version: 66.03
glider: 148
mission: 6
dive: 239
start: 9 11 108 18 17 32
data:
$ID,148
$MISSION,6
$DIVE,239
$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,-11146.618
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,180638,2248.258,-15747.548,38,1.0,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-60.0
$GPS2,181638,2248.204,-15747.592,10,1.0,15,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.080,0.124
$KALMAN_X,-186416.2,-25.1,334.6,202103.0,-1761.7
$KALMAN_Y,-185058.3,-80.8,251.4,185090.6,-1352.2
$MHEAD_RNG_PITCHd_Wd,316.9,2434,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.75,-49.4,0.0,0.0,0,109,0.00,0.00,-85.35,0.000,2,0.000,0.000,411,2011,2764
$GC,113,-1.80,-88.3,3.5,-4.0,11,138,11.27,2.30,-7.53,0.000,4,0.161,0.041,2522,3458,3111
$GC,252,-1.69,-88.3,35.4,-22.3,32,261,0.10,2.20,0.00,0.000,6,0.127,0.018,2545,2053,3112
$GC,452,-1.69,-88.3,76.2,-18.9,51,456,0.00,2.20,0.00,0.000,4,0.000,0.030,2545,650,3112
$GC,553,-1.72,-88.3,96.4,-17.7,59,560,0.00,2.17,0.00,0.000,6,0.000,0.020,2545,2058,3112
$GC,750,-1.72,-88.3,130.7,-18.6,78,754,0.00,2.22,0.00,0.000,4,0.000,0.030,2545,653,3113
$GC,851,-1.80,-88.3,148.4,-16.2,86,860,0.00,2.17,0.00,0.000,6,0.000,0.019,2545,2049,3113
$GC,1049,-1.85,-88.3,176.7,-14.4,105,1054,0.12,2.22,0.00,0.000,4,0.057,0.030,2503,648,3113
$GC,1122,-1.85,-88.3,188.4,-17.4,111,1126,0.00,2.17,0.00,0.000,6,0.000,0.021,2504,2052,3113
$GC,1445,-1.85,-88.3,234.5,-14.1,124,1449,0.00,2.22,0.00,0.000,4,0.000,0.031,2503,647,3114
$GC,1512,-1.85,-88.3,244.3,-14.8,125,1516,0.00,2.17,0.00,0.000,6,0.000,0.018,2503,2067,3114
$GC,1854,-1.90,-88.3,288.0,-12.0,134,1858,0.00,2.25,0.00,0.000,4,0.000,0.038,2504,652,3114
$GC,2016,-1.96,-88.3,308.9,-14.0,137,2020,0.00,2.17,0.00,0.000,6,0.000,0.021,2503,2055,3114
$GC,2353,-2.03,-88.3,351.7,-12.6,146,2358,0.10,2.25,0.00,0.000,4,0.065,0.044,2469,662,3114
$GC,2599,-2.03,-88.3,385.6,-14.0,151,2603,0.00,2.20,0.00,0.000,6,0.000,0.032,2469,2041,3112
$GC,2941,-2.03,-88.3,432.7,-13.9,160,2945,0.00,2.25,0.00,0.000,4,0.000,0.044,2468,666,3110
$GC,3199,-2.03,-88.3,470.6,-14.2,165,3205,0.00,2.22,0.00,0.000,6,0.000,0.037,2469,2040,3108
$STATE,3528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3528,begin apogee
$GC,3533,-0.31,0.0,512.3,12.1,174,3611,1.80,0.00,72.05,0.908,6,0.108,0.000,2849,2040,2749
$STATE,3612,end apogee,CONTROL_FINISHED_OK
$STATE,3612,begin climb
$GC,3614,1.80,88.3,514.2,0.0,176,3697,1.95,2.35,73.53,0.887,4,0.044,0.064,3315,3399,2388
$GC,3797,1.49,88.3,493.4,16.8,180,3802,0.35,2.25,0.00,0.000,6,0.123,0.028,3247,2017,2382
$GC,4111,1.31,88.3,452.7,12.2,188,4116,0.17,2.40,0.00,0.000,4,0.125,0.064,3210,598,2379
$GC,4244,1.16,88.3,437.2,11.8,191,4249,0.20,2.25,0.00,0.000,6,0.123,0.032,3173,1994,2378
$GC,4567,1.16,88.3,407.1,9.1,199,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1994,2375
$GC,4892,1.16,88.3,377.9,9.2,207,4896,0.00,2.33,0.00,0.000,4,0.000,0.042,3173,590,2373
$GC,4930,1.09,88.3,374.1,10.5,207,4936,0.00,2.28,0.00,0.000,6,0.000,0.029,3173,2010,2371
$GC,5261,1.11,102.4,348.4,6.9,216,5276,0.00,2.38,9.85,0.757,4,0.000,0.047,3173,589,2331
$GC,5367,1.07,108.7,340.2,7.8,218,5380,0.00,2.28,6.78,0.691,6,0.000,0.030,3173,2011,2305
$GC,5719,1.07,108.7,306.4,10.4,227,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2011,2301
$GC,6043,1.08,120.4,280.5,7.1,235,6058,0.00,2.35,10.57,0.726,4,0.000,0.044,3173,597,2257
$GC,6114,1.08,120.4,274.0,9.7,236,6118,0.00,2.28,0.00,0.000,6,0.000,0.026,3173,2005,2255
$GC,6451,1.12,120.4,242.2,9.1,245,6455,0.00,2.33,0.00,0.000,4,0.000,0.047,3173,589,2254
$GC,6551,1.12,120.4,232.2,9.6,247,6555,0.00,2.25,0.00,0.000,6,0.000,0.025,3173,1997,2253
$GC,6871,1.19,138.7,209.8,6.4,255,6892,0.00,2.35,15.90,0.698,4,0.000,0.057,3173,3393,2183
$GC,6994,1.26,144.2,201.4,7.9,257,7005,0.00,2.22,6.03,0.577,6,0.000,0.028,3173,1989,2161
$GC,7330,1.33,144.3,175.5,8.5,286,7335,0.15,2.25,0.00,0.000,4,0.053,0.038,3225,599,2160
$GC,7351,1.33,144.3,172.9,9.8,287,7358,0.00,2.22,0.00,0.000,6,0.000,0.021,3225,1998,2158
$GC,7676,1.33,144.3,137.9,9.9,318,7680,0.00,2.25,0.00,0.000,4,0.000,0.044,3225,3396,2159
$GC,7708,1.33,144.3,135.0,8.7,320,7717,0.00,2.22,0.00,0.000,6,0.000,0.028,3224,1995,2158
$GC,7910,1.35,160.4,122.5,6.6,339,7934,0.00,2.30,14.93,0.607,4,0.000,0.042,3225,602,2094
$GC,7992,1.31,160.4,115.8,8.6,346,7996,0.00,2.20,0.00,0.000,6,0.000,0.028,3225,2000,2094
$GC,8189,1.31,162.3,99.1,8.3,364,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2001,2093
$GC,8381,1.32,164.1,82.2,8.3,382,8395,0.00,2.30,4.45,0.426,4,0.000,0.042,3225,604,2080
$GC,8400,1.32,165.6,80.5,8.3,383,8406,0.00,2.20,0.00,0.000,6,0.000,0.021,3225,2004,2080
$GC,8600,1.38,178.3,66.6,7.0,402,8618,0.00,2.30,13.62,0.546,4,0.000,0.047,3224,3406,2020
$GC,8666,1.45,194.4,62.1,6.6,407,8693,0.00,2.20,14.93,0.542,6,0.000,0.021,3225,1994,1955
$GC,8884,1.51,194.4,43.4,9.2,427,8888,0.10,2.22,0.00,0.000,4,0.062,0.040,3263,606,1954
$GC,8898,1.51,194.4,42.0,9.7,428,8902,0.00,2.20,0.00,0.000,6,0.000,0.019,3263,2010,1953
$GC,9105,1.51,194.4,19.4,11.1,454,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2010,1953
$STATE,9256,end climb,SURFACE_DEPTH_REACHED
$STATE,9256,begin surface coast
$FINISH,0.6,1.018742
$STATE,9288,end surface coast,CONTROL_FINISHED_OK
$STATE,9288,begin surface
$SM_CCo,9308,131.62,0.510,0,0,954,440.07
$SM_GC,1.47,0.00,0.00,131.62,0.000,0.000,0.510,414,2013,954,-11.53,-1.05,440.07
$IRIDIUM_FIX,2239.35,-15746.73,061297,181858
$TT8_MAMPS,0.027612
$HUMID,1689
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,161
$24V_AH,23.8,37.673
$10V_AH,10.1,34.538
$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,27.950,94.575,242.625,131.625,0.000,53.968,59.206,312.838,40.250,0.000,0.000,16.628,987.378,6099.906,469.135,1793.675,689.776,33.360,1194.730,0.000,1850.781,0.000,0.468
$DEVICE_MAMPS,161.070,64.428,908.128,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.308,309.219,577.337,449.079,896.577,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38335,485
$CAP_FILE_SIZE,205558,0
$CFSIZE,260165632,242245632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110908,205539,2247.953,-15748.622,8,2.0,8,10.1