version: 66.03
glider: 148
mission: 6
dive: 290
start: 9 17 108 21 31 7
data:
$ID,148
$MISSION,6
$DIVE,290
$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,-12229.237
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,212507,2249.361,-15749.009,9,1.6,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.4
$GPS2,213014,2249.385,-15748.992,13,1.6,30,10.1
$SPEED_LIMITS,0.147,0.238
$TGT_NAME,WPT4
$TGT_LATLONG,2248.000,-15749.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,0.145
$KALMAN_X,-219141.8,-49.4,359.1,232444.5,-229.6
$KALMAN_Y,-257832.7,624.3,960.7,258625.6,-3951.8
$MHEAD_RNG_PITCHd_Wd,358.7,2566,-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,-49.4,0.0,0.0,0,85,0.00,0.00,-62.40,0.000,2,0.000,0.000,411,2036,2585
$GC,88,-1.80,-94.7,3.2,-3.3,8,121,11.27,2.28,-13.68,0.000,4,0.161,0.042,2518,3466,3134
$GC,204,-1.70,-94.7,25.1,-23.1,26,213,0.10,2.20,0.00,0.000,6,0.127,0.018,2541,2061,3135
$GC,408,-1.63,-94.7,71.8,-21.8,46,412,0.12,2.20,0.00,0.000,4,0.132,0.025,2563,652,3136
$GC,504,-1.68,-94.7,90.6,-17.8,54,508,0.00,2.20,0.00,0.000,6,0.000,0.020,2563,2067,3136
$GC,701,-1.68,-94.7,124.9,-18.1,72,705,0.00,2.25,0.00,0.000,4,0.000,0.028,2563,648,3137
$GC,812,-1.81,-94.7,139.2,-11.8,81,817,0.15,2.17,0.00,0.000,6,0.051,0.019,2515,2054,3137
$GC,1009,-1.81,-94.7,166.6,-13.3,99,1013,0.00,2.22,0.00,0.000,4,0.000,0.029,2514,646,3138
$GC,1106,-1.85,-94.7,181.4,-15.4,107,1110,0.00,2.17,0.00,0.000,6,0.000,0.019,2515,2055,3138
$GC,1453,-1.90,-94.7,227.2,-13.7,125,1457,0.00,2.20,0.00,0.000,4,0.000,0.028,2515,657,3138
$GC,1689,-1.97,-94.7,258.4,-12.1,130,1693,0.12,2.15,0.00,0.000,6,0.058,0.018,2473,2052,3139
$GC,2038,-1.97,-94.7,309.0,-15.2,139,2042,0.00,2.22,0.00,0.000,4,0.000,0.041,2473,661,3139
$GC,2250,-1.97,-94.7,344.0,-15.5,143,2256,0.00,2.17,0.00,0.000,6,0.000,0.031,2473,2049,3138
$GC,2581,-1.97,-94.7,392.0,-14.2,152,2585,0.00,2.25,0.00,0.000,4,0.000,0.039,2473,664,3137
$GC,2653,-1.97,-94.7,402.9,-15.4,153,2658,0.00,2.20,0.00,0.000,6,0.000,0.034,2473,2052,3137
$GC,2990,-1.97,-94.7,444.7,-12.0,162,2994,0.00,2.28,0.00,0.000,4,0.000,0.043,2473,667,3135
$GC,3248,-2.01,-94.7,479.7,-13.1,167,3254,0.00,2.22,0.00,0.000,6,0.000,0.032,2473,2050,3133
$STATE,3495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3495,begin apogee
$GC,3501,-0.31,0.0,511.5,12.6,174,3582,1.77,0.00,77.32,0.921,6,0.108,0.000,2847,2050,2749
$STATE,3583,end apogee,CONTROL_FINISHED_OK
$STATE,3583,begin climb
$GC,3585,1.80,94.7,513.3,0.0,176,3671,1.98,2.33,78.53,0.897,4,0.045,0.065,3326,3401,2362
$GC,3678,1.46,94.7,506.5,11.7,178,3683,0.45,2.25,0.00,0.000,6,0.128,0.033,3240,2022,2360
$GC,4027,1.29,94.7,457.6,13.5,187,4032,0.15,2.45,0.00,0.000,4,0.128,0.066,3207,596,2353
$GC,4144,1.14,94.7,442.8,12.1,189,4149,0.20,2.28,0.00,0.000,6,0.120,0.028,3170,2004,2352
$GC,4477,1.11,94.7,412.6,8.7,197,4481,0.00,2.35,0.00,0.000,4,0.000,0.048,3169,593,2350
$GC,4734,1.04,94.7,387.5,9.2,202,4740,0.12,2.28,0.00,0.000,6,0.133,0.028,3148,2002,2347
$GC,5065,1.04,94.7,358.6,8.5,211,5069,0.00,2.38,0.00,0.000,4,0.000,0.061,3147,3406,2345
$GC,5080,1.04,94.7,357.2,8.7,211,5085,0.00,2.28,0.00,0.000,6,0.000,0.025,3147,1985,2345
$GC,5423,1.05,105.9,330.8,7.2,220,5432,0.00,0.00,7.28,0.713,6,0.000,0.000,3147,1985,2316
$GC,5752,1.07,118.5,308.3,7.0,228,5766,0.00,0.00,11.68,0.762,6,0.000,0.000,3147,1985,2266
$GC,6082,1.11,118.5,279.1,9.4,236,6086,0.00,2.30,0.00,0.000,4,0.000,0.058,3147,603,2263
$GC,6154,1.11,118.5,270.9,11.1,237,6159,0.00,2.25,0.00,0.000,6,0.000,0.025,3147,2017,2262
$GC,6498,1.18,128.0,242.1,7.4,246,6513,0.12,2.40,8.75,0.689,4,0.061,0.047,3186,596,2227
$GC,6621,1.15,128.0,230.0,10.8,248,6625,0.00,2.22,0.00,0.000,6,0.000,0.030,3186,1997,2225
$GC,6952,1.15,131.8,202.0,8.1,256,6961,0.00,2.33,4.57,0.533,4,0.000,0.038,3186,592,2211
$GC,7162,1.15,131.8,179.8,11.5,271,7168,0.00,2.22,0.00,0.000,6,0.000,0.025,3186,2005,2210
$GC,7486,1.15,131.8,152.5,8.6,302,7490,0.00,2.30,0.00,0.000,4,0.000,0.044,3186,584,2210
$GC,7596,1.16,140.3,144.2,7.5,311,7610,0.00,2.22,8.85,0.609,6,0.000,0.023,3186,2000,2175
$GC,7812,1.22,153.0,128.7,7.0,331,7836,0.00,2.38,12.12,0.617,4,0.000,0.044,3186,3398,2124
$GC,8011,1.30,170.5,115.9,6.5,348,8033,0.00,2.25,15.80,0.607,6,0.000,0.028,3186,1982,2052
$GC,8235,1.38,180.9,99.6,7.3,369,8251,0.15,2.25,9.88,0.565,4,0.051,0.043,3240,604,2011
$GC,8276,1.30,180.9,96.0,9.5,372,8280,0.17,2.20,0.00,0.000,6,0.112,0.020,3207,2001,2010
$GC,8476,1.35,182.6,77.8,8.3,390,8480,0.00,2.28,0.00,0.000,4,0.000,0.040,3207,3401,2008
$GC,8487,1.40,184.7,76.6,8.3,390,8496,0.00,2.22,4.30,0.420,6,0.000,0.029,3206,2002,1995
$GC,8686,1.50,198.5,61.5,6.9,409,8706,0.15,2.35,13.75,0.550,4,0.051,0.036,3262,3396,1938
$GC,8812,1.45,198.5,50.0,10.4,419,8816,0.12,2.17,0.00,0.000,6,0.122,0.021,3239,1997,1936
$GC,9016,1.45,198.5,30.8,9.8,438,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1997,1935
$GC,9220,1.45,198.5,10.2,10.4,473,9228,0.00,2.30,0.00,0.000,4,0.000,0.035,3239,3398,1935
$GC,9243,1.45,198.5,7.8,10.5,476,9251,0.00,2.20,0.00,0.000,6,0.000,0.021,3239,2003,1936
$STATE,9287,end climb,SURFACE_DEPTH_REACHED
$STATE,9287,begin surface coast
$FINISH,0.6,1.022913
$STATE,9318,end surface coast,CONTROL_FINISHED_OK
$STATE,9318,begin surface
$SM_CCo,9339,133.45,0.519,0,0,954,440.07
$SM_GC,1.47,0.00,0.00,133.45,0.000,0.000,0.519,410,1997,954,-11.55,-1.50,440.07
$IRIDIUM_FIX,2241.69,-15748.90,121297,181813
$TT8_MAMPS,0.027612
$HUMID,1712
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.50
$XPDR_PINGS,110
$24V_AH,23.7,42.799
$10V_AH,10.1,39.732
$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,28.750,94.825,252.825,133.450,0.000,30.506,28.019,120.034,27.500,0.000,0.000,31.645,1005.420,5978.652,455.803,1872.223,465.949,33.359,1193.101,0.000,1920.458,0.000,0.470
$DEVICE_MAMPS,161.070,65.962,921.167,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.120,327.994,607.672,442.318,885.639,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38211,488
$CAP_FILE_SIZE,205002,0
$CFSIZE,260165632,238858240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180908,001008,2249.162,-15748.802,29,1.2,29,10.1