version: 66.03
glider: 148
mission: 6
dive: 214
start: 9 8 108 18 17 11
data:
$ID,148
$MISSION,6
$DIVE,214
$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,-10629.41
$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,33
$R_STBD_OVSHOOT,63
$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
$GPS1,180108,2248.427,-15748.415,29,1.0,29,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-62.0
$GPS2,181615,2248.296,-15748.503,9,1.1,9,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.130,0.068
$KALMAN_X,-155717.8,54.8,183.9,169921.6,-2254.0
$KALMAN_Y,-157016.6,-67.3,-332.3,157789.8,-1286.1
$MHEAD_RNG_PITCHd_Wd,52.2,1011,-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,-49.4,0.0,0.0,0,91,0.00,0.00,-69.75,0.000,2,0.000,0.000,406,2084,2822
$GC,94,-1.80,-87.9,3.4,-4.1,9,118,11.20,2.30,-6.22,0.000,4,0.159,0.048,2521,633,3109
$GC,129,-0.96,-87.9,11.5,-18.5,13,138,0.88,2.20,0.00,0.000,6,0.117,0.018,2704,2035,3110
$GC,345,-1.25,-87.9,40.6,-11.8,43,349,0.20,2.22,0.00,0.000,4,0.039,0.039,2622,3440,3110
$GC,366,-1.44,-87.9,43.9,-14.0,44,374,0.00,2.20,0.00,0.000,6,0.000,0.018,2621,2033,3110
$GC,565,-1.60,-87.9,74.9,-14.0,63,570,0.17,2.17,0.00,0.000,4,0.042,0.032,2548,652,3110
$GC,641,-1.65,-87.9,87.1,-15.6,69,645,0.00,2.17,0.00,0.000,6,0.000,0.027,2548,2053,3110
$GC,842,-1.69,-87.9,121.3,-16.9,87,846,0.00,2.22,0.00,0.000,4,0.000,0.030,2548,648,3110
$GC,896,-1.72,-87.9,130.1,-17.1,91,900,0.00,2.15,0.00,0.000,6,0.000,0.022,2548,2052,3111
$GC,1099,-1.77,-87.9,161.7,-14.6,110,1103,0.00,2.20,0.00,0.000,4,0.000,0.030,2548,657,3111
$GC,1196,-1.86,-87.9,177.0,-15.6,118,1201,0.15,2.15,0.00,0.000,6,0.048,0.021,2496,2050,3111
$GC,1533,-1.86,-87.9,230.0,-14.5,135,1536,0.00,2.20,0.00,0.000,4,0.000,0.030,2495,657,3111
$GC,1790,-1.86,-87.9,268.3,-12.4,140,1796,0.00,2.17,0.00,0.000,6,0.000,0.019,2495,2055,3112
$GC,2121,-1.90,-87.9,310.0,-12.7,149,2125,0.00,2.22,0.00,0.000,4,0.000,0.041,2496,662,3111
$GC,2379,-1.95,-87.9,344.4,-14.0,154,2385,0.00,2.15,0.00,0.000,6,0.000,0.023,2496,2044,3111
$GC,2710,-2.01,-87.9,384.4,-12.4,163,2714,0.00,2.22,0.00,0.000,4,0.000,0.044,2495,668,3111
$GC,2967,-2.07,-87.9,418.7,-12.8,168,2972,0.12,2.17,0.00,0.000,6,0.058,0.027,2455,2046,3109
$GC,3303,-2.07,-87.9,464.6,-14.0,177,3307,0.00,2.28,0.00,0.000,4,0.000,0.048,2455,668,3106
$GC,3560,-2.07,-87.9,502.6,-14.4,182,3566,0.00,2.25,0.00,0.000,6,0.000,0.035,2455,2047,3104
$STATE,3645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3645,begin apogee
$GC,3650,-0.31,0.0,513.4,12.7,185,3728,1.88,0.00,71.75,0.905,6,0.110,0.000,2850,2047,2748
$STATE,3729,end apogee,CONTROL_FINISHED_OK
$STATE,3729,begin climb
$GC,3731,1.80,87.9,514.2,0.0,187,3814,1.92,2.38,72.82,0.883,4,0.044,0.062,3314,3409,2389
$GC,3976,1.52,87.9,481.7,16.4,192,3982,0.32,2.25,0.00,0.000,6,0.134,0.034,3253,2022,2384
$GC,4314,1.36,87.9,439.0,11.6,201,4319,0.15,2.42,0.00,0.000,4,0.132,0.066,3220,599,2380
$GC,4335,1.21,87.9,436.4,10.7,201,4340,0.17,2.28,0.00,0.000,6,0.123,0.030,3188,2007,2380
$GC,4678,1.23,102.5,411.0,6.8,210,4694,0.00,2.38,11.43,0.786,4,0.000,0.041,3188,594,2330
$GC,4817,1.18,102.5,398.9,9.4,213,4821,0.00,2.25,0.00,0.000,6,0.000,0.032,3188,2002,2327
$GC,5130,1.18,103.0,372.4,8.4,221,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2002,2325
$GC,5454,1.18,103.0,343.4,8.9,229,5458,0.00,2.30,0.00,0.000,4,0.000,0.040,3188,595,2323
$GC,5463,1.18,103.0,342.2,8.8,229,5468,0.00,2.28,0.00,0.000,6,0.000,0.025,3188,2001,2322
$GC,5783,1.19,108.3,315.5,7.9,237,5792,0.00,2.35,4.75,0.594,4,0.000,0.044,3188,593,2307
$GC,5803,1.21,125.8,314.1,6.5,237,5824,0.00,2.25,16.10,0.769,6,0.000,0.031,3188,2004,2236
$GC,6144,1.22,133.4,288.8,7.6,246,6153,0.00,0.00,7.40,0.674,6,0.000,0.000,3188,2004,2205
$GC,6467,1.25,133.4,262.4,8.6,254,6471,0.00,2.33,0.00,0.000,4,0.000,0.042,3188,592,2203
$GC,6679,1.25,133.4,239.5,10.1,258,6685,0.00,2.25,0.00,0.000,6,0.000,0.025,3188,2001,2200
$GC,7011,1.31,133.5,210.8,8.5,267,7015,0.00,2.30,0.00,0.000,4,0.000,0.054,3188,3396,2200
$GC,7021,1.36,139.5,209.9,7.8,267,7033,0.12,2.22,5.90,0.581,6,0.059,0.025,3227,1981,2180
$GC,7347,1.36,139.5,183.3,8.7,288,7351,0.00,2.22,0.00,0.000,4,0.000,0.040,3227,598,2179
$GC,7488,1.34,158.1,172.4,6.3,300,7512,0.00,2.20,17.38,0.653,6,0.000,0.021,3227,2009,2104
$GC,7830,1.34,158.1,144.2,9.8,332,7834,0.00,2.28,0.00,0.000,4,0.000,0.035,3227,601,2101
$GC,7918,1.34,158.1,134.4,10.8,339,7925,0.00,2.20,0.00,0.000,6,0.000,0.021,3227,1993,2100
$GC,8116,1.34,158.1,115.2,9.3,358,8120,0.00,2.25,0.00,0.000,4,0.000,0.042,3227,594,2100
$GC,8212,1.34,158.1,105.6,10.1,366,8216,0.00,2.20,0.00,0.000,6,0.000,0.021,3227,2003,2100
$GC,8409,1.35,167.1,89.6,7.5,384,8423,0.00,2.25,8.73,0.531,4,0.000,0.041,3227,600,2066
$GC,8435,1.36,178.3,87.7,7.2,386,8452,0.00,2.20,10.82,0.542,6,0.000,0.028,3227,2004,2021
$GC,8654,1.42,183.9,70.7,7.8,406,8665,0.00,2.33,5.97,0.466,4,0.000,0.035,3227,600,1999
$GC,8679,1.47,193.2,68.6,7.4,408,8693,0.00,2.20,9.73,0.515,6,0.000,0.025,3227,2001,1960
$GC,8883,1.57,203.3,52.6,7.3,427,8899,0.15,2.33,9.82,0.505,4,0.051,0.041,3280,591,1919
$GC,8913,1.57,203.3,49.7,10.1,429,8917,0.00,2.20,0.00,0.000,6,0.000,0.020,3280,1999,1919
$GC,9115,1.57,203.3,26.4,11.5,450,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2000,1918
$STATE,9310,end climb,SURFACE_DEPTH_REACHED
$STATE,9310,begin surface coast
$FINISH,0.6,1.023126
$STATE,9336,end surface coast,CONTROL_FINISHED_OK
$STATE,9336,begin surface
$SM_CCo,9356,183.25,0.506,0,0,511,548.98
$SM_GC,1.55,0.00,0.00,183.25,0.000,0.000,0.506,411,2103,511,-11.54,1.50,548.98
$IRIDIUM_FIX,2239.35,-15746.73,031297,181823
$TT8_MAMPS,0.027612
$HUMID,1660
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,23.50
$XPDR_PINGS,167
$24V_AH,23.8,35.131
$10V_AH,10.1,31.996
$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,29.050,98.800,252.600,183.250,0.000,134.792,429.617,0.000,41.750,0.000,0.000,10.526,1014.855,6246.070,512.327,1876.745,798.969,33.359,1259.396,0.000,1930.022,0.000,0.469
$DEVICE_MAMPS,158.769,109.681,905.060,506.220,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.427,316.487,578.749,437.960,897.266,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38176,488
$CAP_FILE_SIZE,205472,0
$CFSIZE,260165632,243884032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080908,205717,2248.325,-15748.686,8,99.0,27,10.1