version: 66.03
glider: 148
mission: 6
dive: 243
start: 9 12 108 5 45 39
data:
$ID,148
$MISSION,6
$DIVE,243
$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,-11213.611
$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,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
$GPS1,053839,2248.674,-15748.224,10,1.2,10,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.0
$GPS2,054445,2248.679,-15748.243,13,1.5,13,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,0.118
$KALMAN_X,-191267.5,233.8,319.3,205604.2,-2004.7
$KALMAN_Y,-189583.0,220.0,622.9,189820.1,-2210.2
$MHEAD_RNG_PITCHd_Wd,26.6,1803,-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,17,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,-84.53,0.000,2,0.000,0.000,408,2105,2740
$GC,111,-1.80,-90.5,3.3,-3.8,11,136,11.25,2.20,-8.38,0.000,4,0.160,0.048,2519,3454,3120
$GC,169,-1.60,-90.5,15.5,-20.3,19,178,0.20,2.20,0.00,0.000,6,0.120,0.024,2562,2045,3121
$GC,376,-1.57,-90.5,59.6,-20.6,43,380,0.00,2.17,0.00,0.000,4,0.000,0.035,2562,655,3121
$GC,406,-1.57,-90.5,65.9,-21.5,45,410,0.00,2.20,0.00,0.000,6,0.000,0.031,2562,2057,3122
$GC,607,-1.61,-90.5,100.8,-16.5,63,611,0.00,2.22,0.00,0.000,4,0.000,0.029,2562,651,3122
$GC,674,-1.69,-90.5,113.0,-17.0,68,683,0.00,2.20,0.00,0.000,6,0.000,0.020,2562,2052,3122
$GC,875,-1.77,-90.5,143.0,-15.0,87,880,0.12,2.22,0.00,0.000,4,0.056,0.029,2520,648,3123
$GC,942,-1.77,-90.5,154.7,-16.4,92,949,0.00,2.20,0.00,0.000,6,0.000,0.019,2520,2059,3123
$GC,1295,-1.80,-90.5,213.1,-15.0,120,1299,0.00,2.22,0.00,0.000,4,0.000,0.030,2519,651,3123
$GC,1431,-1.87,-90.5,232.7,-11.9,123,1435,0.00,2.15,0.00,0.000,6,0.000,0.018,2520,2056,3123
$GC,1750,-1.96,-90.5,267.4,-11.0,131,1755,0.12,2.22,0.00,0.000,4,0.058,0.030,2478,653,3123
$GC,1928,-1.96,-90.5,289.8,-12.9,135,1932,0.00,2.17,0.00,0.000,6,0.000,0.021,2478,2040,3123
$GC,2253,-1.96,-90.5,332.5,-13.5,143,2257,0.00,2.22,0.00,0.000,4,0.000,0.038,2478,661,3123
$GC,2309,-1.96,-90.5,340.4,-13.4,144,2313,0.00,2.17,0.00,0.000,6,0.000,0.023,2478,2057,3123
$GC,2622,-1.96,-90.5,380.8,-12.6,152,2626,0.00,2.28,0.00,0.000,4,0.000,0.046,2478,659,3122
$GC,2862,-1.96,-90.5,411.7,-12.2,157,2866,0.00,2.20,0.00,0.000,6,0.000,0.025,2478,2040,3120
$GC,3211,-1.99,-90.5,458.7,-14.6,166,3215,0.00,2.28,0.00,0.000,4,0.000,0.047,2479,659,3118
$GC,3470,-2.02,-90.5,495.7,-12.5,171,3476,0.00,2.22,0.00,0.000,6,0.000,0.037,2479,2051,3116
$STATE,3597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3597,begin apogee
$GC,3602,-0.31,0.0,510.7,11.7,175,3680,1.75,0.00,73.90,0.910,6,0.108,0.000,2848,2051,2749
$STATE,3681,end apogee,CONTROL_FINISHED_OK
$STATE,3681,begin climb
$GC,3683,1.80,90.5,512.2,0.0,177,3766,1.95,2.38,75.05,0.885,4,0.044,0.055,3316,3399,2379
$GC,3861,1.48,90.5,491.4,16.2,181,3866,0.35,2.25,0.00,0.000,6,0.122,0.030,3247,2019,2375
$GC,4179,1.31,90.5,448.8,12.8,189,4184,0.17,2.42,0.00,0.000,4,0.123,0.061,3210,598,2370
$GC,4235,1.17,90.5,442.2,11.5,190,4240,0.17,2.25,0.00,0.000,6,0.125,0.033,3177,1997,2369
$GC,4584,1.17,90.5,408.4,9.3,199,4589,0.00,2.35,0.00,0.000,4,0.000,0.044,3177,587,2367
$GC,4819,1.10,90.5,384.6,10.3,204,4823,0.00,2.28,0.00,0.000,6,0.000,0.031,3177,2007,2364
$GC,5132,1.10,90.5,355.0,9.6,212,5136,0.00,2.33,0.00,0.000,4,0.000,0.045,3177,595,2363
$GC,5350,1.04,90.5,333.5,9.8,217,5355,0.15,2.25,0.00,0.000,6,0.133,0.025,3151,2007,2361
$GC,5674,1.10,108.9,312.1,6.4,225,5693,0.00,2.42,12.98,0.761,4,0.000,0.061,3151,3398,2305
$GC,5757,1.16,117.3,306.1,7.5,226,5772,0.00,2.25,8.73,0.707,6,0.000,0.027,3150,1989,2269
$GC,6093,1.22,123.8,279.3,7.7,235,6107,0.15,2.42,6.38,0.647,4,0.057,0.044,3194,3399,2244
$GC,6137,1.19,123.8,275.6,8.6,236,6141,0.00,2.25,0.00,0.000,6,0.000,0.027,3194,1999,2243
$GC,6461,1.19,124.5,248.4,8.4,244,6465,0.00,2.33,0.00,0.000,4,0.000,0.051,3194,596,2242
$GC,6718,1.15,124.5,223.9,8.9,249,6725,0.12,2.22,0.00,0.000,6,0.122,0.024,3172,2010,2240
$GC,7051,1.22,137.0,201.3,7.1,258,7065,0.00,0.00,12.00,0.665,6,0.000,0.000,3172,2010,2189
$GC,7388,1.31,149.6,176.4,7.1,287,7412,0.15,2.40,12.02,0.639,4,0.054,0.037,3224,587,2139
$GC,7458,1.25,149.6,170.0,9.5,293,7462,0.15,2.25,0.00,0.000,6,0.113,0.028,3195,2005,2138
$GC,7786,1.29,149.6,140.1,10.6,323,7790,0.00,2.30,0.00,0.000,4,0.000,0.036,3195,589,2137
$GC,7871,1.29,149.6,129.1,12.6,330,7875,0.00,2.22,0.00,0.000,6,0.000,0.028,3195,2002,2136
$GC,8069,1.34,149.6,108.3,9.9,348,8073,0.00,2.28,0.00,0.000,4,0.000,0.041,3195,591,2136
$GC,8135,1.34,149.6,101.5,9.8,353,8141,0.00,2.22,0.00,0.000,6,0.000,0.021,3195,1994,2137
$GC,8333,1.41,161.4,86.1,7.1,372,8350,0.15,2.30,11.23,0.555,4,0.053,0.042,3249,590,2090
$GC,8530,1.34,163.9,68.4,8.2,389,8535,0.20,2.20,0.00,0.000,6,0.108,0.028,3209,2000,2089
$GC,8730,1.41,176.8,54.7,7.0,407,8750,0.00,0.00,13.88,0.539,6,0.000,0.000,3209,2001,2028
$GC,8941,1.51,188.6,39.7,7.1,427,8958,0.15,2.33,11.38,0.510,4,0.050,0.042,3267,3391,1980
$GC,9015,1.51,188.6,32.7,10.0,433,9023,0.00,2.22,0.00,0.000,6,0.000,0.021,3267,1990,1977
$GC,9227,1.48,188.6,12.3,9.5,467,9236,0.12,2.33,0.00,0.000,4,0.114,0.040,3243,3390,1977
$GC,9245,1.48,188.6,10.4,9.9,469,9251,0.00,2.20,0.00,0.000,6,0.000,0.022,3243,2003,1976
$STATE,9315,end climb,SURFACE_DEPTH_REACHED
$STATE,9316,begin surface coast
$FINISH,0.6,1.016015
$STATE,9346,end surface coast,CONTROL_FINISHED_OK
$STATE,9346,begin surface
$SM_CCo,9367,132.93,0.512,0,0,954,440.07
$SM_GC,1.49,0.00,0.00,132.93,0.000,0.000,0.512,413,2133,954,-11.53,2.32,440.07
$IRIDIUM_FIX,2239.35,-15749.78,071297,030322
$TT8_MAMPS,0.027612
$HUMID,1691
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.30
$XPDR_PINGS,143
$24V_AH,23.8,38.088
$10V_AH,10.1,34.938
$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,28.900,99.475,237.525,132.925,0.000,27.536,28.286,204.398,35.750,0.000,0.000,16.055,1033.890,5893.935,462.285,1955.495,520.876,33.355,1250.906,0.000,2009.793,0.000,0.468
$DEVICE_MAMPS,160.303,102.778,909.662,511.589,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.010,313.799,586.766,447.151,899.960,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38097,486
$CAP_FILE_SIZE,209076,0
$CFSIZE,260165632,241979392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120908,082507,2248.550,-15748.112,29,1.4,29,10.1