version: 66.03
glider: 148
mission: 6
dive: 221
start: 9 9 108 14 16 4
data:
$ID,148
$MISSION,6
$DIVE,221
$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,-10766.836
$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,40
$R_STBD_OVSHOOT,37
$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
$GPS1,140838,2248.653,-15748.445,37,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.3
$GPS2,141509,2248.621,-15748.507,13,1.2,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,0.084
$KALMAN_X,-165194.6,389.8,147.7,179093.7,-2076.0
$KALMAN_Y,-164469.5,-513.6,296.9,165656.7,-1998.4
$MHEAD_RNG_PITCHd_Wd,45.2,1425,-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,-49.4,0.0,0.0,0,107,0.00,0.00,-84.12,0.000,2,0.000,0.000,413,2006,2704
$GC,111,-1.80,-92.3,3.4,-3.6,11,145,11.30,2.35,-9.48,0.000,4,0.163,0.044,2519,3449,3127
$GC,182,-1.71,-92.3,18.0,-21.2,21,189,0.10,2.20,0.00,0.000,6,0.131,0.020,2541,2049,3128
$GC,386,-1.66,-92.3,62.7,-20.0,44,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2046,3128
$GC,574,-1.66,-92.3,98.2,-18.4,62,578,0.00,2.20,0.00,0.000,4,0.000,0.028,2541,646,3129
$GC,593,-1.66,-92.3,101.3,-17.6,63,597,0.00,2.17,0.00,0.000,6,0.000,0.019,2541,2059,3129
$GC,794,-1.66,-92.3,137.4,-18.7,81,798,0.00,2.22,0.00,0.000,4,0.000,0.029,2541,650,3129
$GC,915,-1.72,-92.3,160.3,-18.5,91,919,0.00,2.17,0.00,0.000,6,0.000,0.021,2541,2055,3129
$GC,1257,-1.81,-92.3,211.0,-12.9,117,1260,0.00,2.20,0.00,0.000,4,0.000,0.030,2541,3450,3130
$GC,1284,-1.87,-92.3,214.6,-13.6,117,1288,0.12,2.17,0.00,0.000,6,0.058,0.017,2501,2030,3130
$GC,1622,-1.92,-92.3,261.0,-14.0,126,1626,0.00,2.17,0.00,0.000,4,0.000,0.035,2501,654,3130
$GC,1829,-1.98,-92.3,292.0,-14.0,130,1832,0.00,2.15,0.00,0.000,6,0.000,0.021,2501,2050,3130
$GC,2166,-2.04,-92.3,331.5,-11.5,139,2170,0.12,2.22,0.00,0.000,4,0.058,0.044,2459,670,3130
$GC,2249,-2.04,-92.3,342.7,-13.8,141,2253,0.00,2.15,0.00,0.000,6,0.000,0.031,2459,2047,3130
$GC,2572,-2.04,-92.3,383.7,-12.8,149,2576,0.00,2.25,0.00,0.000,4,0.000,0.048,2459,665,3129
$GC,2830,-2.04,-92.3,421.9,-15.8,154,2836,0.00,2.17,0.00,0.000,6,0.000,0.031,2459,2045,3127
$GC,3161,-2.04,-92.3,471.7,-15.4,163,3164,0.00,2.25,0.00,0.000,4,0.000,0.044,2459,673,3125
$STATE,3416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3416,begin apogee
$GC,3423,-0.31,0.0,510.7,13.7,168,3503,1.80,0.00,75.60,0.904,6,0.112,0.000,2846,1997,2748
$STATE,3504,end apogee,CONTROL_FINISHED_OK
$STATE,3504,begin climb
$GC,3506,1.80,92.3,513.0,0.0,170,3591,1.92,2.38,76.93,0.883,4,0.044,0.054,3318,627,2372
$GC,3598,1.51,94.3,507.4,8.3,172,3603,0.35,2.25,0.00,0.000,6,0.121,0.038,3250,2000,2369
$GC,3910,1.36,94.3,466.3,12.8,180,3915,0.15,2.30,0.00,0.000,4,0.124,0.050,3218,625,2364
$GC,4166,1.24,94.3,432.7,12.1,185,4173,0.15,2.22,0.00,0.000,6,0.123,0.028,3190,2007,2360
$GC,4497,1.24,94.3,401.2,9.0,194,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2007,2358
$GC,4822,1.24,94.3,369.5,9.7,202,4826,0.00,2.30,0.00,0.000,4,0.000,0.042,3190,615,2355
$GC,5024,1.18,94.3,349.3,9.8,206,5028,0.00,2.22,0.00,0.000,6,0.000,0.027,3190,2012,2354
$GC,5360,1.19,102.6,322.6,7.5,215,5373,0.00,2.38,6.45,0.675,4,0.000,0.042,3190,619,2329
$GC,5396,1.16,106.2,319.7,8.1,215,5405,0.00,2.20,4.62,0.583,6,0.000,0.031,3190,2003,2315
$GC,5733,1.16,106.9,293.5,8.4,224,5737,0.00,2.28,0.00,0.000,4,0.000,0.043,3190,624,2313
$GC,5753,1.16,106.9,291.0,9.5,224,5758,0.00,2.20,0.00,0.000,6,0.000,0.025,3190,1994,2312
$GC,6096,1.16,106.9,259.4,9.0,233,6100,0.00,2.35,0.00,0.000,4,0.000,0.056,3190,3399,2311
$GC,6106,1.16,107.4,258.6,8.4,233,6110,0.00,2.20,0.00,0.000,6,0.000,0.031,3190,2011,2311
$GC,6455,1.21,126.5,234.9,6.3,242,6479,0.00,2.42,17.38,0.723,4,0.000,0.051,3190,598,2233
$GC,6732,1.21,126.5,207.6,10.2,248,6736,0.00,2.25,0.00,0.000,6,0.000,0.021,3190,2007,2229
$GC,7065,1.29,144.1,185.6,6.5,271,7087,0.00,2.33,15.62,0.667,4,0.000,0.044,3190,3399,2160
$GC,7125,1.35,144.1,180.8,8.7,276,7134,0.08,2.25,0.00,0.000,6,0.049,0.024,3224,1995,2159
$GC,7452,1.36,152.2,155.0,7.6,307,7466,0.00,2.30,8.15,0.582,4,0.000,0.038,3223,602,2128
$GC,7491,1.37,155.5,151.9,8.1,310,7500,0.00,2.20,4.50,0.467,6,0.000,0.027,3224,2003,2113
$GC,7826,1.41,155.5,124.5,9.9,342,7830,0.00,2.28,0.00,0.000,4,0.000,0.042,3224,594,2112
$GC,7836,1.44,155.5,123.3,10.2,342,7843,0.00,2.22,0.00,0.000,6,0.000,0.022,3224,1997,2112
$GC,8036,1.48,155.5,102.7,9.9,361,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1997,2112
$GC,8228,1.54,165.0,85.9,7.4,379,8247,0.12,0.00,9.15,0.537,6,0.054,0.000,3267,1998,2076
$GC,8437,1.56,182.9,71.2,6.4,399,8457,0.00,0.00,16.35,0.556,6,0.000,0.000,3268,1998,2002
$GC,8648,1.56,182.9,53.1,9.1,419,8652,0.00,2.25,0.00,0.000,4,0.000,0.042,3268,601,2000
$GC,8735,1.52,182.9,44.5,10.1,426,8739,0.00,2.20,0.00,0.000,6,0.000,0.022,3268,2001,1999
$GC,8938,1.52,182.9,22.6,11.8,449,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2001,1999
$STATE,9129,end climb,SURFACE_DEPTH_REACHED
$STATE,9129,begin surface coast
$FINISH,0.5,1.022976
$STATE,9160,end surface coast,CONTROL_FINISHED_OK
$STATE,9160,begin surface
$SM_CCo,9180,125.07,0.507,0,0,955,440.07
$SM_GC,1.51,0.00,0.00,125.07,0.000,0.000,0.507,406,2107,955,-11.56,1.61,440.07
$IRIDIUM_FIX,2239.35,-15749.78,041297,111110
$TT8_MAMPS,0.026845
$HUMID,1674
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.70
$XPDR_PINGS,131
$24V_AH,23.8,35.841
$10V_AH,10.1,32.700
$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,27.850,85.275,234.750,125.075,0.000,31.192,29.842,222.201,32.750,0.000,0.000,14.767,987.780,5898.450,458.268,1821.330,531.584,33.362,1171.805,0.000,1891.030,0.000,0.469
$DEVICE_MAMPS,162.604,109.681,904.293,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.335,312.885,592.643,444.035,898.351,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38153,487
$CAP_FILE_SIZE,202932,0
$CFSIZE,260165632,243437568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090908,165217,2248.235,-15748.354,9,7.0,28,10.1