version: 66.03
glider: 148
mission: 6
dive: 282
start: 9 16 108 23 4 3
data:
$ID,148
$MISSION,6
$DIVE,282
$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,-12052.632
$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,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
$GPS1,225829,2249.175,-15748.801,13,3.4,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.6
$GPS2,230309,2249.135,-15748.818,9,1.3,9,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.033,0.143
$KALMAN_X,-217668.6,-58.1,432.6,231199.6,-577.8
$KALMAN_Y,-242881.5,431.6,261.5,244111.7,-3262.8
$MHEAD_RNG_PITCHd_Wd,3.0,2124,-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,22,-1.75,-49.4,0.0,0.0,0,86,0.00,0.00,-62.47,0.000,2,0.000,0.000,415,2132,2581
$GC,90,-1.81,-97.5,3.0,-3.0,8,123,11.23,2.10,-13.95,0.000,4,0.160,0.046,2517,3454,3148
$GC,183,-1.69,-97.5,20.5,-23.4,22,190,0.12,2.20,0.00,0.000,6,0.123,0.018,2545,2054,3148
$GC,388,-1.63,-97.5,69.2,-22.5,44,392,0.00,2.17,0.00,0.000,4,0.000,0.028,2545,655,3148
$GC,461,-1.67,-97.5,84.9,-18.7,50,470,0.00,2.20,0.00,0.000,6,0.000,0.020,2545,2056,3149
$GC,663,-1.71,-97.5,116.9,-14.7,69,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2056,3150
$GC,861,-1.76,-97.5,146.9,-15.2,88,864,0.00,2.20,0.00,0.000,4,0.000,0.028,2545,655,3151
$GC,949,-1.83,-97.5,161.5,-17.0,95,956,0.10,2.15,0.00,0.000,6,0.064,0.019,2510,2055,3151
$GC,1270,-1.83,-97.5,212.9,-15.9,120,1274,0.00,2.22,0.00,0.000,4,0.000,0.029,2510,650,3152
$GC,1422,-1.88,-97.5,236.9,-14.9,123,1426,0.00,2.15,0.00,0.000,6,0.000,0.018,2510,2056,3152
$GC,1764,-1.94,-97.5,281.7,-13.5,132,1768,0.00,2.22,0.00,0.000,4,0.000,0.040,2510,659,3152
$GC,1940,-2.02,-97.5,305.9,-12.4,136,1945,0.12,2.15,0.00,0.000,6,0.058,0.021,2467,2041,3152
$GC,2264,-2.02,-97.5,351.9,-13.9,144,2268,0.00,2.22,0.00,0.000,4,0.000,0.043,2467,665,3152
$GC,2521,-2.02,-97.5,389.5,-12.8,149,2527,0.00,2.17,0.00,0.000,6,0.000,0.032,2467,2046,3152
$GC,2852,-2.02,-97.5,428.3,-11.0,158,2856,0.00,2.28,0.00,0.000,4,0.000,0.045,2467,661,3151
$GC,3080,-2.02,-97.5,457.2,-14.1,163,3085,0.00,2.22,0.00,0.000,6,0.000,0.038,2467,2045,3149
$GC,3399,-2.02,-97.5,501.1,-14.2,171,3403,0.00,2.28,0.00,0.000,4,0.000,0.051,2467,668,3147
$STATE,3458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3458,begin apogee
$GC,3466,-0.31,0.0,510.4,14.6,172,3550,1.80,0.00,80.03,0.917,6,0.118,0.000,2848,1999,2749
$STATE,3551,end apogee,CONTROL_FINISHED_OK
$STATE,3551,begin climb
$GC,3553,1.81,97.5,512.9,0.0,174,3639,1.92,0.00,80.95,0.891,6,0.048,0.000,3318,1998,2351
$GC,3960,1.52,97.5,459.3,15.7,184,3962,0.32,0.00,0.00,0.000,6,0.123,0.000,3255,1999,2343
$GC,4285,1.35,97.5,414.3,13.4,192,4290,0.17,2.30,0.00,0.000,4,0.126,0.050,3218,609,2340
$GC,4543,1.21,97.5,382.2,11.6,197,4549,0.17,2.25,0.00,0.000,6,0.121,0.025,3185,2011,2338
$GC,4874,1.21,97.9,352.3,8.4,206,4878,0.00,2.30,0.00,0.000,4,0.000,0.048,3185,617,2335
$GC,4924,1.14,97.9,347.8,9.3,207,4928,0.00,2.20,0.00,0.000,6,0.000,0.025,3185,2002,2334
$GC,5236,1.15,105.1,323.7,7.7,215,5245,0.00,2.30,4.47,0.584,4,0.000,0.048,3185,618,2320
$GC,5263,1.12,109.7,321.4,8.0,215,5274,0.12,2.22,5.60,0.643,6,0.129,0.025,3163,2015,2301
$GC,5601,1.16,114.5,295.1,7.9,223,5611,0.00,2.33,5.53,0.631,4,0.000,0.041,3162,617,2280
$GC,5717,1.16,115.2,283.8,8.4,225,5721,0.00,2.20,0.00,0.000,6,0.000,0.023,3163,2003,2279
$GC,6055,1.22,123.8,257.3,7.5,234,6069,0.10,2.35,8.80,0.690,4,0.067,0.048,3196,617,2244
$GC,6255,1.19,123.8,236.9,10.6,238,6259,0.00,2.20,0.00,0.000,6,0.000,0.028,3196,2008,2241
$GC,6597,1.19,123.8,205.4,8.9,247,6601,0.00,2.30,0.00,0.000,4,0.000,0.053,3196,3398,2240
$GC,6618,1.19,123.8,203.4,8.9,247,6622,0.00,2.20,0.00,0.000,6,0.000,0.024,3196,2008,2239
$GC,6945,1.20,132.3,174.6,7.5,274,6959,0.00,2.33,8.10,0.615,4,0.000,0.044,3196,606,2209
$GC,6993,1.21,136.4,170.9,8.0,278,7003,0.00,2.22,5.18,0.528,6,0.000,0.027,3196,2014,2192
$GC,7329,1.25,136.4,144.6,8.8,310,7333,0.00,2.30,0.00,0.000,4,0.000,0.037,3196,594,2191
$GC,7589,1.25,136.4,121.0,8.9,332,7598,0.00,2.22,0.00,0.000,6,0.000,0.021,3196,1994,2190
$GC,7791,1.31,136.4,102.5,9.3,351,7795,0.00,2.25,0.00,0.000,4,0.000,0.037,3196,597,2190
$GC,7821,1.31,136.4,99.8,8.6,353,7825,0.00,2.20,0.00,0.000,6,0.000,0.025,3196,2001,2190
$GC,8023,1.39,148.7,85.5,7.1,371,8047,0.10,2.35,11.98,0.568,4,0.061,0.039,3234,3406,2141
$GC,8095,1.39,153.8,79.9,7.9,377,8109,0.00,2.22,5.85,0.483,6,0.000,0.026,3234,1986,2122
$GC,8300,1.43,181.8,66.7,5.3,396,8330,0.00,2.30,24.65,0.577,4,0.000,0.044,3234,601,2006
$GC,8524,1.45,198.6,51.7,6.6,415,8545,0.00,2.20,14.93,0.537,6,0.000,0.019,3234,1997,1939
$GC,8735,1.50,198.6,34.2,9.3,435,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1997,1936
$GC,8936,1.54,198.6,14.5,10.0,466,8943,0.00,2.28,0.00,0.000,4,0.000,0.038,3234,3393,1936
$GC,8970,1.58,198.6,11.1,10.5,471,8977,0.08,2.20,0.00,0.000,6,0.042,0.021,3275,1999,1934
$STATE,9046,end climb,SURFACE_DEPTH_REACHED
$STATE,9047,begin surface coast
$FINISH,0.6,1.010478
$STATE,9083,end surface coast,CONTROL_FINISHED_OK
$STATE,9083,begin surface
$SM_CCo,9104,130.32,0.515,0,0,954,440.07
$SM_GC,1.57,0.00,0.00,130.32,0.000,0.000,0.515,410,2108,954,-11.55,1.64,440.07
$IRIDIUM_FIX,2239.35,-15749.78,111297,202004
$TT8_MAMPS,0.026845
$HUMID,1712
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.60
$XPDR_PINGS,123
$24V_AH,23.7,42.036
$10V_AH,10.1,38.937
$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,27.975,89.425,256.050,130.325,0.000,30.957,26.410,115.029,30.750,0.000,0.000,10.798,1002.934,5727.507,456.596,1881.130,446.016,33.361,1196.471,0.000,1949.282,0.000,0.471
$DEVICE_MAMPS,160.303,98.943,917.332,514.657,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.216,319.377,608.966,466.874,928.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38247,490
$CAP_FILE_SIZE,204708,0
$CFSIZE,260165632,239398912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170908,013905,2248.453,-15748.842,8,99.0,27,10.1