version: 66.03
glider: 148
mission: 6
dive: 245
start: 9 12 108 11 32 55
data:
$ID,148
$MISSION,6
$DIVE,245
$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,-11262.674
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,112536,2248.268,-15748.330,16,99.0,35,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-61.3
$GPS2,113202,2248.219,-15748.341,12,1.9,29,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,0.110
$KALMAN_X,-193096.5,214.7,-48.9,207650.2,-1821.0
$KALMAN_Y,-192038.9,196.2,-539.7,192617.3,-1201.6
$MHEAD_RNG_PITCHd_Wd,31.3,1196,-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,-49.4,0.0,0.0,0,107,0.00,0.00,-84.32,0.000,2,0.000,0.000,410,2010,2738
$GC,111,-1.80,-89.9,3.3,-3.8,11,136,11.30,2.38,-8.60,0.000,4,0.162,0.042,2521,3462,3117
$GC,181,-1.70,-89.9,17.2,-20.6,21,188,0.10,2.22,0.00,0.000,6,0.124,0.018,2543,2044,3118
$GC,390,-1.63,-89.9,63.7,-22.5,45,395,0.10,2.17,0.00,0.000,4,0.136,0.031,2561,651,3119
$GC,444,-1.63,-89.9,74.8,-21.2,49,448,0.00,2.20,0.00,0.000,6,0.000,0.028,2560,2065,3119
$GC,645,-1.68,-89.9,111.1,-18.0,67,649,0.00,2.22,0.00,0.000,4,0.000,0.029,2560,656,3119
$GC,734,-1.76,-89.9,128.2,-17.6,74,741,0.08,2.17,0.00,0.000,6,0.045,0.019,2525,2046,3120
$GC,931,-1.76,-89.9,162.9,-17.9,93,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2048,3120
$GC,1269,-1.79,-89.9,211.1,-13.1,119,1273,0.00,2.20,0.00,0.000,4,0.000,0.030,2524,655,3121
$GC,1492,-1.88,-89.9,241.4,-14.3,124,1496,0.00,2.17,0.00,0.000,6,0.000,0.019,2525,2061,3121
$GC,1817,-1.97,-89.9,287.1,-13.8,132,1821,0.15,2.25,0.00,0.000,4,0.051,0.031,2477,650,3121
$GC,1933,-1.97,-89.9,303.4,-13.4,134,1937,0.00,2.17,0.00,0.000,6,0.000,0.030,2477,2047,3121
$GC,2270,-1.97,-89.9,345.7,-12.4,143,2273,0.00,2.22,0.00,0.000,4,0.000,0.038,2477,665,3121
$GC,2476,-1.97,-89.9,373.7,-13.5,147,2481,0.00,2.20,0.00,0.000,6,0.000,0.028,2477,2041,3120
$GC,2813,-1.97,-89.9,418.1,-13.3,156,2817,0.00,2.25,0.00,0.000,4,0.000,0.042,2477,666,3119
$GC,2980,-1.97,-89.9,440.4,-13.0,159,2984,0.00,2.22,0.00,0.000,6,0.000,0.030,2477,2056,3118
$GC,3317,-2.01,-89.9,479.8,-11.2,168,3321,0.00,2.30,0.00,0.000,4,0.000,0.044,2477,658,3115
$GC,3495,-2.04,-89.9,500.3,-11.3,172,3499,0.00,2.25,0.00,0.000,6,0.000,0.035,2477,2049,3114
$STATE,3614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3614,begin apogee
$GC,3619,-0.31,0.0,513.8,11.3,175,3697,1.75,0.00,73.40,0.916,6,0.107,0.000,2848,2050,2749
$STATE,3698,end apogee,CONTROL_FINISHED_OK
$STATE,3698,begin climb
$GC,3700,1.80,89.9,514.8,0.0,177,3782,1.92,0.00,75.07,0.891,6,0.043,0.000,3323,2050,2381
$GC,4108,1.50,89.9,461.9,14.7,187,4113,0.35,2.40,0.00,0.000,4,0.123,0.048,3252,616,2374
$GC,4197,1.29,89.9,450.3,12.5,189,4202,0.25,2.25,0.00,0.000,6,0.120,0.030,3204,2007,2372
$GC,4516,1.21,89.9,419.5,9.6,197,4520,0.00,2.33,0.00,0.000,4,0.000,0.044,3204,611,2369
$GC,4692,1.10,89.9,401.9,9.1,201,4697,0.22,2.22,0.00,0.000,6,0.126,0.031,3161,2007,2367
$GC,5016,1.11,98.1,376.8,7.6,209,5026,0.00,2.33,5.40,0.654,4,0.000,0.041,3161,608,2348
$GC,5048,1.11,98.1,374.2,8.5,209,5054,0.00,2.25,0.00,0.000,6,0.000,0.026,3161,2008,2348
$GC,5379,1.11,102.4,347.5,8.0,218,5388,0.00,2.33,4.97,0.626,4,0.000,0.048,3160,610,2331
$GC,5472,1.12,105.2,339.7,8.2,220,5482,0.00,2.22,4.03,0.550,6,0.000,0.027,3161,2005,2319
$GC,5792,1.16,114.2,315.4,7.5,228,5803,0.00,0.00,8.98,0.730,6,0.000,0.000,3161,2005,2283
$GC,6116,1.22,121.5,290.3,7.7,236,6131,0.10,2.38,7.35,0.683,4,0.069,0.047,3191,615,2253
$GC,6261,1.18,121.5,277.2,9.2,239,6265,0.00,2.20,0.00,0.000,6,0.000,0.023,3192,2008,2251
$GC,6574,1.18,123.3,251.0,8.3,247,6578,0.00,2.30,0.00,0.000,4,0.000,0.045,3192,608,2250
$GC,6713,1.18,123.3,237.9,10.4,250,6718,0.00,2.22,0.00,0.000,6,0.000,0.027,3192,2000,2249
$GC,7032,1.18,123.3,210.8,8.5,258,7036,0.00,2.25,0.00,0.000,4,0.000,0.044,3192,613,2249
$GC,7233,1.19,129.6,194.2,7.8,267,7247,0.00,2.17,7.47,0.613,6,0.000,0.027,3192,2004,2219
$GC,7564,1.20,135.8,168.4,7.8,298,7576,0.00,2.33,6.85,0.577,4,0.000,0.036,3192,611,2195
$GC,7636,1.20,142.9,162.4,7.7,304,7648,0.00,2.20,7.68,0.580,6,0.000,0.022,3192,2004,2166
$GC,7968,1.25,144.2,136.2,8.3,335,7972,0.00,2.25,0.00,0.000,4,0.000,0.039,3192,602,2164
$GC,7984,1.29,144.2,134.2,9.8,336,7993,0.00,2.22,0.00,0.000,6,0.000,0.024,3191,1996,2164
$GC,8186,1.36,156.5,118.1,7.1,355,8210,0.10,2.35,13.10,0.594,4,0.064,0.046,3227,3402,2109
$GC,8283,1.36,156.5,109.8,9.4,363,8287,0.00,2.20,0.00,0.000,6,0.000,0.023,3227,2002,2109
$GC,8484,1.37,163.6,94.3,7.7,381,8496,0.00,2.33,7.28,0.518,4,0.000,0.042,3228,596,2081
$GC,8512,1.37,163.6,91.6,8.8,383,8518,0.00,2.22,0.00,0.000,6,0.000,0.029,3227,2003,2080
$GC,8711,1.37,163.6,75.5,8.6,402,8715,0.00,2.28,0.00,0.000,4,0.000,0.041,3227,595,2080
$GC,8808,1.37,163.6,66.8,8.7,410,8812,0.00,2.20,0.00,0.000,6,0.000,0.021,3227,2007,2080
$GC,9008,1.44,183.3,52.2,6.2,428,9028,0.00,0.00,17.73,0.545,6,0.000,0.000,3228,2008,2000
$GC,9219,1.50,190.1,36.3,7.7,448,9229,0.00,0.00,6.88,0.463,6,0.000,0.000,3228,2008,1974
$GC,9428,1.56,190.1,18.7,9.9,478,9438,0.12,2.28,0.00,0.000,4,0.055,0.038,3272,3396,1972
$GC,9446,1.56,190.1,16.8,10.0,480,9454,0.00,2.22,0.00,0.000,6,0.000,0.029,3273,1992,1972
$STATE,9563,end climb,SURFACE_DEPTH_REACHED
$STATE,9563,begin surface coast
$FINISH,0.6,1.012673
$STATE,9588,end surface coast,CONTROL_FINISHED_OK
$STATE,9588,begin surface
$SM_CCo,9609,133.02,0.512,0,0,954,440.07
$SM_GC,1.39,0.00,0.00,133.02,0.000,0.000,0.512,409,2111,954,-11.55,1.72,440.07
$IRIDIUM_FIX,2241.69,-15749.78,071297,080856
$TT8_MAMPS,0.027612
$HUMID,1705
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.50
$XPDR_PINGS,130
$24V_AH,23.8,38.285
$10V_AH,10.1,35.143
$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,28.250,94.625,246.175,133.025,0.000,25.744,27.747,208.684,32.500,0.000,0.000,31.141,1037.309,6162.988,478.612,1921.847,526.353,33.354,1231.710,0.000,1974.035,0.000,0.470
$DEVICE_MAMPS,161.837,75.933,915.798,512.356,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.100,322.306,616.410,458.369,922.401,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38108,504
$CAP_FILE_SIZE,211573,0
$CFSIZE,260165632,241844224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120908,141632,2248.348,-15748.347,36,1.2,36,10.1