version: 66.03
glider: 148
mission: 6
dive: 236
start: 9 11 108 9 31 23
data:
$ID,148
$MISSION,6
$DIVE,236
$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,-11099.78
$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,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
$GPS1,091547,2248.868,-15748.525,11,2.9,30,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.7
$GPS2,093029,2248.816,-15748.591,16,2.4,35,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.046
$KALMAN_X,-183385.2,432.9,99.0,197148.9,-2157.0
$KALMAN_Y,-183170.9,332.2,-29.2,184198.0,-1987.4
$MHEAD_RNG_PITCHd_Wd,61.5,1665,-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,-49.4,0.0,0.0,0,93,0.00,0.00,-70.15,0.000,2,0.000,0.000,407,2124,2824
$GC,96,-1.79,-84.0,3.6,-4.5,9,120,11.27,0.00,-5.75,0.000,6,0.161,0.000,2522,2124,3093
$GC,321,-1.68,-84.0,55.4,-23.2,38,326,0.15,2.33,0.00,0.000,4,0.138,0.031,2553,645,3094
$GC,432,-1.72,-84.0,78.1,-19.0,47,436,0.00,2.20,0.00,0.000,6,0.000,0.028,2553,2062,3094
$GC,633,-1.76,-84.0,112.6,-17.3,65,637,0.00,2.25,0.00,0.000,4,0.000,0.029,2553,639,3094
$GC,718,-1.84,-84.0,128.0,-17.6,72,723,0.15,2.20,0.00,0.000,6,0.050,0.020,2503,2059,3094
$GC,915,-1.84,-84.0,163.9,-18.5,90,919,0.00,2.25,0.00,0.000,4,0.000,0.031,2503,641,3095
$GC,1069,-1.84,-84.0,189.2,-16.9,103,1074,0.00,2.17,0.00,0.000,6,0.000,0.020,2503,2055,3095
$GC,1382,-1.84,-84.0,235.4,-13.9,115,1386,0.00,2.20,0.00,0.000,4,0.000,0.029,2503,650,3095
$GC,1595,-1.87,-84.0,266.6,-13.4,119,1599,0.00,2.15,0.00,0.000,6,0.000,0.019,2503,2051,3095
$GC,1932,-1.93,-84.0,311.1,-13.3,128,1936,0.00,2.25,0.00,0.000,4,0.000,0.035,2503,647,3096
$GC,2151,-1.97,-84.0,339.2,-12.1,133,2155,0.00,2.17,0.00,0.000,6,0.000,0.023,2503,2044,3095
$GC,2476,-2.05,-84.0,376.5,-11.4,141,2481,0.12,2.25,0.00,0.000,4,0.056,0.041,2461,659,3094
$GC,2609,-2.05,-84.0,395.1,-13.5,144,2613,0.00,2.17,0.00,0.000,6,0.000,0.031,2461,2048,3093
$GC,2933,-2.05,-84.0,437.5,-13.1,152,2937,0.00,2.28,0.00,0.000,4,0.000,0.044,2461,660,3091
$GC,3190,-2.05,-84.0,474.1,-14.3,157,3196,0.00,2.22,0.00,0.000,6,0.000,0.035,2461,2037,3089
$STATE,3478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3479,begin apogee
$GC,3484,-0.31,0.0,511.1,12.4,165,3561,1.83,0.00,68.65,0.907,6,0.107,0.000,2848,2037,2748
$STATE,3561,end apogee,CONTROL_FINISHED_OK
$STATE,3562,begin climb
$GC,3564,1.79,84.0,512.5,0.0,167,3641,1.92,2.35,69.47,0.885,4,0.041,0.061,3313,3399,2405
$GC,3826,1.48,84.0,481.2,14.6,172,3831,0.35,2.25,0.00,0.000,6,0.123,0.030,3245,2009,2400
$GC,4145,1.31,84.0,444.8,11.2,180,4149,0.17,2.40,0.00,0.000,4,0.124,0.061,3208,600,2397
$GC,4166,1.16,84.0,442.4,10.7,180,4171,0.17,2.22,0.00,0.000,6,0.121,0.028,3175,1995,2396
$GC,4507,1.16,84.0,413.2,8.5,189,4511,0.00,2.33,0.00,0.000,4,0.000,0.050,3175,594,2395
$GC,4659,1.09,85.5,400.2,8.3,192,4663,0.00,2.25,0.00,0.000,6,0.000,0.032,3175,2003,2393
$GC,5007,1.09,85.5,370.6,8.6,201,5011,0.00,2.33,0.00,0.000,4,0.000,0.047,3175,597,2391
$GC,5113,1.03,85.5,359.8,10.0,203,5118,0.15,2.22,0.00,0.000,6,0.133,0.031,3148,2003,2389
$GC,5456,1.07,92.6,331.5,7.7,212,5466,0.00,2.33,5.45,0.644,4,0.000,0.044,3148,593,2370
$GC,5591,1.08,98.3,320.8,7.8,215,5602,0.00,2.25,6.28,0.670,6,0.000,0.028,3148,2005,2347
$GC,5911,1.16,125.6,302.5,5.4,223,5938,0.12,0.00,24.27,0.787,6,0.063,0.000,3185,2005,2236
$GC,6234,1.16,125.6,276.1,8.9,231,6238,0.00,2.33,0.00,0.000,4,0.000,0.045,3185,599,2231
$GC,6267,1.16,125.6,272.7,9.7,231,6274,0.00,2.25,0.00,0.000,6,0.000,0.024,3185,1998,2230
$GC,6598,1.16,125.6,243.1,9.2,240,6602,0.00,2.30,0.00,0.000,4,0.000,0.041,3186,596,2228
$GC,6653,1.16,125.6,237.8,10.0,241,6657,0.00,2.22,0.00,0.000,6,0.000,0.023,3185,2008,2227
$GC,6966,1.18,136.8,213.8,7.2,249,6980,0.00,2.35,9.45,0.657,4,0.000,0.039,3185,585,2190
$GC,7065,1.19,145.0,206.5,7.6,251,7079,0.00,2.25,8.68,0.634,6,0.000,0.024,3185,2007,2157
$GC,7403,1.23,145.0,177.6,10.3,275,7407,0.00,2.30,0.00,0.000,4,0.000,0.042,3185,591,2155
$GC,7491,1.23,145.0,166.9,13.2,282,7500,0.00,2.25,0.00,0.000,6,0.000,0.023,3186,2001,2154
$GC,7821,1.30,147.7,137.7,8.2,313,7825,0.00,2.28,0.00,0.000,4,0.000,0.036,3185,590,2154
$GC,7922,1.34,157.3,129.5,7.4,321,7943,0.10,2.20,11.57,0.597,6,0.064,0.028,3222,1997,2107
$GC,8134,1.34,157.3,111.7,9.4,341,8138,0.00,2.28,0.00,0.000,4,0.000,0.042,3222,590,2106
$GC,8254,1.34,157.3,99.3,10.8,351,8258,0.00,2.22,0.00,0.000,6,0.000,0.021,3222,2005,2106
$GC,8455,1.34,157.3,80.1,9.6,369,8458,0.00,2.28,0.00,0.000,4,0.000,0.048,3222,3408,2106
$GC,8465,1.34,157.3,78.9,9.0,369,8474,0.00,2.25,0.00,0.000,6,0.000,0.025,3223,1983,2105
$GC,8664,1.38,185.8,66.4,5.2,388,8694,0.00,2.25,25.02,0.568,4,0.000,0.035,3222,597,1989
$GC,8730,1.38,185.8,61.2,8.7,393,8734,0.00,2.20,0.00,0.000,6,0.000,0.028,3222,2004,1988
$GC,8930,1.44,190.1,45.8,8.0,411,8944,0.00,2.30,4.45,0.403,4,0.000,0.034,3222,607,1974
$GC,8992,1.47,190.1,40.4,9.0,416,8996,0.00,2.20,0.00,0.000,6,0.000,0.022,3222,2009,1974
$GC,9197,1.53,190.1,22.6,8.8,441,9206,0.12,2.28,0.00,0.000,4,0.054,0.039,3268,3394,1972
$GC,9215,1.56,190.1,20.9,9.0,443,9224,0.00,2.20,0.00,0.000,6,0.000,0.021,3267,1998,1972
$STATE,9389,end climb,SURFACE_DEPTH_REACHED
$STATE,9389,begin surface coast
$FINISH,0.6,1.008059
$STATE,9420,end surface coast,CONTROL_FINISHED_OK
$STATE,9420,begin surface
$SM_CCo,9440,187.40,0.507,0,0,510,548.98
$SM_GC,1.44,0.00,0.00,187.40,0.000,0.000,0.507,409,2107,510,-11.55,1.61,548.98
$IRIDIUM_FIX,2239.35,-15747.62,061297,090902
$TT8_MAMPS,0.027612
$HUMID,1669
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.70
$XPDR_PINGS,150
$24V_AH,23.8,37.371
$10V_AH,10.1,34.233
$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,28.275,99.275,233.300,187.400,0.000,138.428,370.666,0.000,37.500,0.000,0.000,37.634,1010.057,6322.776,508.975,1903.478,763.484,33.355,1254.427,0.000,1916.277,0.000,0.470
$DEVICE_MAMPS,161.070,76.700,907.361,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.718,309.584,555.206,428.275,877.444,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35065,478
$CAP_FILE_SIZE,200016,0
$CFSIZE,260165632,242438144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110908,121308,2248.582,-15748.452,38,1.0,38,10.1