version: 66.03
glider: 148
mission: 6
dive: 204
start: 9 7 108 13 28 39
data:
$ID,148
$MISSION,6
$DIVE,204
$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,548.98138
$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,-10427.294
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,131255,2248.525,-15748.250,27,1.0,37,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-59.4
$GPS2,132744,2248.505,-15748.401,9,1.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.111,0.096
$KALMAN_X,-142687.1,67.5,357.8,156876.4,-2289.8
$KALMAN_Y,-144255.1,-402.7,536.2,144879.0,-2032.0
$MHEAD_RNG_PITCHd_Wd,39.0,1386,-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,-49.4,0.0,0.0,0,91,0.00,0.00,-69.07,0.000,2,0.000,0.000,402,2140,2801
$GC,94,-1.79,-83.6,3.5,-4.6,9,118,11.30,2.08,-6.35,0.000,4,0.162,0.043,2520,3451,3091
$GC,138,-1.23,-83.6,13.9,-22.4,15,146,0.57,2.20,0.00,0.000,6,0.119,0.021,2646,2051,3091
$GC,348,-1.38,-83.6,46.9,-16.0,42,356,0.12,0.00,0.00,0.000,6,0.056,0.000,2602,2049,3092
$GC,547,-1.48,-83.6,80.9,-14.9,61,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2049,3092
$GC,738,-1.62,-83.6,105.8,-12.8,79,743,0.15,2.20,0.00,0.000,4,0.048,0.037,2550,654,3092
$GC,783,-1.66,-83.6,113.0,-15.7,82,792,0.00,2.17,0.00,0.000,6,0.000,0.020,2551,2050,3092
$GC,984,-1.71,-83.6,143.1,-15.0,101,988,0.00,2.20,0.00,0.000,4,0.000,0.030,2550,654,3093
$GC,1082,-1.78,-83.6,159.6,-16.4,109,1086,0.00,2.15,0.00,0.000,6,0.000,0.019,2550,2052,3093
$GC,1413,-1.87,-83.6,211.1,-13.8,134,1418,0.15,2.20,0.00,0.000,4,0.045,0.030,2488,654,3093
$GC,1549,-1.87,-83.6,230.0,-13.4,137,1553,0.12,2.15,0.00,0.000,6,0.126,0.018,2510,2059,3093
$GC,1872,-1.94,-83.6,263.2,-9.4,145,1876,0.00,2.22,0.00,0.000,4,0.000,0.031,2510,655,3094
$GC,2024,-2.00,-83.6,281.0,-12.5,148,2028,0.12,2.15,0.00,0.000,6,0.057,0.021,2467,2049,3094
$GC,2366,-2.00,-83.6,325.3,-12.7,157,2370,0.00,2.25,0.00,0.000,4,0.000,0.038,2467,652,3094
$GC,2438,-2.00,-83.6,335.6,-13.5,158,2442,0.00,2.17,0.00,0.000,6,0.000,0.028,2467,2053,3094
$GC,2774,-2.00,-83.6,380.2,-13.9,167,2778,0.00,2.28,0.00,0.000,4,0.000,0.043,2466,655,3092
$GC,2962,-2.00,-83.6,407.6,-14.2,171,2967,0.00,2.20,0.00,0.000,6,0.000,0.027,2467,2034,3091
$GC,3275,-2.00,-83.6,447.7,-12.3,179,3279,0.00,2.25,0.00,0.000,4,0.000,0.048,2467,666,3089
$GC,3443,-2.00,-83.6,468.9,-11.9,182,3449,0.00,2.20,0.00,0.000,6,0.000,0.037,2467,2048,3088
$GC,3774,-2.00,-83.6,505.9,-11.0,191,3778,0.00,2.28,0.00,0.000,4,0.000,0.051,2467,666,3085
$STATE,3811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3811,begin apogee
$GC,3818,-0.31,0.0,510.3,11.9,192,3893,1.83,0.00,68.10,0.907,6,0.117,0.000,2846,1997,2748
$STATE,3894,end apogee,CONTROL_FINISHED_OK
$STATE,3894,begin climb
$GC,3897,1.79,83.6,511.2,0.0,194,3973,1.95,2.42,69.15,0.884,4,0.045,0.054,3313,3403,2407
$GC,4046,1.51,83.6,495.4,14.2,196,4051,0.32,2.25,0.00,0.000,6,0.124,0.031,3250,2019,2403
$GC,4382,1.36,83.6,453.4,12.1,205,4387,0.15,2.42,0.00,0.000,4,0.123,0.066,3217,597,2399
$GC,4471,1.22,83.6,442.5,12.2,207,4476,0.15,2.25,0.00,0.000,6,0.122,0.034,3189,1997,2398
$GC,4789,1.22,83.6,410.6,10.0,215,4793,0.00,2.33,0.00,0.000,4,0.000,0.044,3189,596,2396
$GC,5046,1.17,83.6,383.3,10.1,220,5053,0.00,2.25,0.00,0.000,6,0.000,0.026,3189,2004,2394
$GC,5377,1.17,87.9,355.1,8.0,229,5381,0.00,2.33,0.00,0.000,4,0.000,0.046,3189,595,2392
$GC,5634,1.13,102.9,336.6,6.8,234,5654,0.12,2.25,14.32,0.784,6,0.128,0.027,3167,2011,2328
$GC,5969,1.20,117.4,314.9,6.8,243,5988,0.00,2.42,12.85,0.760,4,0.000,0.048,3166,595,2269
$GC,6139,1.20,117.4,297.9,10.3,246,6145,0.00,2.28,0.00,0.000,6,0.000,0.028,3166,2003,2267
$GC,6471,1.27,127.1,270.2,7.4,255,6486,0.12,2.40,9.00,0.695,4,0.062,0.052,3205,3399,2230
$GC,6508,1.28,128.4,267.0,8.3,255,6514,0.00,2.25,0.00,0.000,6,0.000,0.030,3205,1991,2229
$GC,6838,1.28,128.4,233.8,10.0,264,6842,0.00,2.30,0.00,0.000,4,0.000,0.054,3205,599,2227
$GC,7095,1.31,159.1,212.7,5.0,269,7130,0.00,2.22,27.98,0.715,6,0.000,0.022,3205,2017,2099
$GC,7441,1.37,159.1,189.9,8.6,285,7445,0.00,2.33,0.00,0.000,4,0.000,0.038,3205,590,2094
$GC,7538,1.37,159.1,180.1,10.5,293,7542,0.00,2.22,0.00,0.000,6,0.000,0.028,3205,2005,2092
$GC,7866,1.43,159.1,146.8,9.0,323,7873,0.12,0.00,0.00,0.000,6,0.059,0.000,3242,2005,2092
$GC,8064,1.46,178.5,131.3,6.3,342,8088,0.00,2.33,16.30,0.611,4,0.000,0.039,3243,596,2020
$GC,8171,1.43,182.7,123.5,8.0,351,8183,0.00,2.20,5.05,0.474,6,0.000,0.028,3242,2000,2003
$GC,8373,1.43,182.7,106.2,9.6,370,8377,0.00,2.28,0.00,0.000,4,0.000,0.036,3243,590,2002
$GC,8424,1.43,182.7,100.7,10.9,374,8428,0.00,2.22,0.00,0.000,6,0.000,0.028,3243,2009,2002
$GC,8624,1.48,182.7,78.8,9.6,392,8628,0.00,2.25,0.00,0.000,4,0.000,0.048,3243,3398,2002
$GC,8645,1.51,182.7,76.5,9.1,393,8654,0.00,2.22,0.00,0.000,6,0.000,0.027,3242,1986,2001
$GC,8845,1.56,189.4,59.4,7.7,412,8855,0.00,0.00,7.20,0.482,6,0.000,0.000,3243,1986,1976
$GC,9046,1.62,193.7,43.4,8.0,431,9057,0.12,0.00,5.50,0.433,6,0.057,0.000,3284,1986,1958
$GC,9252,1.58,193.7,23.6,10.0,455,9260,0.00,2.33,0.00,0.000,4,0.000,0.039,3284,3393,1958
$GC,9274,1.55,193.7,21.4,9.8,458,9282,0.10,2.20,0.00,0.000,6,0.110,0.022,3261,1999,1957
$STATE,9430,end climb,SURFACE_DEPTH_REACHED
$STATE,9430,begin surface coast
$FINISH,0.8,1.023142
$STATE,9460,end surface coast,CONTROL_FINISHED_OK
$STATE,9460,begin surface
$SM_CCo,9480,187.45,0.504,0,0,509,548.98
$SM_GC,1.31,0.00,0.00,187.45,0.000,0.000,0.504,407,2146,509,-11.56,2.71,548.98
$IRIDIUM_FIX,2239.35,-15749.78,021297,131338
$TT8_MAMPS,0.026845
$HUMID,1644
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,24.00
$XPDR_PINGS,149
$24V_AH,23.8,34.071
$10V_AH,10.1,30.988
$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,29.100,94.550,235.450,187.450,0.000,139.227,399.389,0.000,37.250,0.000,0.000,17.488,1020.284,6316.006,516.195,1914.903,789.337,33.372,1273.739,0.000,1975.677,0.000,0.469
$DEVICE_MAMPS,161.837,73.632,906.594,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.544,302.632,580.813,448.399,909.008,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38318,490
$CAP_FILE_SIZE,205498,0
$CFSIZE,260165632,244543488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070908,161102,2248.104,-15748.317,37,1.3,37,10.1