version: 66.03
glider: 148
mission: 6
dive: 218
start: 9 9 108 5 37 15
data:
$ID,148
$MISSION,6
$DIVE,218
$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,-10723.302
$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,44
$R_STBD_OVSHOOT,69
$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
$GPS1,052109,2248.796,-15747.986,11,1.3,11,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-62.2
$GPS2,053620,2248.710,-15748.025,12,1.3,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,0.077
$KALMAN_X,-161453.9,266.3,426.1,176013.8,-2499.2
$KALMAN_Y,-160566.9,650.5,-132.8,161185.0,-1822.8
$MHEAD_RNG_PITCHd_Wd,48.6,2121,-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,-49.4,0.0,0.0,0,90,0.00,0.00,-69.07,0.000,2,0.000,0.000,409,2093,2797
$GC,93,-1.79,-86.7,3.4,-4.2,9,118,11.20,0.00,-6.70,0.000,6,0.159,0.000,2521,2093,3103
$GC,318,-1.67,-86.7,55.9,-24.5,38,323,0.15,2.28,0.00,0.000,4,0.138,0.031,2552,652,3105
$GC,382,-1.67,-86.7,70.0,-19.5,43,386,0.00,2.12,0.00,0.000,6,0.000,0.025,2551,2028,3104
$GC,583,-1.70,-86.7,105.6,-18.0,61,587,0.00,2.17,0.00,0.000,4,0.000,0.028,2551,649,3105
$GC,646,-1.76,-86.7,117.8,-17.8,66,650,0.00,2.17,0.00,0.000,6,0.000,0.020,2551,2054,3105
$GC,843,-1.82,-86.7,150.7,-16.3,84,848,0.12,2.22,0.00,0.000,4,0.056,0.028,2511,645,3106
$GC,884,-1.82,-86.7,157.1,-16.7,87,888,0.00,2.17,0.00,0.000,6,0.000,0.019,2511,2058,3106
$GC,1206,-1.82,-86.7,207.7,-15.0,114,1210,0.00,2.22,0.00,0.000,4,0.000,0.029,2511,648,3106
$GC,1418,-1.85,-86.7,241.0,-15.3,118,1425,0.00,2.15,0.00,0.000,6,0.000,0.019,2511,2053,3107
$GC,1750,-1.92,-86.7,283.9,-12.3,127,1754,0.00,2.22,0.00,0.000,4,0.000,0.033,2511,652,3107
$GC,2006,-1.99,-86.7,316.1,-12.7,132,2013,0.10,2.15,0.00,0.000,6,0.066,0.021,2477,2044,3107
$GC,2338,-1.99,-86.7,362.9,-13.4,141,2342,0.00,2.25,0.00,0.000,4,0.000,0.041,2476,656,3106
$GC,2544,-1.99,-86.7,391.7,-11.7,145,2548,0.00,2.22,0.00,0.000,6,0.000,0.032,2476,2043,3105
$GC,2881,-2.02,-86.7,430.1,-11.8,154,2885,0.00,2.28,0.00,0.000,4,0.000,0.051,2476,655,3103
$GC,3122,-2.02,-86.7,461.6,-12.8,159,3127,0.00,2.25,0.00,0.000,6,0.000,0.031,2476,2046,3101
$GC,3472,-2.07,-86.7,501.6,-11.5,168,3476,0.00,2.30,0.00,0.000,4,0.000,0.048,2476,655,3099
$STATE,3536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3536,begin apogee
$GC,3543,-0.31,0.0,510.5,13.0,169,3618,1.73,0.00,70.72,0.907,6,0.110,0.000,2849,2008,2749
$STATE,3618,end apogee,CONTROL_FINISHED_OK
$STATE,3619,begin climb
$GC,3621,1.79,86.7,512.5,0.0,171,3704,1.92,2.45,72.07,0.885,4,0.043,0.066,3311,3398,2394
$GC,3776,1.52,86.7,499.8,12.3,174,3781,0.30,2.25,0.00,0.000,6,0.127,0.031,3254,2016,2391
$GC,4114,1.36,86.7,463.3,10.8,183,4119,0.15,2.42,0.00,0.000,4,0.127,0.066,3221,596,2386
$GC,4219,1.23,86.7,451.4,10.0,185,4224,0.17,2.28,0.00,0.000,6,0.121,0.028,3188,2002,2384
$GC,4567,1.23,86.7,419.0,9.4,194,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2002,2382
$GC,4892,1.23,86.7,388.0,9.6,202,4896,0.00,2.33,0.00,0.000,4,0.000,0.042,3188,596,2380
$GC,5055,1.17,86.7,372.4,8.7,205,5059,0.00,2.25,0.00,0.000,6,0.000,0.032,3188,2007,2379
$GC,5386,1.19,102.3,348.7,6.7,213,5401,0.00,2.35,10.90,0.769,4,0.000,0.044,3188,599,2332
$GC,5497,1.16,113.8,340.6,7.2,215,5514,0.00,2.25,11.20,0.760,6,0.000,0.026,3188,2005,2285
$GC,5837,1.16,113.8,313.2,8.6,224,5841,0.00,2.35,0.00,0.000,4,0.000,0.043,3188,591,2281
$GC,6021,1.16,113.8,293.7,9.9,228,6026,0.00,2.28,0.00,0.000,6,0.000,0.030,3188,2005,2280
$GC,6340,1.16,113.8,265.1,8.7,236,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2005,2278
$GC,6666,1.22,131.1,242.0,6.5,244,6685,0.00,2.38,14.68,0.717,4,0.000,0.041,3188,589,2213
$GC,6696,1.25,150.1,239.9,6.3,244,6721,0.00,2.25,18.23,0.712,6,0.000,0.028,3188,2007,2135
$GC,7030,1.31,150.1,210.4,9.1,253,7034,0.00,2.33,0.00,0.000,4,0.000,0.043,3188,585,2130
$GC,7046,1.37,150.1,208.6,9.2,253,7051,0.12,2.25,0.00,0.000,6,0.061,0.029,3227,2007,2129
$GC,7371,1.37,150.1,173.0,10.7,277,7375,0.00,2.30,0.00,0.000,4,0.000,0.038,3227,590,2129
$GC,7481,1.34,150.1,160.8,10.8,286,7485,0.00,2.22,0.00,0.000,6,0.000,0.021,3227,2009,2128
$GC,7805,1.34,152.2,132.1,8.3,316,7809,0.00,2.30,0.00,0.000,4,0.000,0.042,3228,585,2128
$GC,8066,1.34,152.2,108.1,9.3,338,8075,0.00,2.22,0.00,0.000,6,0.000,0.022,3228,1991,2128
$GC,8268,1.36,166.0,93.3,6.9,357,8292,0.00,2.33,13.18,0.570,4,0.000,0.035,3228,590,2071
$GC,8342,1.36,166.0,87.3,9.3,363,8346,0.00,2.22,0.00,0.000,6,0.000,0.025,3227,2003,2071
$GC,8542,1.42,168.5,70.8,8.2,381,8546,0.00,2.28,0.00,0.000,4,0.000,0.035,3228,588,2069
$GC,8789,1.43,175.9,53.5,7.6,402,8804,0.00,2.20,9.70,0.510,6,0.000,0.021,3228,2005,2030
$GC,8994,1.49,175.9,36.3,8.6,421,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2005,2030
$GC,9193,1.57,181.3,19.8,7.9,450,9210,0.15,2.30,6.18,0.436,4,0.050,0.046,3283,3394,2008
$GC,9247,1.51,181.3,14.9,8.9,458,9256,0.12,2.22,0.00,0.000,6,0.107,0.020,3253,1975,2007
$STATE,9365,end climb,SURFACE_DEPTH_REACHED
$STATE,9365,begin surface coast
$FINISH,0.7,1.014120
$STATE,9395,end surface coast,CONTROL_FINISHED_OK
$STATE,9395,begin surface
$SM_CCo,9415,196.23,0.504,0,0,510,548.98
$SM_GC,1.38,0.00,0.00,196.23,0.000,0.000,0.504,401,2087,510,-11.59,1.05,548.98
$IRIDIUM_FIX,2241.69,-15748.90,041297,050503
$TT8_MAMPS,0.027612
$HUMID,1656
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,23.70
$XPDR_PINGS,147
$24V_AH,23.8,35.535
$10V_AH,10.1,32.395
$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,27.800,90.550,226.850,196.225,0.000,146.743,403.243,0.000,36.750,0.000,0.000,30.516,1004.955,6306.188,499.635,1910.946,803.118,33.358,1242.529,0.000,1942.584,0.000,0.470
$DEVICE_MAMPS,158.769,65.962,906.594,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.594,322.455,573.041,440.547,899.111,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35185,483
$CAP_FILE_SIZE,199940,0
$CFSIZE,260165632,243634176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090908,081838,2248.427,-15747.878,33,1.2,33,10.1