-87.6,18.3,-21.6,21,189,0.12,2.15,0.00,0.000,6,0.127,0.021,2547,2051,3108
$GC,391,-1.64,-87.6,63.2,-19.1,44,395,0.00,2.20,0.00,0.000,4,0.000,0.037,2547,648,3108
$GC,432,-1.64,-87.6,71.0,-19.9,47,436,0.00,2.12,0.00,0.000,6,0.000,0.020,2547,2027,3108
$GC,633,-1.68,-87.6,104.9,-16.7,65,636,0.00,2.17,0.00,0.000,4,0.000,0.033,2547,652,3109
$GC,678,-1.72,-87.6,113.2,-17.4,68,686,0.00,2.17,0.00,0.000,6,0.000,0.019,2547,2048,3109
$GC,878,-1.76,-87.6,149.4,-17.6,87,882,0.00,2.20,0.00,0.000,4,0.000,0.029,2547,652,3109
$GC,957,-1.83,-87.6,164.1,-16.8,93,967,0.08,2.17,0.00,0.000,6,0.048,0.020,2512,2045,3109
$GC,1297,-1.83,-87.6,220.2,-15.7,117,1301,0.00,2.20,0.00,0.000,4,0.000,0.031,2511,654,3110
$GC,1554,-1.86,-87.6,254.7,-14.5,122,1558,0.00,2.15,0.00,0.000,6,0.000,0.018,2511,2057,3110
$GC,1891,-1.92,-87.6,298.7,-13.1,131,1895,0.00,2.22,0.00,0.000,4,0.000,0.038,2512,655,3110
$GC,2083,-1.99,-87.6,323.7,-12.7,135,2087,0.12,2.15,0.00,0.000,6,0.057,0.021,2471,2048,3110
$GC,2432,-1.99,-87.6,366.9,-12.5,144,2436,0.00,2.25,0.00,0.000,4,0.000,0.041,2471,661,3110
$GC,2689,-1.99,-87.6,402.0,-14.6,149,2696,0.00,2.20,0.00,0.000,6,0.000,0.030,2471,2059,3108
$GC,3021,-1.99,-87.6,444.7,-13.2,158,3025,0.00,2.30,0.00,0.000,4,0.000,0.050,2471,662,3106
$GC,3278,-1.99,-87.6,481.3,-13.9,163,3284,0.00,2.22,0.00,0.000,6,0.000,0.038,2471,2053,3105
$STATE,3526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3526,begin apogee
$GC,3530,-0.31,0.0,512.9,12.6,170,3608,1.80,0.00,71.55,0.905,6,0.112,0.000,2848,2054,2748
$STATE,3609,end apogee,CONTROL_FINISHED_OK
$STATE,3609,begin climb
$GC,3611,1.80,87.6,514.0,0.0,172,3694,1.95,2.35,72.70,0.884,4,0.044,0.058,3316,3403,2390
$GC,3805,1.51,87.6,489.8,15.1,176,3811,0.32,2.25,0.00,0.000,6,0.126,0.036,3254,2017,2386
$GC,4148,1.36,87.6,442.2,13.3,185,4153,0.17,2.42,0.00,0.000,4,0.124,0.066,3216,597,2381
$GC,4348,1.23,87.6,417.7,11.7,189,4353,0.15,2.25,0.00,0.000,6,0.123,0.034,3189,1997,2379
$GC,4692,1.23,88.9,387.6,8.3,198,4696,0.00,2.33,0.00,0.000,4,0.000,0.043,3189,596,2377
$GC,4877,1.16,90.2,372.1,8.4,202,4881,0.00,2.25,0.00,0.000,6,0.000,0.027,3189,2007,2375
$GC,5189,1.18,104.8,349.9,6.8,210,5208,0.00,2.42,12.43,0.777,4,0.000,0.046,3189,599,2321
$GC,5232,1.14,108.4,346.7,8.1,211,5242,0.10,2.25,4.53,0.581,6,0.131,0.028,3172,2000,2306
$GC,5562,1.20,128.7,325.4,6.2,219,5586,0.00,2.40,18.00,0.785,4,0.000,0.050,3172,606,2224
$GC,5766,1.20,128.7,305.3,11.0,223,5771,0.00,2.25,0.00,0.000,6,0.000,0.031,3172,1996,2220
$GC,6109,1.26,128.7,271.8,9.6,232,6111,0.10,0.00,0.00,0.000,6,0.069,0.000,3203,1997,2218
$GC,6434,1.26,130.1,242.1,8.3,240,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1997,2216
$GC,6759,1.26,131.8,215.0,8.3,248,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1997,2215
$GC,7069,1.26,131.8,188.8,8.8,263,7073,0.00,2.33,0.00,0.000,4,0.000,0.048,3203,3409,2215
$GC,7101,1.26,131.8,185.8,8.6,265,7108,0.00,2.28,0.00,0.000,6,0.000,0.025,3203,1982,2214
$GC,7427,1.32,147.5,162.1,6.7,296,7451,0.00,2.28,15.80,0.640,4,0.000,0.038,3204,603,2146
$GC,7603,1.35,147.5,147.2,9.7,311,7609,0.00,2.22,0.00,0.000,6,0.000,0.028,3203,2021,2144
$GC,7800,1.41,147.5,129.5,9.5,330,7805,0.10,2.22,0.00,0.000,4,0.064,0.047,3239,3395,2144
$GC,7901,1.41,147.5,118.2,11.4,338,7910,0.00,2.20,0.00,0.000,6,0.000,0.024,3239,2001,2143
$GC,8102,1.41,147.5,99.7,8.6,357,8106,0.00,2.22,0.00,0.000,4,0.000,0.044,3239,604,2143
$GC,8187,1.38,147.5,91.6,9.4,364,8192,0.00,2.17,0.00,0.000,6,0.000,0.022,3239,1995,2143
$GC,8387,1.40,164.3,76.4,6.6,382,8413,0.00,2.28,15.05,0.558,4,0.000,0.042,3239,606,2079
$GC,8452,1.40,169.4,71.8,7.9,387,8466,0.00,2.20,5.93,0.465,6,0.000,0.029,3239,2009,2056
$GC,8657,1.46,179.3,57.6,7.4,406,8672,0.00,2.30,9.45,0.510,4,0.000,0.037,3239,598,2017
$GC,8879,1.46,179.3,36.5,9.4,425,8888,0.00,2.22,0.00,0.000,6,0.000,0.021,3239,2002,2016
$GC,9088,1.50,184.3,19.7,7.9,455,9097,0.00,0.00,5.62,0.425,6,0.000,0.000,3239,2002,1997
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9285,begin surface coast
$FINISH,0.7,1.023106
$STATE,9323,end surface coast,CONTROL_FINISHED_OK
$STATE,9323,begin surface
$SM_CCo,9342,135.10,0.507,0,0,954,440.07
$SM_GC,1.47,0.00,0.00,135.10,0.000,0.000,0.507,408,2005,954,-11.56,-1.27,440.07
$IRIDIUM_FIX,2241.69,-15749.78,021297,010148
$TT8_MAMPS,0.026845
$HUMID,1665
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,164
$24V_AH,23.8,33.750
$10V_AH,10.1,30.675
$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,27.750,85.125,231.050,135.100,0.000,31.181,29.632,230.466,41.000,0.000,0.000,20.267,1015.327,5930.665,458.263,1947.131,527.899,33.356,1220.630,0.000,1989.013,0.000,0.469
$DEVICE_MAMPS,159.536,65.962,905.060,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.269,318.552,593.062,456.692,936.782,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38248,495
$CAP_FILE_SIZE,206531,0
$CFSIZE,260165632,244768768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070908,070847,2248.400,-15748.370,8,2.7,27,10.1