version: 66.03
glider: 148
mission: 6
dive: 277
start: 9 16 108 8 29 10
data:
$ID,148
$MISSION,6
$DIVE,277
$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,-11962.318
$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,75
$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
$GPS1,082032,2248.678,-15749.135,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.3
$GPS2,082815,2248.675,-15749.137,11,1.2,11,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,0.135
$KALMAN_X,-216052.8,296.0,275.3,228849.7,-465.1
$KALMAN_Y,-235120.8,-3.4,724.9,235472.9,-2856.6
$MHEAD_RNG_PITCHd_Wd,13.3,1271,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.75,-49.4,0.0,0.0,0,109,0.00,0.00,-84.78,0.000,2,0.000,0.000,407,2097,2762
$GC,113,-1.80,-88.6,3.4,-4.0,11,138,11.35,2.10,-7.55,0.000,4,0.162,0.041,2521,3425,3111
$GC,212,-1.67,-88.6,25.8,-23.6,26,220,0.12,2.15,0.00,0.000,6,0.120,0.019,2548,2052,3112
$GC,420,-1.62,-88.6,70.5,-20.0,46,424,0.00,2.17,0.00,0.000,4,0.000,0.025,2549,643,3113
$GC,445,-1.62,-88.6,75.2,-18.9,48,449,0.00,2.12,0.00,0.000,6,0.000,0.028,2548,2024,3113
$GC,652,-1.62,-88.6,111.3,-16.2,67,656,0.00,2.17,0.00,0.000,4,0.000,0.029,2549,651,3113
$GC,737,-1.69,-88.6,125.7,-15.8,74,741,0.00,2.17,0.00,0.000,6,0.000,0.020,2549,2056,3113
$GC,934,-1.74,-88.6,153.9,-13.1,92,938,0.00,2.22,0.00,0.000,4,0.000,0.029,2549,651,3114
$GC,999,-1.82,-88.6,162.4,-13.4,97,1003,0.10,2.17,0.00,0.000,6,0.064,0.019,2513,2060,3114
$GC,1321,-1.82,-88.6,206.7,-14.0,124,1325,0.00,2.22,0.00,0.000,4,0.000,0.029,2512,651,3114
$GC,1483,-1.87,-88.6,229.6,-14.5,127,1487,0.00,2.15,0.00,0.000,6,0.000,0.018,2512,2059,3115
$GC,1820,-1.94,-88.6,273.0,-12.4,136,1824,0.00,2.22,0.00,0.000,4,0.000,0.031,2513,656,3115
$GC,1996,-2.01,-88.6,296.0,-11.6,140,2001,0.15,2.15,0.00,0.000,6,0.051,0.019,2462,2047,3115
$GC,2322,-2.01,-88.6,336.1,-12.5,148,2326,0.00,2.22,0.00,0.000,4,0.000,0.044,2462,663,3115
$GC,2580,-2.01,-88.6,370.9,-13.8,153,2586,0.00,2.17,0.00,0.000,6,0.000,0.031,2462,2055,3114
$GC,2911,-2.01,-88.6,413.1,-12.8,162,2915,0.00,2.28,0.00,0.000,4,0.000,0.044,2462,666,3112
$GC,3061,-2.01,-88.6,433.5,-13.7,165,3065,0.00,2.20,0.00,0.000,6,0.000,0.028,2462,2046,3111
$GC,3409,-2.01,-88.6,477.3,-11.9,174,3413,0.00,2.28,0.00,0.000,4,0.000,0.051,2462,667,3108
$GC,3562,-2.01,-88.6,496.3,-12.8,177,3566,0.00,2.22,0.00,0.000,6,0.000,0.032,2462,2049,3107
$STATE,3698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3698,begin apogee
$GC,3704,-0.31,0.0,512.4,11.4,181,3781,1.83,0.00,72.12,0.919,6,0.107,0.000,2848,2049,2749
$STATE,3782,end apogee,CONTROL_FINISHED_OK
$STATE,3782,begin climb
$GC,3785,1.80,88.6,513.6,0.0,183,3867,1.92,2.33,73.60,0.894,4,0.042,0.057,3320,3403,2388
$GC,3889,1.47,88.6,505.1,13.2,185,3895,0.40,2.25,0.00,0.000,6,0.126,0.034,3242,2020,2385
$GC,4233,1.31,88.6,462.6,12.1,194,4238,0.15,2.42,0.00,0.000,4,0.128,0.062,3210,593,2380
$GC,4335,1.17,88.6,451.5,9.9,196,4339,0.17,2.28,0.00,0.000,6,0.123,0.033,3177,2002,2378
$GC,4682,1.17,88.6,420.0,9.1,205,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2002,2375
$GC,5007,1.17,88.6,390.8,8.9,213,5011,0.00,2.35,0.00,0.000,4,0.000,0.047,3177,589,2373
$GC,5062,1.11,88.6,385.2,10.3,214,5066,0.00,2.28,0.00,0.000,6,0.000,0.026,3177,2007,2371
$GC,5410,1.12,93.6,355.2,7.9,223,5413,0.00,2.33,0.00,0.000,4,0.000,0.052,3177,3410,2370
$GC,5425,1.13,104.5,353.9,7.2,223,5442,0.00,2.28,11.30,0.784,6,0.000,0.025,3177,1985,2323
$GC,5775,1.16,129.1,331.2,5.7,232,5803,0.00,2.42,22.00,0.814,4,0.000,0.054,3177,607,2221
$GC,5961,1.16,129.1,314.5,10.9,236,5965,0.00,2.25,0.00,0.000,6,0.000,0.028,3177,2015,2217
$GC,6281,1.16,129.1,283.1,10.2,244,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2015,2214
$GC,6605,1.16,129.1,251.8,10.2,252,6609,0.00,2.35,0.00,0.000,4,0.000,0.042,3177,595,2213
$GC,6823,1.16,129.1,229.2,10.5,257,6827,0.00,2.22,0.00,0.000,6,0.000,0.028,3177,2002,2212
$GC,7148,1.21,133.9,203.1,7.9,265,7152,0.00,2.30,0.00,0.000,4,0.000,0.039,3177,592,2211
$GC,7280,1.21,133.9,192.5,8.5,274,7284,0.00,2.22,0.00,0.000,6,0.000,0.027,3177,2011,2211
$GC,7610,1.28,136.2,164.7,8.2,305,7622,0.00,2.33,5.75,0.559,4,0.000,0.043,3177,588,2192
$GC,7801,1.34,149.6,148.8,7.0,322,7819,0.15,2.22,12.70,0.634,6,0.054,0.028,3224,2001,2139
$GC,8017,1.34,154.9,131.7,7.9,342,8031,0.00,2.33,6.18,0.537,4,0.000,0.049,3223,3395,2116
$GC,8069,1.34,154.9,127.1,9.4,346,8078,0.00,2.25,0.00,0.000,6,0.000,0.023,3224,1986,2115
$GC,8270,1.34,154.9,109.4,8.6,365,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1986,2115
$GC,8467,1.34,154.9,92.9,8.7,384,8471,0.00,2.20,0.00,0.000,4,0.000,0.039,3223,606,2115
$GC,8670,1.35,157.9,72.8,8.2,401,8684,0.00,2.17,4.20,0.417,6,0.000,0.023,3224,2004,2103
$GC,8875,1.43,185.0,57.9,5.4,420,8904,0.00,2.33,23.95,0.568,4,0.000,0.041,3223,3389,1993
$GC,9052,1.52,203.6,46.7,6.4,435,9081,0.12,2.17,16.55,0.539,6,0.054,0.020,3267,1999,1917
$GC,9272,1.52,203.6,26.2,10.7,457,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1999,1915
$STATE,9480,end climb,SURFACE_DEPTH_REACHED
$STATE,9481,begin surface coast
$FINISH,0.8,1.023117
$STATE,9511,end surface coast,CONTROL_FINISHED_OK
$STATE,9511,begin surface
$SM_CCo,9532,114.50,0.512,0,0,955,440.07
$SM_GC,1.59,0.00,0.00,114.50,0.000,0.000,0.512,410,2120,955,-11.55,1.98,440.07
$IRIDIUM_FIX,2239.35,-15740.24,111297,050530
$TT8_MAMPS,0.026845
$HUMID,1721
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.30
$XPDR_PINGS,163
$24V_AH,23.8,41.521
$10V_AH,10.1,38.419
$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,28.175,89.750,248.350,114.500,0.000,24.876,39.800,277.817,40.750,0.000,0.000,16.751,1019.021,6108.514,439.753,1900.344,642.519,33.354,1205.086,0.000,1967.427,0.000,0.469
$DEVICE_MAMPS,161.837,105.079,918.866,512.356,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.570,332.960,604.927,449.331,902.770,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38203,498
$CAP_FILE_SIZE,207385,0
$CFSIZE,260165632,239738880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160908,111105,2248.427,-15748.935,8,99.0,27,10.1