version: 66.03
glider: 148
mission: 6
dive: 210
start: 9 8 108 6 53 21
data:
$ID,148
$MISSION,6
$DIVE,210
$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,-10558.719
$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,70
$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
$GPS1,063737,2248.667,-15748.095,25,1.6,25,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.9
$GPS2,065227,2248.525,-15748.148,14,1.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.129,0.071
$KALMAN_X,-150875.7,358.0,110.2,165450.2,-2336.1
$KALMAN_Y,-151560.9,303.3,-443.8,152495.2,-1454.2
$MHEAD_RNG_PITCHd_Wd,51.2,1749,-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,-68.85,0.000,2,0.000,0.000,413,2093,2795
$GC,94,-1.80,-90.0,3.3,-3.8,9,119,11.27,0.00,-7.22,0.000,6,0.163,0.000,2518,2093,3117
$GC,319,-1.68,-90.0,55.0,-23.5,38,324,0.15,2.28,0.00,0.000,4,0.135,0.028,2549,640,3118
$GC,442,-1.71,-90.0,79.3,-16.2,48,451,0.00,2.15,0.00,0.000,6,0.000,0.018,2549,2022,3118
$GC,643,-1.74,-90.0,111.4,-16.9,67,647,0.00,2.17,0.00,0.000,4,0.000,0.029,2549,645,3119
$GC,744,-1.80,-90.0,129.9,-17.7,75,750,0.00,2.17,0.00,0.000,6,0.000,0.021,2549,2053,3119
$GC,944,-1.86,-90.0,163.5,-15.7,94,948,0.15,2.22,0.00,0.000,4,0.053,0.029,2499,648,3119
$GC,1040,-1.82,-90.0,180.4,-17.1,102,1045,0.12,2.17,0.00,0.000,6,0.120,0.019,2523,2062,3119
$GC,1377,-1.87,-90.0,227.6,-12.9,119,1381,0.00,2.22,0.00,0.000,4,0.000,0.030,2522,652,3119
$GC,1606,-1.95,-90.0,255.8,-12.0,124,1610,0.12,2.15,0.00,0.000,6,0.055,0.020,2481,2053,3120
$GC,1924,-1.95,-90.0,300.7,-14.5,132,1928,0.00,2.22,0.00,0.000,4,0.000,0.037,2481,654,3120
$GC,2181,-1.95,-90.0,338.7,-13.5,137,2188,0.00,2.20,0.00,0.000,6,0.000,0.021,2481,2052,3120
$GC,2513,-1.99,-90.0,376.4,-10.8,146,2517,0.00,2.28,0.00,0.000,4,0.000,0.041,2481,654,3119
$GC,2770,-1.99,-90.0,408.2,-12.6,151,2776,0.00,2.22,0.00,0.000,6,0.000,0.035,2481,2043,3118
$GC,3101,-2.03,-90.0,452.2,-13.7,160,3105,0.00,2.28,0.00,0.000,4,0.000,0.045,2480,664,3114
$GC,3359,-2.07,-90.0,489.1,-12.7,165,3365,0.00,2.22,0.00,0.000,6,0.000,0.037,2481,2047,3112
$STATE,3566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3566,begin apogee
$GC,3571,-0.31,0.0,514.1,11.7,171,3649,1.73,0.00,73.15,0.904,6,0.106,0.000,2846,2048,2749
$STATE,3650,end apogee,CONTROL_FINISHED_OK
$STATE,3650,begin climb
$GC,3652,1.80,90.0,515.3,0.0,173,3735,1.95,2.40,74.72,0.884,4,0.046,0.064,3322,3402,2381
$GC,3925,1.50,90.0,480.0,15.6,179,3931,0.38,2.25,0.00,0.000,6,0.126,0.031,3249,2019,2374
$GC,4239,1.36,90.0,443.0,11.2,187,4241,0.17,0.00,0.00,0.000,6,0.123,0.000,3216,2018,2371
$GC,4563,1.28,90.0,411.9,9.8,195,4567,0.00,2.42,0.00,0.000,4,0.000,0.066,3216,597,2368
$GC,4606,1.16,90.0,407.1,10.9,196,4611,0.22,2.25,0.00,0.000,6,0.119,0.025,3174,2001,2367
$GC,4930,1.16,94.9,379.9,7.9,204,4934,0.00,2.33,0.00,0.000,4,0.000,0.048,3173,594,2365
$GC,5104,1.17,98.2,367.0,8.1,208,5114,0.00,2.25,5.05,0.627,6,0.000,0.032,3173,2003,2348
$GC,5430,1.17,99.3,342.1,8.4,216,5434,0.00,2.33,0.00,0.000,4,0.000,0.050,3173,596,2346
$GC,5507,1.17,99.3,333.8,10.8,217,5513,0.00,2.25,0.00,0.000,6,0.000,0.026,3173,1994,2346
$GC,5839,1.21,99.3,304.4,8.6,226,5843,0.00,2.38,0.00,0.000,4,0.000,0.057,3173,3403,2344
$GC,5889,1.26,108.2,300.6,7.5,227,5903,0.00,2.25,9.48,0.720,6,0.000,0.027,3173,1983,2306
$GC,6249,1.36,144.9,282.5,4.3,236,6290,0.15,2.45,31.48,0.770,4,0.056,0.049,3223,3398,2156
$GC,6296,1.33,154.9,279.6,7.3,237,6311,0.00,2.25,10.18,0.685,6,0.000,0.031,3223,1998,2117
$GC,6656,1.33,154.9,235.4,13.4,246,6660,0.00,2.33,0.00,0.000,4,0.000,0.047,3223,596,2111
$GC,6877,1.29,154.9,204.2,11.2,251,6882,0.12,2.22,0.00,0.000,6,0.118,0.023,3200,2008,2109
$GC,7203,1.36,175.1,178.1,6.2,276,7228,0.00,2.33,16.58,0.662,4,0.000,0.043,3200,606,2035
$GC,7233,1.43,190.4,176.1,6.7,278,7254,0.12,2.20,14.77,0.639,6,0.060,0.029,3240,2000,1972
$GC,7568,1.43,190.4,138.3,11.9,310,7572,0.00,2.28,0.00,0.000,4,0.000,0.038,3240,594,1967
$GC,7655,1.40,190.4,129.2,10.6,317,7659,0.00,2.22,0.00,0.000,6,0.000,0.028,3240,2005,1966
$GC,7856,1.40,190.4,107.6,11.0,335,7860,0.00,2.28,0.00,0.000,4,0.000,0.035,3240,593,1966
$GC,7886,1.40,190.4,104.0,11.7,337,7890,0.00,2.22,0.00,0.000,6,0.000,0.029,3240,2008,1966
$GC,8087,1.40,190.4,80.4,12.2,355,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2008,1966
$GC,8287,1.45,190.4,58.5,10.5,374,8291,0.00,2.28,0.00,0.000,4,0.000,0.034,3239,590,1966
$GC,8362,1.45,190.4,51.7,8.5,380,8366,0.00,2.20,0.00,0.000,6,0.000,0.028,3240,2005,1966
$GC,8562,1.51,190.4,36.0,8.8,398,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2005,1966
$GC,8761,1.55,190.4,17.6,10.9,427,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2005,1966
$STATE,8890,end climb,SURFACE_DEPTH_REACHED
$STATE,8890,begin surface coast
$FINISH,0.9,1.023198
$STATE,8915,end surface coast,CONTROL_FINISHED_OK
$STATE,8915,begin surface
$SM_CCo,8934,192.02,0.509,0,0,510,548.98
$SM_GC,1.48,0.00,0.00,192.02,0.000,0.000,0.509,415,2009,510,-11.52,-1.16,548.98
$IRIDIUM_FIX,2239.35,-15749.78,031297,060623
$TT8_MAMPS,0.027612
$HUMID,1664
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.20
$XPDR_PINGS,160
$24V_AH,23.8,34.721
$10V_AH,10.1,31.586
$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,28.150,81.325,235.400,192.025,0.000,138.218,399.570,0.000,40.000,0.000,0.000,17.133,960.804,5976.409,506.430,1809.567,761.969,33.359,1220.481,0.000,1846.349,0.000,0.469
$DEVICE_MAMPS,163.371,65.962,903.526,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.275,281.861,520.425,396.506,815.587,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35071,453
$CAP_FILE_SIZE,188379,0
$CFSIZE,260165632,244166656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080908,092635,2248.448,-15748.037,9,3.0,28,10.1