version: 66.03
glider: 148
mission: 6
dive: 223
start: 9 9 108 19 55 9
data:
$ID,148
$MISSION,6
$DIVE,223
$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,-10813.614
$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,43
$R_STBD_OVSHOOT,57
$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
$GPS1,194808,2248.171,-15748.457,34,1.1,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.4
$GPS2,195414,2248.109,-15748.494,12,1.1,12,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,0.118
$KALMAN_X,-167679.9,-22.9,111.5,182047.9,-2397.4
$KALMAN_Y,-167844.8,-111.8,-192.2,168177.5,-1619.2
$MHEAD_RNG_PITCHd_Wd,37.3,886,-22.6,-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,20,-1.50,-69.3,0.0,0.0,0,107,0.00,0.00,-84.70,0.000,2,0.000,0.000,414,2077,2755
$GC,111,-1.57,-126.5,3.3,-3.8,11,145,11.52,2.20,-11.20,0.000,4,0.162,0.044,2570,3433,3265
$GC,164,-1.11,-126.5,14.2,-19.8,18,172,0.45,2.17,0.00,0.000,6,0.109,0.027,2676,2045,3265
$GC,374,-1.18,-126.5,47.9,-16.1,45,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2043,3265
$GC,574,-1.33,-126.5,77.3,-15.1,64,578,0.17,2.20,0.00,0.000,4,0.044,0.030,2614,651,3265
$GC,619,-1.39,-126.5,85.4,-17.9,67,625,0.00,2.15,0.00,0.000,6,0.000,0.021,2614,2037,3265
$GC,816,-1.42,-126.5,118.1,-15.6,86,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2038,3265
$GC,1007,-1.47,-126.5,145.2,-12.7,104,1011,0.00,2.20,0.00,0.000,4,0.000,0.030,2614,650,3266
$GC,1035,-1.55,-126.5,148.9,-13.4,106,1040,0.12,2.17,0.00,0.000,6,0.052,0.021,2566,2053,3266
$GC,1235,-1.50,-126.5,179.5,-15.5,124,1240,0.12,2.20,0.00,0.000,4,0.110,0.028,2590,654,3266
$GC,1278,-1.55,-126.5,185.9,-14.5,127,1282,0.00,2.15,0.00,0.000,6,0.000,0.021,2590,2049,3267
$GC,1628,-1.61,-126.5,233.7,-13.6,143,1632,0.00,2.20,0.00,0.000,4,0.000,0.030,2590,656,3267
$GC,1678,-1.74,-126.5,240.4,-13.1,144,1683,0.22,2.15,0.00,0.000,6,0.039,0.020,2520,2054,3267
$GC,2000,-1.69,-126.5,285.9,-13.3,152,2004,0.15,2.22,0.00,0.000,4,0.111,0.031,2548,655,3267
$GC,2156,-1.69,-126.5,307.8,-14.0,155,2160,0.00,2.15,0.00,0.000,6,0.000,0.023,2548,2046,3267
$GC,2498,-1.69,-126.5,352.3,-13.0,164,2502,0.00,2.22,0.00,0.000,4,0.000,0.045,2548,665,3267
$GC,2555,-1.74,-126.5,360.2,-14.7,165,2559,0.00,2.17,0.00,0.000,6,0.000,0.032,2548,2050,3267
$GC,2869,-1.78,-126.5,397.6,-11.2,173,2873,0.00,2.28,0.00,0.000,4,0.000,0.041,2547,657,3266
$GC,2910,-1.85,-126.5,402.3,-11.3,174,2915,0.12,2.20,0.00,0.000,6,0.058,0.030,2506,2047,3266
$GC,3235,-1.81,-126.5,441.7,-11.8,182,3239,0.00,2.28,0.00,0.000,4,0.000,0.052,2506,663,3263
$GC,3380,-1.81,-126.5,460.1,-12.6,185,3384,0.00,2.22,0.00,0.000,6,0.000,0.031,2506,2053,3263
$GC,3727,-1.81,-126.5,503.5,-12.8,194,3731,0.00,2.30,0.00,0.000,4,0.000,0.047,2506,660,3260
$STATE,3779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3779,begin apogee
$GC,3787,-0.31,0.0,510.7,13.1,195,3894,1.60,0.00,101.75,0.908,6,0.111,0.000,2850,1998,2749
$STATE,3894,end apogee,CONTROL_FINISHED_OK
$STATE,3895,begin climb
$GC,3897,1.57,126.5,512.4,0.0,198,4006,1.73,0.00,105.07,0.884,6,0.044,0.000,3266,1998,2232
$GC,4303,1.29,126.5,457.4,15.7,208,4308,0.28,2.30,0.00,0.000,4,0.114,0.048,3207,617,2223
$GC,4347,1.10,126.5,451.5,13.2,209,4352,0.25,2.25,0.00,0.000,6,0.115,0.034,3159,2004,2222
$GC,4668,1.04,131.0,423.6,8.1,217,4672,0.00,2.33,0.00,0.000,4,0.000,0.050,3158,609,2218
$GC,4752,0.95,131.0,415.9,9.1,219,4757,0.17,2.25,0.00,0.000,6,0.122,0.026,3126,2006,2217
$GC,5078,0.95,131.0,388.2,9.0,227,5082,0.00,2.38,0.00,0.000,4,0.000,0.059,3126,3409,2215
$GC,5162,0.95,131.0,378.8,12.2,229,5166,0.00,2.25,0.00,0.000,6,0.000,0.032,3126,2005,2212
$GC,5486,0.95,131.0,341.6,11.3,237,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2005,2211
$GC,5812,0.97,149.9,313.9,6.9,245,5836,0.00,2.40,17.20,0.778,4,0.000,0.043,3126,3401,2137
$GC,5864,1.00,170.7,310.7,6.8,246,5889,0.00,2.25,19.25,0.769,6,0.000,0.025,3126,1999,2051
$GC,6222,1.06,179.7,285.2,7.8,255,6232,0.10,0.00,7.95,0.677,6,0.067,0.000,3158,1999,2016
$GC,6548,1.06,179.7,250.2,11.4,263,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1999,2013
$GC,6870,1.06,179.7,217.0,9.3,271,6874,0.00,2.28,0.00,0.000,4,0.000,0.048,3158,599,2011
$GC,6886,1.07,185.6,215.8,8.0,271,6896,0.00,2.22,5.80,0.585,6,0.000,0.022,3158,2015,1992
$GC,7212,1.12,202.8,192.0,7.1,287,7234,0.00,0.00,16.45,0.668,6,0.000,0.000,3158,2015,1921
$GC,7553,1.16,202.8,161.0,9.1,319,7557,0.00,2.25,0.00,0.000,4,0.000,0.039,3158,3402,1918
$GC,7596,1.22,202.8,157.0,9.5,322,7600,0.12,2.20,0.00,0.000,6,0.057,0.029,3198,1989,1916
$GC,7927,1.22,202.8,121.8,10.0,353,7931,0.00,2.20,0.00,0.000,4,0.000,0.038,3199,604,1916
$GC,7976,1.22,202.8,117.0,10.3,357,7980,0.00,2.17,0.00,0.000,6,0.000,0.021,3198,1998,1916
$GC,8177,1.22,202.8,96.4,10.4,375,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1998,1916
$GC,8376,1.22,202.8,72.6,11.9,394,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1999,1916
$GC,8568,1.25,202.8,52.3,9.8,412,8572,0.00,2.25,0.00,0.000,4,0.000,0.043,3198,598,1916
$GC,8645,1.25,202.8,44.8,9.2,418,8654,0.00,2.20,0.00,0.000,6,0.000,0.020,3199,1995,1916
$GC,8845,1.26,208.4,29.0,8.0,438,8854,0.00,0.00,5.60,0.434,6,0.000,0.000,3199,1995,1898
$GC,9062,1.26,208.4,11.2,8.5,475,9071,0.00,2.28,0.00,0.000,4,0.000,0.041,3198,3388,1899
$GC,9113,1.26,208.4,6.4,9.3,483,9121,0.00,2.17,0.00,0.000,6,0.000,0.021,3199,2000,1898
$STATE,9152,end climb,SURFACE_DEPTH_REACHED
$STATE,9152,begin surface coast
$FINISH,0.6,1.020232
$STATE,9188,end surface coast,CONTROL_FINISHED_OK
$STATE,9188,begin surface
$SM_CCo,9208,121.85,0.509,0,0,954,440.07
$SM_GC,1.53,0.00,0.00,121.85,0.000,0.000,0.509,410,2127,954,-11.55,2.18,440.07
$IRIDIUM_FIX,2237.01,-15749.78,041297,171759
$TT8_MAMPS,0.028379
$HUMID,1692
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,130
$24V_AH,23.8,36.065
$10V_AH,10.1,32.902
$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,28.425,84.725,279.075,121.850,0.000,30.175,30.471,202.431,32.500,0.000,0.000,13.977,977.394,6028.759,483.681,1690.179,517.564,33.356,1148.259,0.000,1759.282,0.000,0.469
$DEVICE_MAMPS,161.837,102.011,908.128,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.406,319.362,597.792,463.651,939.919,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38270,495
$CAP_FILE_SIZE,202047,0
$CFSIZE,260165632,243306496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090908,223156,2248.514,-15748.461,38,1.2,38,10.1