version: 66.03
glider: 148
mission: 6
dive: 273
start: 9 15 108 20 45 8
data:
$ID,148
$MISSION,6
$DIVE,273
$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,-11899.913
$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,47
$R_STBD_OVSHOOT,37
$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
$GPS1,203808,2249.321,-15748.312,36,0.9,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.1
$GPS2,204414,2249.323,-15748.303,9,1.0,14,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.007,0.147
$KALMAN_X,-216357.4,198.8,423.4,230520.6,-1208.7
$KALMAN_Y,-229290.8,347.2,740.2,230468.5,-2910.8
$MHEAD_RNG_PITCHd_Wd,352.7,2724,-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,21,-1.75,-49.4,0.0,0.0,0,108,0.00,0.00,-84.88,0.000,2,0.000,0.000,410,2119,2763
$GC,112,-1.80,-88.3,3.4,-4.0,11,137,11.30,2.12,-7.65,0.000,4,0.161,0.041,2519,3460,3110
$GC,241,-1.69,-88.3,32.4,-22.1,31,249,0.12,2.22,0.00,0.000,6,0.117,0.023,2546,2044,3111
$GC,440,-1.65,-88.3,72.3,-18.0,50,444,0.00,2.20,0.00,0.000,4,0.000,0.031,2547,646,3111
$GC,495,-1.72,-88.3,81.4,-16.4,54,499,0.00,2.20,0.00,0.000,6,0.000,0.020,2546,2068,3112
$GC,692,-1.72,-88.3,113.7,-16.1,72,696,0.00,2.25,0.00,0.000,4,0.000,0.028,2546,649,3112
$GC,764,-1.78,-88.3,125.7,-16.1,78,768,0.00,2.17,0.00,0.000,6,0.000,0.019,2546,2055,3112
$GC,961,-1.84,-88.3,155.2,-13.8,96,966,0.12,2.22,0.00,0.000,4,0.057,0.028,2505,647,3113
$GC,1006,-1.84,-88.3,161.9,-15.5,99,1015,0.00,2.17,0.00,0.000,6,0.000,0.018,2505,2049,3112
$GC,1329,-1.87,-88.3,205.8,-12.5,127,1333,0.00,2.20,0.00,0.000,4,0.000,0.029,2505,654,3113
$GC,1529,-1.87,-88.3,235.8,-12.6,131,1533,0.00,2.15,0.00,0.000,6,0.000,0.018,2505,2057,3113
$GC,1872,-1.92,-88.3,279.5,-13.4,140,1876,0.00,2.22,0.00,0.000,4,0.000,0.040,2505,656,3114
$GC,2096,-1.98,-88.3,308.3,-12.6,145,2100,0.00,2.15,0.00,0.000,6,0.000,0.021,2505,2039,3114
$GC,2421,-2.05,-88.3,348.0,-12.6,153,2426,0.12,2.22,0.00,0.000,4,0.058,0.038,2465,662,3113
$GC,2516,-2.05,-88.3,363.0,-15.8,155,2519,0.00,2.17,0.00,0.000,6,0.000,0.025,2465,2050,3113
$GC,2834,-2.05,-88.3,405.2,-12.4,163,2838,0.00,2.28,0.00,0.000,4,0.000,0.048,2465,657,3111
$GC,3074,-2.05,-88.3,437.4,-13.4,168,3078,0.00,2.22,0.00,0.000,6,0.000,0.035,2465,2037,3109
$GC,3422,-2.05,-88.3,483.1,-13.4,177,3426,0.00,2.28,0.00,0.000,4,0.000,0.048,2465,660,3107
$GC,3590,-2.05,-88.3,505.2,-11.9,180,3596,0.00,2.22,0.00,0.000,6,0.000,0.038,2465,2045,3106
$STATE,3634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3634,begin apogee
$GC,3639,-0.31,0.0,510.4,11.3,182,3717,1.83,0.00,72.25,0.915,6,0.109,0.000,2850,2045,2748
$STATE,3718,end apogee,CONTROL_FINISHED_OK
$STATE,3718,begin climb
$GC,3721,1.80,88.3,511.2,0.0,184,3799,1.98,0.00,74.22,0.888,6,0.043,0.000,3321,2045,2387
$GC,4123,1.51,88.3,457.0,14.6,194,4128,0.32,2.38,0.00,0.000,4,0.120,0.046,3252,615,2380
$GC,4220,1.30,88.3,443.7,13.2,196,4225,0.25,2.25,0.00,0.000,6,0.120,0.034,3204,2011,2379
$GC,4532,1.21,88.3,414.2,8.8,204,4536,0.00,2.33,0.00,0.000,4,0.000,0.042,3205,614,2376
$GC,4706,1.10,88.3,397.1,11.1,208,4711,0.22,2.22,0.00,0.000,6,0.122,0.031,3161,2003,2374
$GC,5033,1.11,94.4,370.6,7.8,216,5037,0.00,2.30,0.00,0.000,4,0.000,0.041,3160,607,2372
$GC,5183,1.11,94.4,356.8,8.9,219,5187,0.00,2.22,0.00,0.000,6,0.000,0.028,3161,2005,2371
$GC,5526,1.13,109.1,332.8,6.8,228,5546,0.00,2.38,15.25,0.788,4,0.000,0.058,3161,3398,2303
$GC,5557,1.14,116.3,330.5,7.7,228,5571,0.00,2.22,7.60,0.693,6,0.000,0.025,3161,2013,2274
$GC,5894,1.18,116.3,302.0,8.6,237,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2013,2270
$GC,6216,1.24,126.5,276.3,7.3,245,6230,0.12,2.33,9.20,0.707,4,0.061,0.041,3199,3403,2232
$GC,6241,1.25,132.7,274.4,7.8,245,6257,0.00,2.25,6.95,0.653,6,0.000,0.026,3199,1999,2207
$GC,6581,1.25,132.7,242.9,9.6,254,6585,0.00,2.33,0.00,0.000,4,0.000,0.054,3199,596,2204
$GC,6778,1.25,132.7,221.3,10.4,258,6783,0.00,2.22,0.00,0.000,6,0.000,0.021,3199,2010,2202
$GC,7093,1.25,132.7,193.5,8.9,270,7097,0.00,2.28,0.00,0.000,4,0.000,0.045,3199,3398,2201
$GC,7132,1.25,132.7,189.9,9.2,273,7136,0.00,2.22,0.00,0.000,6,0.000,0.023,3199,1987,2201
$GC,7457,1.26,137.0,163.7,8.0,303,7469,0.00,0.00,4.38,0.489,6,0.000,0.000,3199,1987,2189
$GC,7786,1.30,144.3,139.2,7.7,334,7800,0.00,2.22,7.57,0.572,4,0.000,0.039,3199,603,2161
$GC,7963,1.30,144.3,124.2,8.7,349,7968,0.00,2.20,0.00,0.000,6,0.000,0.027,3199,2017,2160
$GC,8164,1.35,151.2,108.1,7.7,367,8178,0.00,2.30,7.93,0.548,4,0.000,0.038,3199,3398,2131
$GC,8199,1.39,151.8,105.3,8.4,370,8203,0.10,2.20,0.00,0.000,6,0.064,0.022,3234,1995,2131
$GC,8396,1.40,153.8,87.4,8.3,388,8410,0.00,2.30,3.88,0.404,4,0.000,0.041,3234,3381,2120
$GC,8415,1.40,157.4,85.9,8.1,389,8425,0.00,2.17,4.65,0.443,6,0.000,0.023,3234,1990,2106
$GC,8626,1.40,157.4,68.1,8.6,409,8630,0.00,2.28,0.00,0.000,4,0.000,0.039,3235,3389,2106
$GC,8668,1.41,165.2,64.8,7.6,412,8682,0.00,2.17,8.00,0.511,6,0.000,0.022,3234,1998,2075
$GC,8873,1.49,204.5,55.0,4.0,431,8912,0.00,2.33,34.00,0.566,4,0.000,0.041,3234,606,1915
$GC,9055,1.49,204.5,40.4,10.3,446,9065,0.00,2.20,0.00,0.000,6,0.000,0.019,3234,1991,1910
$GC,9263,1.54,204.5,20.9,9.9,473,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1992,1909
$STATE,9448,end climb,SURFACE_DEPTH_REACHED
$STATE,9448,begin surface coast
$FINISH,0.7,1.022982
$STATE,9484,end surface coast,CONTROL_FINISHED_OK
$STATE,9484,begin surface
$SM_CCo,9505,129.27,0.511,0,0,954,440.07
$SM_GC,1.58,0.00,0.00,129.27,0.000,0.000,0.511,412,2100,954,-11.54,1.41,440.07
$IRIDIUM_FIX,2241.69,-15746.73,101297,181850
$TT8_MAMPS,0.027612
$HUMID,1701
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.50
$XPDR_PINGS,155
$24V_AH,23.8,41.116
$10V_AH,10.1,38.003
$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,28.050,94.075,255.875,129.275,0.000,30.758,27.130,199.246,38.750,0.000,0.000,17.118,1043.506,5986.295,487.105,1934.035,551.180,33.359,1244.059,0.000,1993.192,0.000,0.469
$DEVICE_MAMPS,161.070,75.933,915.031,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.240,340.870,628.830,475.922,959.712,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38111,511
$CAP_FILE_SIZE,213577,0
$CFSIZE,260165632,239996928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150908,232650,2249.225,-15748.195,11,1.8,28,10.1