version: 66.03
glider: 148
mission: 6
dive: 249
start: 9 12 108 23 15 52
data:
$ID,148
$MISSION,6
$DIVE,249
$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,-11350.218
$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,69
$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
$GPS1,230823,2248.490,-15748.141,9,2.2,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-63.3
$GPS2,231459,2248.459,-15748.182,13,2.4,32,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,0.131
$KALMAN_X,-196882.8,154.1,59.3,211660.4,-1588.5
$KALMAN_Y,-197098.7,136.4,-392.3,198030.5,-1232.6
$MHEAD_RNG_PITCHd_Wd,17.0,1636,-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,17,begin dive
$GC,20,-1.75,-49.4,0.0,0.0,0,107,0.00,0.00,-84.80,0.000,2,0.000,0.000,413,2088,2755
$GC,111,-1.80,-89.2,3.5,-3.9,11,136,11.23,2.12,-7.75,0.000,4,0.160,0.042,2519,3429,3114
$GC,157,-1.23,-89.2,14.2,-21.5,17,166,0.60,2.17,0.00,0.000,6,0.115,0.018,2644,2039,3114
$GC,373,-1.37,-89.2,49.0,-16.2,44,377,0.10,2.17,0.00,0.000,4,0.062,0.027,2607,654,3115
$GC,392,-1.49,-89.2,52.4,-16.0,45,396,0.00,2.12,0.00,0.000,6,0.000,0.018,2607,2027,3115
$GC,592,-1.63,-89.2,82.8,-14.4,63,594,0.17,0.00,0.00,0.000,6,0.046,0.000,2550,2027,3115
$GC,785,-1.63,-89.2,115.5,-16.8,81,789,0.00,2.17,0.00,0.000,4,0.000,0.028,2550,650,3116
$GC,928,-1.71,-89.2,137.5,-14.1,93,932,0.00,2.17,0.00,0.000,6,0.000,0.029,2550,2048,3116
$GC,1127,-1.79,-89.2,164.9,-12.3,111,1131,0.00,2.20,0.00,0.000,4,0.000,0.029,2550,658,3116
$GC,1183,-1.89,-89.2,173.4,-14.5,115,1190,0.17,2.15,0.00,0.000,6,0.044,0.019,2490,2054,3116
$GC,1511,-1.89,-89.2,227.8,-16.4,135,1515,0.00,2.20,0.00,0.000,4,0.000,0.028,2489,659,3116
$GC,1599,-1.89,-89.2,241.4,-15.8,137,1603,0.00,2.17,0.00,0.000,6,0.000,0.018,2489,2066,3116
$GC,1924,-1.89,-89.2,284.9,-12.3,145,1928,0.00,2.25,0.00,0.000,4,0.000,0.031,2489,654,3117
$GC,2181,-1.89,-89.2,322.9,-15.6,150,2185,0.00,2.15,0.00,0.000,6,0.000,0.021,2489,2043,3117
$GC,2518,-1.93,-89.2,369.5,-13.7,159,2522,0.00,2.22,0.00,0.000,4,0.000,0.041,2489,667,3117
$GC,2776,-1.99,-89.2,403.9,-13.2,164,2782,0.00,2.17,0.00,0.000,6,0.000,0.031,2490,2046,3115
$GC,3107,-2.04,-89.2,444.0,-11.6,173,3111,0.00,2.25,0.00,0.000,4,0.000,0.050,2490,671,3114
$GC,3364,-2.10,-89.2,474.3,-11.5,178,3371,0.12,2.20,0.00,0.000,6,0.059,0.031,2451,2047,3112
$STATE,3652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3652,begin apogee
$GC,3658,-0.31,0.0,510.9,12.5,186,3735,1.88,0.00,72.80,0.913,6,0.108,0.000,2846,2047,2748
$STATE,3736,end apogee,CONTROL_FINISHED_OK
$STATE,3736,begin climb
$GC,3738,1.80,89.2,513.4,0.0,188,3821,1.95,2.35,74.40,0.890,4,0.046,0.056,3310,3404,2383
$GC,3905,1.50,89.2,496.9,14.8,191,3912,0.30,2.25,0.00,0.000,6,0.127,0.035,3252,2020,2379
$GC,4236,1.32,89.2,458.4,11.4,200,4241,0.20,2.42,0.00,0.000,4,0.123,0.061,3210,600,2375
$GC,4374,1.19,89.2,442.6,10.6,203,4379,0.17,2.22,0.00,0.000,6,0.123,0.030,3177,1994,2372
$GC,4694,1.19,89.2,411.9,9.4,211,4698,0.00,2.33,0.00,0.000,4,0.000,0.044,3177,597,2370
$GC,4721,1.13,89.2,409.0,11.2,211,4725,0.00,2.28,0.00,0.000,6,0.000,0.033,3177,2012,2369
$GC,5057,1.13,89.2,377.7,8.6,220,5061,0.00,2.33,0.00,0.000,4,0.000,0.042,3177,596,2366
$GC,5084,1.08,91.9,375.5,8.2,220,5089,0.12,2.25,0.00,0.000,6,0.130,0.029,3155,2007,2366
$GC,5422,1.08,96.1,349.3,8.0,229,5426,0.00,2.33,0.00,0.000,4,0.000,0.048,3155,597,2365
$GC,5533,1.10,107.6,340.1,7.2,231,5550,0.00,2.22,12.73,0.782,6,0.000,0.029,3155,2001,2310
$GC,5875,1.16,119.5,315.6,7.1,240,5891,0.00,2.35,11.30,0.750,4,0.000,0.049,3155,593,2261
$GC,6064,1.17,125.2,301.3,7.8,244,6074,0.00,2.28,6.05,0.644,6,0.000,0.024,3155,2001,2237
$GC,6413,1.24,130.1,273.8,7.9,253,6421,0.15,0.00,5.43,0.607,6,0.058,0.000,3199,2001,2218
$GC,6736,1.24,130.1,244.0,9.0,261,6740,0.00,2.33,0.00,0.000,4,0.000,0.041,3199,589,2216
$GC,6830,1.24,131.5,235.8,8.3,263,6834,0.00,2.25,0.00,0.000,6,0.000,0.029,3199,2010,2216
$GC,7143,1.24,131.5,208.9,8.9,271,7147,0.00,2.33,0.00,0.000,4,0.000,0.053,3199,3400,2215
$GC,7163,1.24,131.5,206.9,9.0,271,7168,0.00,2.25,0.00,0.000,6,0.000,0.031,3199,1993,2215
$GC,7489,1.26,143.6,179.9,7.1,295,7511,0.00,2.33,12.52,0.652,4,0.000,0.038,3199,602,2162
$GC,7670,1.26,143.6,164.1,8.7,311,7674,0.00,2.20,0.00,0.000,6,0.000,0.024,3199,2004,2161
$GC,7999,1.32,153.8,141.1,7.3,341,8017,0.00,0.00,9.95,0.597,6,0.000,0.000,3199,2004,2121
$GC,8210,1.37,153.8,122.8,8.8,361,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2004,2120
$GC,8408,1.44,166.4,108.0,7.0,380,8426,0.15,2.30,12.12,0.577,4,0.051,0.038,3247,595,2070
$GC,8432,1.45,175.1,106.0,7.5,382,8447,0.00,2.22,8.65,0.537,6,0.000,0.021,3247,2007,2035
$GC,8638,1.45,175.1,86.8,8.6,401,8642,0.00,2.28,0.00,0.000,4,0.000,0.039,3247,594,2033
$GC,8692,1.40,175.1,81.4,10.4,405,8696,0.12,2.20,0.00,0.000,6,0.114,0.028,3224,1998,2032
$GC,8897,1.44,177.5,63.7,8.2,424,8901,0.00,2.25,0.00,0.000,4,0.000,0.034,3223,596,2032
$GC,9134,1.44,179.1,44.5,8.3,444,9148,0.00,2.20,4.38,0.400,6,0.000,0.021,3224,2007,2019
$GC,9341,1.51,179.1,27.8,8.5,465,9350,0.10,2.28,0.00,0.000,4,0.062,0.032,3262,603,2019
$GC,9400,1.45,179.1,22.0,10.5,474,9409,0.10,2.20,0.00,0.000,6,0.102,0.020,3238,2001,2020
$STATE,9615,end climb,SURFACE_DEPTH_REACHED
$STATE,9615,begin surface coast
$FINISH,0.6,1.012318
$STATE,9651,end surface coast,CONTROL_FINISHED_OK
$STATE,9651,begin surface
$SM_CCo,9672,138.40,0.509,0,0,955,440.07
$SM_GC,1.51,0.00,0.00,138.40,0.000,0.000,0.509,406,2086,955,-11.56,1.02,440.07
$IRIDIUM_FIX,2239.35,-15749.78,071297,202001
$TT8_MAMPS,0.026845
$HUMID,1691
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.70
$XPDR_PINGS,158
$24V_AH,23.8,38.685
$10V_AH,10.1,35.555
$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,29.125,94.150,230.325,138.400,0.000,30.983,32.543,205.581,39.500,0.000,0.000,34.450,1052.579,6173.146,465.726,1970.427,542.875,33.359,1220.602,0.000,2007.635,0.000,0.469
$DEVICE_MAMPS,160.303,177.177,912.730,509.288,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.440,347.944,624.553,477.751,971.893,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38294,517
$CAP_FILE_SIZE,216195,0
$CFSIZE,260165632,241573888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130908,020038,2248.618,-15748.393,37,0.8,37,10.1