version: 66.03
glider: 148
mission: 6
dive: 241
start: 9 11 108 23 57 4
data:
$ID,148
$MISSION,6
$DIVE,241
$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,-11181.921
$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,46
$R_STBD_OVSHOOT,61
$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
$GPS1,234956,2248.187,-15748.976,40,0.8,40,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-60.1
$GPS2,235609,2248.167,-15749.030,14,1.2,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.074
$KALMAN_X,-188695.8,109.9,-201.5,202336.3,-1628.9
$KALMAN_Y,-188043.5,175.5,-310.9,188315.0,-1200.7
$MHEAD_RNG_PITCHd_Wd,51.9,314,-25.1,-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,-1.64,-57.1,0.0,0.0,0,107,0.00,0.00,-85.32,0.000,2,0.000,0.000,414,2084,2762
$GC,111,-1.69,-100.3,3.5,-4.2,11,136,11.43,2.22,-8.62,0.000,4,0.162,0.043,2545,3437,3160
$GC,186,-1.58,-100.3,19.4,-21.2,22,193,0.10,2.17,0.00,0.000,6,0.121,0.025,2568,2053,3160
$GC,395,-1.50,-100.3,65.8,-22.9,45,400,0.12,2.20,0.00,0.000,4,0.127,0.035,2591,652,3161
$GC,425,-1.54,-100.3,71.7,-19.9,47,429,0.00,2.15,0.00,0.000,6,0.000,0.024,2591,2037,3161
$GC,625,-1.59,-100.3,104.6,-16.3,65,629,0.00,2.20,0.00,0.000,4,0.000,0.036,2591,646,3161
$GC,666,-1.67,-100.3,111.4,-17.1,68,670,0.15,2.20,0.00,0.000,6,0.050,0.021,2541,2057,3161
$GC,872,-1.64,-100.3,145.4,-16.7,87,877,0.10,2.22,0.00,0.000,4,0.121,0.030,2560,650,3162
$GC,960,-1.68,-100.3,159.1,-14.8,94,964,0.00,2.17,0.00,0.000,6,0.000,0.020,2560,2055,3162
$GC,1295,-1.74,-100.3,206.1,-13.3,122,1299,0.00,2.22,0.00,0.000,4,0.000,0.031,2560,650,3162
$GC,1373,-1.84,-100.3,217.1,-12.8,123,1380,0.17,2.15,0.00,0.000,6,0.046,0.019,2501,2053,3163
$GC,1704,-1.84,-100.3,264.3,-14.3,132,1708,0.00,2.22,0.00,0.000,4,0.000,0.030,2500,647,3163
$GC,1880,-1.84,-100.3,287.4,-13.3,136,1884,0.00,2.17,0.00,0.000,6,0.000,0.021,2500,2053,3163
$GC,2204,-1.84,-100.3,330.5,-14.2,144,2208,0.00,2.25,0.00,0.000,4,0.000,0.037,2500,652,3163
$GC,2304,-1.84,-100.3,345.3,-14.0,146,2308,0.00,2.20,0.00,0.000,6,0.000,0.029,2500,2047,3163
$GC,2623,-1.84,-100.3,387.4,-12.7,154,2627,0.00,2.25,0.00,0.000,4,0.000,0.044,2500,665,3162
$GC,2880,-1.84,-100.3,418.6,-10.4,159,2886,0.00,2.20,0.00,0.000,6,0.000,0.031,2500,2042,3161
$GC,3211,-1.84,-100.3,451.1,-9.7,168,3215,0.00,2.28,0.00,0.000,4,0.000,0.046,2500,657,3158
$GC,3272,-1.84,-100.3,457.7,-11.1,169,3276,0.00,2.25,0.00,0.000,6,0.000,0.035,2501,2044,3157
$GC,3620,-1.84,-100.3,497.5,-12.0,178,3624,0.00,2.28,0.00,0.000,4,0.000,0.051,2500,666,3155
$STATE,3713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3713,begin apogee
$GC,3720,-0.31,0.0,510.1,13.2,180,3806,1.62,0.00,81.60,0.912,6,0.114,0.000,2848,1996,2749
$STATE,3807,end apogee,CONTROL_FINISHED_OK
$STATE,3807,begin climb
$GC,3809,1.69,100.3,513.1,0.0,182,3900,1.88,2.47,83.70,0.890,4,0.045,0.061,3293,3396,2339
$GC,3913,1.37,100.3,508.1,11.0,185,3918,0.38,2.25,0.00,0.000,6,0.120,0.031,3219,2020,2336
$GC,4238,1.22,100.3,473.5,10.5,193,4243,0.15,2.42,0.00,0.000,4,0.123,0.061,3187,599,2331
$GC,4371,1.09,100.3,459.3,10.3,196,4376,0.15,2.28,0.00,0.000,6,0.125,0.028,3160,2007,2328
$GC,4690,1.06,100.3,431.1,8.7,204,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2007,2326
$GC,5014,1.06,101.7,403.9,8.4,212,5018,0.00,2.35,0.00,0.000,4,0.000,0.048,3160,593,2323
$GC,5069,1.00,101.7,398.7,9.9,213,5073,0.12,2.25,0.00,0.000,6,0.133,0.025,3138,2004,2323
$GC,5418,1.01,106.5,371.0,8.0,222,5422,0.00,2.33,0.00,0.000,4,0.000,0.041,3138,596,2321
$GC,5478,1.01,106.5,365.6,8.7,223,5482,0.00,2.28,0.00,0.000,6,0.000,0.028,3137,2003,2320
$GC,5828,1.05,117.3,340.2,7.4,232,5847,0.00,2.45,11.73,0.773,4,0.000,0.058,3138,3402,2269
$GC,5864,1.09,117.3,336.9,8.8,232,5870,0.00,2.28,0.00,0.000,6,0.000,0.031,3138,1983,2268
$GC,6196,1.13,117.3,306.1,9.3,241,6200,0.12,2.35,0.00,0.000,4,0.063,0.048,3175,3398,2267
$GC,6211,1.13,117.3,304.4,9.4,241,6215,0.00,2.22,0.00,0.000,6,0.000,0.028,3175,1999,2266
$GC,6559,1.13,117.3,270.0,9.2,250,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1999,2266
$GC,6884,1.14,120.8,242.3,8.1,258,6893,0.00,2.35,3.53,0.462,4,0.000,0.052,3175,603,2256
$GC,7050,1.12,133.9,230.3,7.2,261,7069,0.00,2.20,12.60,0.698,6,0.000,0.021,3175,2010,2203
$GC,7389,1.13,145.1,205.4,7.4,270,7405,0.00,2.33,10.98,0.665,4,0.000,0.049,3174,3392,2157
$GC,7437,1.13,145.1,201.3,8.7,271,7442,0.00,2.25,0.00,0.000,6,0.000,0.030,3175,1998,2155
$GC,7771,1.18,157.2,176.2,7.3,300,7789,0.00,0.00,11.55,0.637,6,0.000,0.000,3175,1998,2108
$GC,8108,1.22,157.2,144.3,10.6,332,8112,0.00,2.28,0.00,0.000,4,0.000,0.044,3174,3392,2106
$GC,8187,1.28,157.2,136.5,10.2,338,8194,0.05,2.22,0.00,0.000,6,0.058,0.028,3203,1991,2104
$GC,8388,1.29,163.7,119.4,7.8,357,8400,0.00,2.30,6.65,0.532,4,0.000,0.038,3203,603,2081
$GC,8438,1.26,163.7,115.2,9.0,361,8442,0.00,2.20,0.00,0.000,6,0.000,0.020,3203,2005,2080
$GC,8640,1.27,174.0,99.9,7.5,379,8658,0.00,0.00,10.12,0.561,6,0.000,0.000,3203,2005,2038
$GC,8852,1.27,174.5,82.4,8.4,399,8856,0.00,2.25,0.00,0.000,4,0.000,0.035,3203,604,2037
$GC,8869,1.27,176.2,80.5,8.3,400,8873,0.00,2.20,0.00,0.000,6,0.000,0.022,3203,2007,2037
$GC,9069,1.33,180.4,64.4,8.1,418,9083,0.00,2.28,6.60,0.486,4,0.000,0.039,3203,3405,2014
$GC,9156,1.40,188.1,57.6,7.7,425,9169,0.00,2.22,8.25,0.501,6,0.000,0.021,3203,1997,1982
$GC,9364,1.48,204.5,43.0,6.9,444,9384,0.15,0.00,15.50,0.528,6,0.052,0.000,3250,1996,1914
$GC,9579,1.44,204.5,22.4,10.4,470,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1996,1911
$STATE,9753,end climb,SURFACE_DEPTH_REACHED
$STATE,9754,begin surface coast
$FINISH,0.5,1.006499
$STATE,9784,end surface coast,CONTROL_FINISHED_OK
$STATE,9784,begin surface
$SM_CCo,9804,115.00,0.510,0,0,954,440.07
$SM_GC,1.42,0.00,0.00,115.00,0.000,0.000,0.510,406,2117,954,-11.56,1.89,440.07
$IRIDIUM_FIX,2241.69,-15749.78,061297,212110
$TT8_MAMPS,0.026845
$HUMID,1709
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.50
$XPDR_PINGS,148
$24V_AH,23.8,37.889
$10V_AH,10.1,34.736
$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,28.250,99.300,262.800,115.000,0.000,24.329,33.730,207.783,37.000,0.000,0.000,15.625,1025.197,6437.857,472.686,1807.016,552.117,33.357,1198.695,0.000,1884.637,0.000,0.469
$DEVICE_MAMPS,161.837,74.399,911.963,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.210,332.031,612.204,441.673,895.860,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38275,505
$CAP_FILE_SIZE,209942,0
$CFSIZE,260165632,242110464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120908,024338,2248.583,-15748.573,35,1.2,35,10.1